diff --git a/.gitattributes b/.gitattributes
index 515a23501c6168998d58b4aab182d4823b741642..f14e7776e599db696411a7d2709854a4de8ee756 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4297,15 +4297,5 @@ dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster
 dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/a2ec3f6f1dd3577a82e06fc9b383ef56/fork_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/a2ec3f6f1dd3577a82e06fc9b383ef56/mesh/fork_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/a30524d0629357a9bd9f84e462a64a83/a30524d0629357a9bd9f84e462a64a83.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/a30524d0629357a9bd9f84e462a64a83/mesh/napkin.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/a30524d0629357a9bd9f84e462a64a83/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/8e361317c45150208b904db1618ace6d/coaster_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/8e361317c45150208b904db1618ace6d/mesh/coaster_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/8e361317c45150208b904db1618ace6d/mesh/coaster_010.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/8e361317c45150208b904db1618ace6d/mjcf/mesh/coaster_010.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/9c28ccb71d6d5f42a457de09b3c3e697/mesh/tray_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/9c28ccb71d6d5f42a457de09b3c3e697/tray_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/a4a7da2bff6352cf9efc8cd19a9ecda5/a4a7da2bff6352cf9efc8cd19a9ecda5.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/a4a7da2bff6352cf9efc8cd19a9ecda5/mesh/napkin.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/a4a7da2bff6352cf9efc8cd19a9ecda5/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/tray_047.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/material.mtl b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..07fc32ceecbc29cdf39d07ab734f1a1fa1ef6b93
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_047_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_047_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/material_0.png b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5f27649da68b8538bc7c89443da1a4db14896db
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9b6234f744e8ecb919b8dafecbc422ba76057c6fa1767249a5b318d9d34a48a
+size 9035192
diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047.glb b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047.glb
new file mode 100644
index 0000000000000000000000000000000000000000..edf018d820f770e9eb5753341dc16c93eae0bf79
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7577a29aac3b9258fdcf2bf5e6c15b410bbf4b46f91c811b6dc966e9177ff750
+size 12502380
diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047.mtl b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..52d4270bcef6a2d7fddbaca24f21d81a522d30e5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047.mtl
@@ -0,0 +1,6 @@
+newmtl tray_047_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/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf9177e1d7bb8c17b4534d30d5aafa9a4cb43297
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047.obj
@@ -0,0 +1,127086 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_047_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047_collision.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3294f3cb1b7d0de52a5ad04eddff7661b2b1a31
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047_collision.obj
@@ -0,0 +1,5315 @@
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mesh/tray_047_geometry_Looks_material_0.png
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047.obj
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b40174445aa7f488400b3a0d4dd6a46e66e99081
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision.obj
@@ -0,0 +1,5315 @@
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_0.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ae3abc13f27a38cd3c8c551370ebfd5db2ce22
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_1.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0da13f37d8d8e08e554970157f08de7bbee1955
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_1.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_10.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a8965863db9412a93f0793376e3e31fca19b6fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_10.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.08406014 0.11858869 0.00180417
+v 0.04856198 0.07735211 0.00237567
+v 0.05428705 0.05446564 0.00233779
+v 0.05428705 0.05322439 0.00232720
+v 0.05907176 0.05322439 0.00212455
+v 0.08285705 0.05322440 0.00053963
+v 0.08406014 0.05322440 0.00041562
+v 0.08406014 0.11858875 -0.01243590
+v -0.05721339 0.11858870 0.00068052
+v -0.05206914 0.10901693 0.00190244
+v -0.00285295 0.10595218 0.00231680
+v 0.00287211 0.10595218 0.00230622
+v 0.00287211 0.10023217 0.00235308
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+v -0.04857049 0.07735211 0.00243466
+v -0.05428172 0.05446564 0.00238164
+v -0.05428172 0.05322439 0.00237106
+v 0.08406014 0.05322445 -0.01298663
+v 0.08406014 0.11739868 -0.01262495
+v 0.08285705 0.11858875 -0.01260528
+v -0.05721339 0.11858875 -0.01298790
+v -0.05721339 0.11146107 0.00123702
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+
diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_11.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe7deffd8a44f858253bd55d5cdbd951c7a2f77d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_11.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.05915427 -0.11837432 -0.01299021
+v -0.05915427 -0.11837437 0.00068751
+v -0.05915427 -0.11800479 -0.01299195
+v 0.07142600 -0.11716493 -0.01300753
+v 0.06570302 -0.11837432 -0.01299368
+v 0.08553513 -0.11837438 0.00203138
+v -0.05915427 -0.11716498 0.00086069
+v -0.05915427 -0.11716493 -0.01299368
+v 0.08285779 -0.10572614 -0.01300403
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+v 0.08409022 0.05322445 -0.01298785
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+v 0.08553513 0.05322440 0.00026038
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+v 0.08285779 -0.11716493 -0.01283435
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+
diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_12.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc7128dfd269c26712fb4a978c944d4165ed1ddf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_12.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v 0.08406014 0.11404890 0.00061949
+v 0.08570939 0.11155934 0.00061948
+v 0.08406014 0.13245485 0.01291430
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_13.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d960c2e1ab619fef0d807871508ab9955fdddd71
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_13.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_14.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aab01a6e2350ae4ec89a2031bee21661fe90a4e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_14.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_2.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26a63d54371c010fa0f88e179d8296984635e412
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_3.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44d34fffb5e136107e8aa819002750c9cd70c36f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_3.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_4.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efba1aabd68457a414f718cd1ad676b5ccf595e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_4.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_5.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0be5b987d324cb3345bfbb02c6522e8b98e247fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_5.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_6.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cf2a64bb59df76d3fd0376b610395ea8f3cdc0a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_6.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_7.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea8f4ce31853621d0315c361098a033a716f90ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_7.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_8.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d71b40a9500d2b14107f4ed8b1da5b7d4257f00
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_8.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_9.obj b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8d9f6c228de5a4e7ff2a179f4055c1f2c70a6c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/mesh/tray_047_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/tray_047.xml b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/tray_047.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dce19525691bc76c263a213badb638ea16c9d2a5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/mjcf/tray_047.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_047">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/tray_047_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_047_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_047_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_047_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_047_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_047_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_047_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_047_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_047_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_047_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_047_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_047_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_047_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_047_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_047_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/textures/material_0.png b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9b6234f744e8ecb919b8dafecbc422ba76057c6fa1767249a5b318d9d34a48a
+size 9035192
diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/tray_047.urdf b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/tray_047.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eabf16ce11c71ce8652a45e5d6646485e4328259
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/tray_047.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_047">
+   <link name="tray_047">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_047.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_047_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</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>a0b1c7d9d185592a8a82e2e5d5118d4b</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>rectangular ornate serving tray with raised decorative rim</description>
+         <min_height>0.0385</min_height>
+         <max_height>0.0385</max_height>
+         <real_height>0.0385</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200311</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.137896 -0.173286 -0.011426</min>
+            <max>0.137899 0.173512 0.027073</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/a0b1c7d9d185592a8a82e2e5d5118d4b/tray_047.usd b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/tray_047.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ea55772db90e363071a18b65b293a518488ebc0651664e64625e693bd9661c42
+size 5010321
diff --git a/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/video.mp4 b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a0b1c7d9d185592a8a82e2e5d5118d4b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e18446b1cb5002e19048368753c79564e5b92a7962759d4ca5486599b348b695
+size 381895