diff --git a/.gitattributes b/.gitattributes
index a5696df37a18bd58421809f486bc7f504402bd45..a067ef58dee98c2a7c4f32d2413e3a7bc9d30c5c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4217,3 +4217,5 @@ dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/tray_042.usd
 dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/633cdccd57f1509dac51737382ba9114.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/tray_062.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/tray_062.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/material.mtl b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..89caea5f580b3911eebece836b01682d0b497b61
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_062_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd tray_062_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/material_0.png b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc4f4713019dada2dc680ab5b700d03a4ef6cf57
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/tray_062.glb b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/tray_062.glb
new file mode 100644
index 0000000000000000000000000000000000000000..213a4f1649fcc26e8f6f018c0f196191ea9658cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/tray_062.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12098492
diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/tray_062.mtl b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/tray_062.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3d0e4e9ecf4f7802694bba32c24358f7dc79ea56
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/tray_062.mtl
@@ -0,0 +1,6 @@
+newmtl tray_062_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/tray_062.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/tray_062.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6341ea8fb24e3e6c3aa8e7773e91494153cab17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/tray_062.obj
@@ -0,0 +1,103200 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_062_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/tray_062_collision.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/tray_062_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fb3a48c48c0bcec040ca8596ad265c1d420914a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mesh/tray_062_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062.obj
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bad4144f25695e0bff7bcc0aea1e2af6a166dbd7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision.obj
@@ -0,0 +1,7817 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_0.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea25730fdfb02e426e5a53dbf6470865cb392b4b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_1.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec2b5e68a1af61ce59ab69adf8d5beb7234e5c4e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_1.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_10.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b61e6b2e6dcce45947f594e5ee8314d04f9323d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_10.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+f 11 16 23
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+f 13 33 14
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+f 18 20 37
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+f 18 38 39
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+f 19 53 46
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+f 40 43 49
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+f 55 57 61
+f 57 62 61
+f 59 60 61
+f 59 61 63
+f 61 62 63
+
diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_11.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae4822a3d347ec32bc201ba489446b202431ee4f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_11.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.08298459 -0.15257407 -0.01517780
+v -0.07684016 -0.15761248 -0.01513642
+v -0.08298459 -0.15761248 -0.01513642
+v -0.08913834 -0.15257407 -0.01517435
+v -0.00012779 -0.15257407 -0.01517090
+v -0.00012779 -0.15761248 -0.01513297
+v -0.08298459 -0.16379297 -0.01498809
+v -0.08913834 -0.16379297 -0.01498809
+v -0.08913834 -0.15761248 -0.01513297
+v -0.09414699 -0.15257407 -0.01516400
+v -0.00012779 -0.15257414 0.00348260
+v -0.00012779 -0.16379298 -0.01496395
+v -0.08298459 -0.16831815 -0.01467073
+v -0.08913834 -0.16831815 -0.01467073
+v -0.09523623 -0.16384384 -0.01496050
+v -0.09523623 -0.16379298 -0.01496395
+v -0.09523623 -0.15761248 -0.01511917
+v -0.09523623 -0.15261722 -0.01516055
+v -0.09523623 -0.15257407 -0.01516055
+v -0.04611797 -0.16831827 0.01993501
+v -0.00012779 -0.16831825 0.01390117
+v -0.09523623 -0.15257414 0.00357575
+v -0.09523623 -0.16831673 0.02006611
+v -0.00012779 -0.16675993 -0.01472591
+v -0.00012779 -0.16831815 -0.01459828
+v -0.09078617 -0.16831815 -0.01466383
+v -0.09523623 -0.16831815 -0.01462933
+v -0.05225310 -0.16831827 0.01982807
+v -0.09523623 -0.16831822 0.00644943
+v -0.09154025 -0.16831827 0.01889315
+v -0.05839754 -0.16831827 0.01970042
+f 1 2 3
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+f 1 4 10
+f 1 10 19
+f 1 19 22
+f 1 22 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
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+f 15 19 18
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+f 23 29 30
+f 23 30 31
+f 23 31 28
+
diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_12.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a0f4f672f309a23c1c4580ef7f27bac6db895aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_12.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.07684352 0.15262247 -0.01519645
+v -0.08413819 0.15262247 -0.01519304
+v -0.08298947 0.15764755 -0.01516225
+v -0.07684352 0.15764755 -0.01516225
+v -0.02319137 0.15262247 -0.01518620
+v -0.08947939 0.15262247 -0.01518962
+v -0.08947939 0.15764755 -0.01515883
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+v -0.07684352 0.16382741 -0.01501179
+v -0.02319137 0.15764755 -0.01514857
+v -0.02319137 0.15262240 0.00350507
+v -0.08947939 0.15262240 0.00352216
+v -0.08947939 0.16839244 -0.01468356
+v -0.08913542 0.16839244 -0.01468697
+v -0.08753241 0.16839244 -0.01468697
+v -0.08137997 0.16839244 -0.01468356
+v -0.02319137 0.16382740 -0.01497077
+v -0.02319137 0.15932104 -0.01510069
+v -0.03266665 0.15262240 0.00350849
+v -0.02319137 0.16839234 0.01395678
+v -0.04611376 0.16839232 0.01937236
+v -0.05225971 0.16839232 0.01972793
+v -0.08666926 0.16839232 0.01895183
+v -0.08947939 0.16839232 0.01885268
+v -0.08913542 0.15262240 0.00352216
+v -0.05516070 0.16839232 0.01968690
+v -0.02319137 0.16839244 -0.01458783
+v -0.02319137 0.16506245 -0.01486819
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+f 1 12 6
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+f 4 10 5
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+f 13 24 23
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+f 13 21 20
+f 13 20 27
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+f 13 16 15
+f 13 15 14
+f 16 27 28
+f 16 28 17
+f 19 22 25
+
diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_13.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77ef7956c706ec835ecb0cab29fa3deeb8ecaa0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_13.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00307429 0.15262247 -0.01519812
+v -0.01037285 0.15262247 -0.01519470
+v -0.00307429 0.15764755 -0.01516388
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+v 0.06453348 0.15262247 -0.01519470
+v -0.01651901 0.15262247 -0.01519127
+v -0.01536661 0.15764755 -0.01515704
+v 0.00921803 0.16382741 -0.01499279
+v 0.05838732 0.16382741 -0.01500305
+v 0.06453348 0.16382741 -0.01500305
+v 0.08298326 0.16382741 -0.01499621
+v 0.08912942 0.16382741 -0.01499279
+v 0.08912942 0.15764755 -0.01514335
+v 0.08912942 0.15262247 -0.01517759
+v 0.06953853 0.15262247 -0.01519127
+v -0.02318489 0.15262247 -0.01518443
+v -0.02318489 0.15313965 -0.01518101
+v -0.02318489 0.15764755 -0.01514678
+v -0.02318489 0.16382740 -0.01497226
+v -0.01536661 0.16382741 -0.01497910
+v 0.08298326 0.16839244 -0.01466772
+v 0.08458759 0.16839244 -0.01466772
+v 0.08912942 0.16839244 -0.01466430
+v 0.09223640 0.16608600 -0.01481828
+v 0.09223640 0.16382741 -0.01497910
+v 0.09223640 0.16070429 -0.01506123
+v 0.09223640 0.15764755 -0.01513651
+v 0.09223640 0.15510800 -0.01515705
+v 0.09223640 0.15262247 -0.01517417
+v -0.02318489 0.15262240 0.00350393
+v -0.02318489 0.16550089 -0.01483197
+v 0.00307188 0.16839244 -0.01461640
+v 0.09073375 0.16839244 -0.01465746
+v 0.09223640 0.16688569 -0.01476011
+v 0.09223640 0.15262240 0.00357578
+v -0.02318489 0.16839234 0.01395674
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+v -0.02151277 0.16839244 -0.01458903
+v 0.09223640 0.16839244 -0.01464377
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+f 33 40 34
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+
diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_14.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aea4cd3c527d502629897ff8ad3f0fff295a81bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_14.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.08949067 0.15262247 -0.01519052
+v -0.09529122 0.15262247 -0.01518212
+v -0.08949067 0.15764755 -0.01515689
+v -0.08949067 0.15262240 0.00352586
+v -0.09529122 0.15764755 -0.01514430
+v -0.10143694 0.15262247 -0.01515691
+v -0.08949067 0.16382741 -0.01500987
+v -0.08949067 0.16839232 0.01885269
+v -0.11980699 0.15262232 0.02582087
+v -0.09529122 0.16382741 -0.01498887
+v -0.10143694 0.15764755 -0.01509809
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+v -0.08949067 0.16408369 -0.01499307
+v -0.08949067 0.16839244 -0.01468223
+v -0.10363733 0.16839230 0.02549751
+v -0.12074179 0.15262231 0.02648452
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+v -0.10143694 0.16382740 -0.01489646
+v -0.10758266 0.15764755 -0.01498889
+v -0.11373317 0.15262246 -0.01490490
+v -0.10841200 0.16839229 0.02668199
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+v -0.10143694 0.16839244 -0.01447221
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+v -0.11987410 0.16839229 0.02765645
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+v -0.13265451 0.15262243 -0.00623555
+v -0.12625472 0.16839229 0.02684580
+v -0.12790380 0.16839229 0.02643837
+v -0.13210801 0.16322208 0.02612753
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+v -0.12855097 0.15968536 -0.00880609
+v -0.12732854 0.16398639 -0.00676895
+v -0.12861330 0.16615388 -0.00279549
+v -0.12427486 0.16839241 -0.00661772
+v -0.12416460 0.16839241 -0.00676893
+v -0.13071301 0.15763362 -0.00676897
+v -0.13473025 0.15262242 -0.00235031
+v -0.13003707 0.16839229 0.02590074
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+v -0.13564107 0.15764740 0.02565708
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+v -0.13074655 0.16398637 -0.00083817
+v -0.12958165 0.16761894 0.00107717
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+v -0.13761615 0.15262233 0.02303190
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+v -0.13041578 0.16839237 0.00502542
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+v -0.13245796 0.16839233 0.01661815
+v -0.13175326 0.16839235 0.01114941
+v -0.13792296 0.15262237 0.01080912
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_15.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e4ceb8179b9db696572651608d38e7a2278e7b1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_15.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_16.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58212e5bbd130de6b3e8567a74b0097d752af36c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_16.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_17.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db5f486978fc650c16ec6901c67f3a840106a5ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_17.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.03649291 -0.18233714 0.02834208
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_18.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78c0bb8d6544bcb8d83eb1e78d3fbadfa9c7d4c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_18.obj
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_19.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61e0f0e173b1a6a0b5cbd7f706612025f3e0ff52
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_19.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_2.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8593f7319bb61dba5b211cfd4513b9804765979b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_2.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_20.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c8caef7f3a60f817b50c8043e43bc6b61c0d20b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_20.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_21.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2739a232f9d4557df4dcd8df21fff9573d38a2bb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_21.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_22.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12de708c474cf68b39abcb00dbb146fec915e8ee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_22.obj
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_23.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31f9e242f69dfa2eeedfa98abf2306df7457d5c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_23.obj
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_3.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d603dd75ba50e0e148bcc6c87b6dc41cbc06522
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_3.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_4.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d009cafae0d818272fc89443e4511efd58e07d8f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_4.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_5.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c597b74cb87daa54a5297ff1b380e476a4724c2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_5.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_6.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..187bb9f55e99250080baa66701fac12aa68363e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_6.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_7.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28a0f06552f8fce6baad04dd3182cc51fc4f8f25
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_7.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_8.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..941ee4c33e7d2bf009898bfc63068331226189e1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_8.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_9.obj b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..599d0b23c89ea266c00f2a2f19ea78b78dfbcf0d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/mesh/tray_062_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/tray_062.xml b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/tray_062.xml
new file mode 100644
index 0000000000000000000000000000000000000000..977e422f52343cac1ab188ed443a10550c581c32
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/mjcf/tray_062.xml
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_062">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/tray_062.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_062_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_062_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_062_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_062_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_062_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_062_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_062_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_062_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_062_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_062_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_062_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_062_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_062_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_062_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_062_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_062_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_062_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_062_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_062_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_062_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_062_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_062_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_062_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_062_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_062">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/textures/material_0.png b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f29a3be0076e4f5fe2f71dabdb52cba1fa95fab83e49530ff436e8904f8375c
+size 9794823
diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/tray_062.urdf b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/tray_062.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f4bc80f73b15beae98977d5e34a9b282f6bc60f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/tray_062.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_062">
+   <link name="tray_062">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_062.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_062_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.9000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>63d0abc894d65fb795b06fb53e5d4547</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>wooden serving tray</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>rectangular brown tray with raised rim and side handles</description>
+         <min_height>0.0680</min_height>
+         <max_height>0.0680</max_height>
+         <real_height>0.0680</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200901</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.139570 -0.187739 -0.012957</min>
+            <max>0.139560 0.187774 0.055025</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/tray_062.usd b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/tray_062.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/tray_062.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:7eead0ff8c41d9ca5a982023d4c4ab11fd4cfad2f96d217689ac1ada265b41c0
+size 4277480
diff --git a/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/video.mp4 b/dataset/kitchen_supplies/tableware/63d0abc894d65fb795b06fb53e5d4547/video.mp4
new file mode 100644
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--- /dev/null
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