diff --git a/.gitattributes b/.gitattributes
index 3288fa72000166e369556538990442780b5b4b7e..6d4f9a8b5877b4606ae899a75a588003ef83e49a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4204,3 +4204,5 @@ dataset/kitchen_supplies/tableware/504a39db044f5538b36d829f697be079/mesh/tray_04
 dataset/kitchen_supplies/tableware/504a39db044f5538b36d829f697be079/tray_048.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/53731a1369b250d3b3af6233118d72c9/mesh/spoon_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/53731a1369b250d3b3af6233118d72c9/spoon_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/tray_052.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/tray_052.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/material.mtl b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abefebf054ef0ec2c20b08b9b0b3144b777f6c3b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_052_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_052_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/material_0.png b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c54b5cee7c2e661ee6679e35e671fe2ef0f63523
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13b57b6c0a2a7f897db029c12f0a49859eb2e9ae5ddd766331a44837368e3a1c
+size 15252086
diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/tray_052.glb b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/tray_052.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c722395fc8d01625034c32b17179a6f23d0128ec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/tray_052.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80f4b79db373c4b9821da6b4bff8e2f2a8a37f3699aaaa6f630dc787699cebb5
+size 18018800
diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/tray_052.mtl b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/tray_052.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ca71e404bab9149075a599790c443c8788eb238f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/tray_052.mtl
@@ -0,0 +1,6 @@
+newmtl tray_052_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/52312daf2ead586caba244d0695bac0c/mesh/tray_052.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/tray_052.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693359e6d52b58856cab98309a9b472b809ac132
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/tray_052.obj
@@ -0,0 +1,119010 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_052_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/tray_052_collision.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/tray_052_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfdb091efbbb9074cbca3266445b95771c0aacae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mesh/tray_052_collision.obj
@@ -0,0 +1,7427 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c46f71f43a0ce231981060b4baa1e90f6c5cb5d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052.obj
@@ -0,0 +1,119010 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33bc33a928e354267e4cb6bff2d3d1f8984dd9d8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision.obj
@@ -0,0 +1,7427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_0.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef55d76e63b1e30a7dfb49ed7c517b3a544b4a12
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_1.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccc180e385d8d6385be05a143bba1461d8787688
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_1.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_10.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6627ed2aa4ba1ac9a40f5ffb2a606fefcb05254
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_10.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.08609251 0.20797964 0.02453533
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+
diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_11.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7303f632386b26b73bbf6dc922a88b8ca0ec74c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_11.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.09187090 -0.16041948 -0.00324858
+v 0.09187090 -0.16041944 -0.01472521
+v 0.08132533 -0.16041948 -0.00324625
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_12.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c464c50a1855cec397438de97792edd0b41fbff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_12.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_13.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf2aff1ab14253840807366d0702ea7c4ccac80b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_13.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_14.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..873d0ee3096e1a186bddde1b05f1d24a70c8ea80
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_14.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_15.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f9b0237d7ef6db1b658a3eb949096063ceac92
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_15.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_16.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e23e2ecb083bb706f394ec50c34231a08e74d837
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_16.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_17.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96dfc064d20ea18499360f8381321c5e532dc185
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_17.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_18.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3976deeedb08cca8dc0d93a236218ba944d6c83
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_18.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_19.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a6906dc83ba3678832080c60bc251a11c43e384
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_19.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_2.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c0dfda623629b57ae55959130072317945ea8dc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_2.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_20.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d3b8b948a7a64ef5e8a2ce3b05917edacec384e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_20.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_21.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f6526d600deab699d029f0a98dc0e6248d36284
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_21.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_22.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..730e74f9364228d6a5547851b287744840002635
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_22.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_23.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d08f1831f133ae89fbe5c0057ae4455b46835a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_23.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_24.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7ff49cc023c682b799d6b483e3cc1de682557e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_24.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.03108963 0.19727885 0.02583123
+v 0.03336821 0.20058312 0.02583125
+v 0.03748815 0.19191295 0.02583121
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+
diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_25.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c072b16a68880b42f803bcba4ee2b656e5b7ec1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_25.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.06633199 0.20700048 0.02228843
+v 0.06633199 0.20661806 0.02557868
+v 0.06633199 0.20700048 0.02215420
+v 0.05304775 0.20622706 0.02582913
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+v 0.03816231 0.20381014 0.02582912
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+
diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_26.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..771db7bbf7bafad3ec137c6ffde8bc3cd86c84be
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_26.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.08595856 0.20797102 0.02452544
+v -0.07907442 0.20794833 0.02447938
+v -0.08595856 0.20797103 0.02292192
+v -0.09180371 0.20790292 0.02439238
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+v -0.04467494 0.20556294 0.02653324
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+v -0.04467494 0.19040414 0.02653318
+v -0.03715470 0.19194294 0.02653319
+v -0.03800285 0.18549955 0.00910606
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+
diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_3.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82bfbfd40ee0cf7ca5e37be5e195b548e2435112
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_3.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.15535609 0.16043497 0.02082909
+v 0.15513735 0.16043497 0.02243204
+v 0.15365171 0.16043498 0.01800272
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+v 0.15442643 0.16043495 0.02728554
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_4.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c81547e2961bc2cdd68cf80bccbe86015cefed85
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_5.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67f493a4116fbae9c7393e53fe7b579716f23f62
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_5.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_6.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1661eff02d0f9ac06fd3ff905764771b8454c930
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_6.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_7.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02b6e20de301f791908581d4f576b205629cd07e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_7.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_8.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2fa66af11132aa5096171ae594b53553736b222
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_8.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_9.obj b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae22d9d63ffd1cd49e631c24a2b7f74e33476340
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/mesh/tray_052_collision_9.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/tray_052.xml b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/tray_052.xml
new file mode 100644
index 0000000000000000000000000000000000000000..67ba047571070ec18ccd3ae579f1f406cd47d613
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/mjcf/tray_052.xml
@@ -0,0 +1,68 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_052">
+  <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_052.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_052_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_052_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_052_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_052_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_052_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_052_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_052_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_052_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_052_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_052_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_052_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_052_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_052_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_052_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_052_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_052_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_052_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_052_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_052_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_052_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_052_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_052_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_052_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_052_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tray_052_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tray_052_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tray_052_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_052">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" 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/52312daf2ead586caba244d0695bac0c/textures/material_0.png b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13b57b6c0a2a7f897db029c12f0a49859eb2e9ae5ddd766331a44837368e3a1c
+size 15252086
diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/tray_052.urdf b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/tray_052.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..98df85a056f0be83a9fc6b6849a4271b29c50d22
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/tray_052.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_052">
+   <link name="tray_052">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_052.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_052_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>52312daf2ead586caba244d0695bac0c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>handled tray</name>
+         <color>beige,blue</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular shallow tray with side handles and colorful floral pattern</description>
+         <min_height>0.0621</min_height>
+         <max_height>0.0621</max_height>
+         <real_height>0.0621</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200509</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.157926 -0.209671 -0.012161</min>
+            <max>0.158056 0.209805 0.049978</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/52312daf2ead586caba244d0695bac0c/tray_052.usd b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/tray_052.usd
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/video.mp4 b/dataset/kitchen_supplies/tableware/52312daf2ead586caba244d0695bac0c/video.mp4
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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