diff --git a/.gitattributes b/.gitattributes
index d44c39d5661775ffcd035f701c153801a634c9ae..93929775accfbf759e49267b7b62457ae9d53f88 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4212,6 +4212,5 @@ dataset/kitchen_supplies/tableware/57bf72d87cce5c8684c8e217df6cb481/spoon_016.us
 dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/5ec47cd32a0e549e875cf3c36ba307e7.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/mesh/napkin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6122b8d85bbe58c18cd8fa87e2ab9412/6122b8d85bbe58c18cd8fa87e2ab9412.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6122b8d85bbe58c18cd8fa87e2ab9412/mesh/spoon.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6122b8d85bbe58c18cd8fa87e2ab9412/mesh/spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/tray_051.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/material.mtl b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d10931f1be0d9add32141e79101fdd5a38fb1e8a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_051_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_051_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/material_0.png b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7f6c62e0de4e15595de70ae564bf7dc4d32604c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b673632c6c2a9f06fd9d0fb04ca28d9052c9652262ea3c14ad223f0095fa7dcb
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051.glb b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f55c7a5eb3210061367c6d4cc92f7352c63bd927
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93210255ba9e6480879c36fcc8ce9b77a4e2a339094a59750df290e73a9d2e80
+size 16386512
diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051.mtl b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a00420dfa95737302b2c4ac02bbb78f94a5aa28e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051.mtl
@@ -0,0 +1,6 @@
+newmtl tray_051_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/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051.obj
new file mode 100644
index 0000000000000000000000000000000000000000..540f6bd0063dd7df3ffeb4e8efe3c61a7573763a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051.obj
@@ -0,0 +1,117966 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_051_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051_collision.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..786d5d3d8e06c4fdce6e64a3c8336412ae9ed85d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051_collision.obj
@@ -0,0 +1,5552 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..910901cb9a3be1c0ee4f5a09b63a90afdb661418
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision.obj
@@ -0,0 +1,5552 @@
+# https://github.com/mikedh/trimesh
+
+o tray_051_collision.obj
+v 0.14267371 0.11794407 0.01578104
+v 0.14271463 0.11163555 0.01583350
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_0.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e977d562d075f1cfabce67545d474185e3f5ba0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_0.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_1.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09f6509d16aa9c240ec70d1f9703b9195f3eecf9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_1.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_10.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4004554fddcc156ad04478b67cb901c2f518fbea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_10.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_11.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5b968b313e794e5293ece4cf4dc21625b91f47c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_11.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.09804110 -0.06731765 0.00150937
+v -0.10409105 -0.06731767 0.00725450
+v -0.09461557 -0.10518885 0.00150923
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+
diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_12.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23a31c948dd26ebe4eb5c005f8c8709c60861b9c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_12.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.05089796 -0.16301724 0.01980775
+v 0.05089796 -0.16730677 0.02343066
+v 0.05225542 -0.16318956 0.01980775
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+
diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_13.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc2b83923730dab8a6eb8d3634b76141a2db3f19
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_13.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.04930490 -0.16284584 0.01981002
+v -0.04263165 -0.16316914 0.01981002
+v -0.05085973 -0.16291629 0.01981002
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_14.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5455471f99c4940b3f9345db28445bb458986fbc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_14.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_15.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b00eedb132935ba7d39a1e6cd1e4f859c4e84788
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_15.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_16.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3096d6c52c445660b283c87a6be6fa1b84978df7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_16.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_17.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdb2cb4ba60840bcac1cb2b447d5b178634bc9b3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_17.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_18.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b8ee5d7dab953a0cefdfd8a88383228f9a99cbc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_18.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_19.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f45a4decfb33af5d3e8f25a23fbd0378d3ebd27f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_19.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_2.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d7276f8f7fc54f92e3c4d7de72ed0f6d0793a35
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_2.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_20.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0996aa1b943f85c76db9121f3b51222f27cfa340
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_20.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_3.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6200577188235c35cf4cc985b336935eaebab05
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_3.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_4.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ed5b5836aac71edfee6829f81b1a70d03e0ff16
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_4.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_5.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..745b92d9a7fb0ead0882b8974f8d3e1a24761f83
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_5.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_6.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b24954178f49b17b727db2734a8193a39203229f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_6.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_7.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39752181ee345e894933d6d763c3cc491ebc94a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_7.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_8.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2401076b4405d99aee2abfbcf8c43a5eade08344
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_8.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_9.obj b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..950e0091289a9d101f81b60ec9876fc8d59e6682
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/mesh/tray_051_collision_9.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/tray_051.xml b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/tray_051.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1e9239d784689bb92f9c742d35601550183262aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mjcf/tray_051.xml
@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_051">
+  <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_051.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_051_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_051_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_051_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_051_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_051_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_051_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_051_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_051_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_051_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_051_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_051_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_051_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_051_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_051_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_051_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_051_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_051_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_051_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_051_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_051_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_051_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_051">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/textures/material_0.png b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7f6c62e0de4e15595de70ae564bf7dc4d32604c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b673632c6c2a9f06fd9d0fb04ca28d9052c9652262ea3c14ad223f0095fa7dcb
+size 13021578
diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/tray_051.urdf b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/tray_051.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..298588ccb9cbb47d09d1e50e96fe00a14096c7f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/tray_051.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_051">
+   <link name="tray_051">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_051.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_051_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>5e20f92041125bd68fcccc423a564ed9</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate serving tray</name>
+         <color>brown,purple</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>rectangular ornate tray with side handles and colorful floral top pattern</description>
+         <min_height>0.0572</min_height>
+         <max_height>0.0572</max_height>
+         <real_height>0.0572</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200446</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.149718 -0.204152 -0.011875</min>
+            <max>0.149759 0.204160 0.045347</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/5e20f92041125bd68fcccc423a564ed9/tray_051.usd b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/tray_051.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7c420f005edc5e481fc297fc4a2a8424e5af9301
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/tray_051.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e2e24417aedf52eddd6ccbdbe9862258b7a901f4e3eae295b2f34607c34ea88
+size 4930536
diff --git a/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/video.mp4 b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef5bbbbcc7c6f790a7d9f0be9b105c50e495c6af
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c94632b7057b9102a608f8a27cacd632ed2c5e68dddfd18dd52fd04a6b31dba8
+size 612722