diff --git a/.gitattributes b/.gitattributes
index 3f1e3480f2224ed3ba4b94442e10ab6aa2371f85..d6368db2e02ece4f4239b2e1ff48083b38a01989 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4101,3 +4101,5 @@ dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/mesh/fruit_b
 dataset/kitchen_supplies/tableware/178b2a2c06a15334830c6f319e0acfc7/178b2a2c06a15334830c6f319e0acfc7.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/181a276df94958698e3ed0e2548ef55c/chopsticks_019.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/181a276df94958698e3ed0e2548ef55c/mesh/chopsticks_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/tray_024.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/material.mtl b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..49e80dd4fec6f7d770ee26486b56febe44c2ee5a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_024_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd tray_024_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/material_0.png b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a78c0b82a7707d67df4bde4fd12747a8362e7d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a08014818c7534ae5aaf049ddea00823f85d59020b481d11a8c9f4d0344a1806
+size 10329623
diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024.glb b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4b840337a7febfe24b3d1e0e407f501662220bc1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7691299e01da9b7d3fd11b07735efed993b792df348f572fa2f70bcf0beda0a
+size 13800084
diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024.mtl b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5eabfc138d615f3a15e285c61818e54306f69179
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024.mtl
@@ -0,0 +1,6 @@
+newmtl tray_024_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+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/1721e181de105dde8d46f64651d9c45e/mesh/tray_024.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7472b5227400f5719fbc2e87e4ad8726e7686d46
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024.obj
@@ -0,0 +1,124730 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_024_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024_collision.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83dde5b59d6739b52b611db39d19e2f79d31b52b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024_collision.obj
@@ -0,0 +1,7142 @@
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a78c0b82a7707d67df4bde4fd12747a8362e7d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_024_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a08014818c7534ae5aaf049ddea00823f85d59020b481d11a8c9f4d0344a1806
+size 10329623
diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a78c0b82a7707d67df4bde4fd12747a8362e7d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a08014818c7534ae5aaf049ddea00823f85d59020b481d11a8c9f4d0344a1806
+size 10329623
diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..026e5876424853125fe7e0a5d5f6f930df534aa8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024.obj
@@ -0,0 +1,124730 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e1008190d19755b514cd8d942b9e9bb1d2d79e6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision.obj
@@ -0,0 +1,7142 @@
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_0.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7b615cc11bffbea69d386b2115ef900c2804e09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_1.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..055259c4fe068f4935da74de0c2fd01b09787eb6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_1.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_10.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..952d46264fee8b82de66bd91f46fb324ae482543
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_10.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_11.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83a6f659d64f72d776bf29b47420fcb6e543d3ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_11.obj
@@ -0,0 +1,109 @@
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_12.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30c177cb5cf0d6c8158f548b0abacb34b12d95b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_12.obj
@@ -0,0 +1,706 @@
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_13.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16de2cd64e0893933b440d3ddd496cf1b7a14523
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_13.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_14.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e95228ad67ff720361fc227504f3552d4072fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_14.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_15.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6be4169e3a088fe17f2da2ff83bb853509ade490
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_16.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..986debaf733a1f56a3e379d9be1d82a50d9868b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_16.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_17.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc858bf515e9a115d8a129da11707dabcfdca2ad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_17.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_2.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e266f641ea329a20608d658610064751150847
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_3.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1c45e8d9c937508d103260bd4c3215a5b123cf4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_3.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_4.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c5f456380f3c90513f0bff6fd8aaa8de7e57105
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_4.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01049472 -0.15188469 -0.01085309
+v 0.01049472 -0.15188471 -0.00521481
+v 0.01049472 -0.14772612 -0.02060734
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+v 0.08143230 -0.15188471 -0.00493046
+v 0.01049472 -0.14799351 -0.00504355
+v 0.01049472 -0.11178450 -0.02069675
+v 0.03882665 -0.15188465 -0.02062464
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+v 0.08152268 -0.15188471 -0.00493046
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+v 0.01049472 -0.10459617 -0.02070458
+v 0.01759335 -0.11178450 -0.02069675
+v 0.04292174 -0.15188465 -0.02062621
+v 0.01759335 -0.14053785 -0.00488486
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+
diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_5.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..058cb9b5eed308119c68064f28f89afbe1cbd6a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_5.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.09246576 -0.14727568 -0.02061221
+v -0.09246576 -0.14727575 -0.00374771
+v -0.09246576 -0.14380510 -0.02061911
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+v 0.01049472 -0.14727574 -0.00502917
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+
diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_6.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef1209936ebcf363221cada19b2386b5acd4880b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_6.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v -0.15604821 -0.00084182 0.01936952
+v -0.15604821 -0.00084183 0.02084440
+v -0.15604821 -0.00015770 0.01936952
+v -0.14933272 -0.00166716 0.00665270
+v -0.15111895 -0.01834615 0.01051490
+v -0.15045301 -0.02567062 0.01003210
+v -0.15307945 -0.02552935 0.01698735
+v -0.15061483 -0.00396497 0.02852116
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+v -0.15027874 -0.02552940 0.02862188
+v -0.14933272 -0.00015765 0.00665271
+v -0.14283506 -0.01834611 -0.00041933
+v -0.14637019 -0.01834612 0.00368698
+v -0.14902775 -0.02337288 0.00695502
+v -0.14859831 -0.02816167 0.00755451
+v -0.13210521 -0.07612389 -0.00242494
+v -0.13419018 -0.07612391 0.00175564
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_7.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f6126989e399761d219d9e46bb2bf37aeb23e3a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_8.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e2ef7c15c3cae6854c8972a7d3871be60aea84
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_8.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_9.obj b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a08b49d694e48d8d3506dbb1282b0cb0af30376e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/mesh/tray_024_collision_9.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/tray_024.xml b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/tray_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b8c5abe08dc36358fcc3fb0b43c2f5fa44bf9442
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mjcf/tray_024.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_024">
+  <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_024.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_024_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_024_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_024_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_024_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_024_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_024_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_024_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_024_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_024_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_024_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_024_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_024_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_024_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_024_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_024_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_024_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_024_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_024_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_024">
+      <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" />
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+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_17" 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/1721e181de105dde8d46f64651d9c45e/textures/material_0.png b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/textures/material_0.png
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+size 10329623
diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/tray_024.urdf b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/tray_024.urdf
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/tray_024.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_024">
+   <link name="tray_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_024.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_024_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <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>1721e181de105dde8d46f64651d9c45e</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate tray</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>shallow rectangular ornate tray with raised decorative rim</description>
+         <min_height>0.0544</min_height>
+         <max_height>0.0544</max_height>
+         <real_height>0.0544</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195437</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.155278 -0.216457 -0.019113</min>
+            <max>0.155052 0.215715 0.035319</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/tray_024.usd b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/tray_024.usd
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diff --git a/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/video.mp4 b/dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/video.mp4
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