diff --git a/.gitattributes b/.gitattributes
index a87fa7586b87d4ab50d6485fd0dd464e703f0b32..b08c457104ee8f82fe9e0b45c70f845642fc26e9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4190,9 +4190,5 @@ dataset/kitchen_supplies/tableware/438e9604c6c656faad7165a0ac5aa83c/fork_002.usd
 dataset/kitchen_supplies/tableware/438e9604c6c656faad7165a0ac5aa83c/mesh/fork_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/tray_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/45da844f19165e7fb9744c087620b4d8/mesh/spoon_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/45da844f19165e7fb9744c087620b4d8/spoon_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/mesh/tray_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/tray_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4604381c57625dec8bac1610fce9b0e0/mesh/tray_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/4604381c57625dec8bac1610fce9b0e0/tray_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/tray_046.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/tray_046.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/material.mtl b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8a90c389c14e0e97c8c5e6e355c61fb3969a7d8f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_046_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_046_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/material_0.png b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b8a22b522bd5c3230b045781b09635bc4a7a043
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3360ecb21183269bb16d5075309b7a27a1fed8c639d4256e507d588d3e02b4d0
+size 12425038
diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/tray_046.glb b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/tray_046.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bd888881c35944dde3af62cdd69e23991cd5d71c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/tray_046.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2db166b7c447593a882d9782add354aee0a898633163bf68839fca2bf447cc1
+size 15798636
diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/tray_046.mtl b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/tray_046.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..977bdea5d4549353e7b9007805dde1656afc9893
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/tray_046.mtl
@@ -0,0 +1,6 @@
+newmtl tray_046_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/453d423f7a105a5c852ae01720e86d75/mesh/tray_046.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/tray_046.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07c6231adf1d4c16b54a8654f74423e33ca5987e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/tray_046.obj
@@ -0,0 +1,112900 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_046_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/tray_046_collision.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/tray_046_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d960ae811b1ca199dd093764ce3e6e01ccd280a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/tray_046_collision.obj
@@ -0,0 +1,5120 @@
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046.obj
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+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046.obj
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d266134fca5ac8058dd78978bf54b31e68a0227f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision.obj
@@ -0,0 +1,5120 @@
+# https://github.com/mikedh/trimesh
+
+o tray_046_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_0.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ea97bc44ebc3d581a5006d082df204cc6b6c529
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_0.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_1.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..945b61d2753e0a4d25883ced3b024972fcf79678
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_1.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_10.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60377ca40de9ad491afedd76eb668e068b4c1d92
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_11.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..620e82f12ed4954ecd247856372b330cbfcd85eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_11.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_12.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3b2d273934dd2d59ed8dbc53cdc920f70c7f8eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_12.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_13.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa144a9845b2fae88e592f0f769b8e23d18e69da
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_13.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_14.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d08aa03329553b76eb7d1909de2704f17cda13bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_14.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_2.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15ade3fecb0cd6869b7305e16b3d1d760cf87d52
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_2.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_3.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bd5d4ddf81b1b423831d79cc8367d2df4c504ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_3.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_4.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5185921023f2d2cc9bd09751a32c2187bf3f6da3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_5.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85bae153a47685c53351a7922cc39a868744658d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_5.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_6.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41910c6fd6ab329bcc84d6af6fcdafd10814a14a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_6.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_7.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1241ff14ea423c661165f52e216b0acab0a7ed98
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_7.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_8.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde166bc15e15dd4373a0e673b681e775c786d86
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_8.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_9.obj b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acd111a490dc4188eed8a222179cb5af3231f0fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/mesh/tray_046_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/tray_046.xml b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/tray_046.xml
new file mode 100644
index 0000000000000000000000000000000000000000..71be6f18b6c712046e98ae4d123bed06e75f0104
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mjcf/tray_046.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_046">
+  <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_046.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_046_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_046_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_046_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_046_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_046_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_046_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_046_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_046_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_046_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_046_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_046_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_046_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_046_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_046_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_046_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_046">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/textures/material_0.png b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3360ecb21183269bb16d5075309b7a27a1fed8c639d4256e507d588d3e02b4d0
+size 12425038
diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/tray_046.urdf b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/tray_046.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..11ce9a23e4d48afb080285e2d653910d899e0a1b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/tray_046.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_046">
+   <link name="tray_046">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_046.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_046_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>453d423f7a105a5c852ae01720e86d75</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>square serving tray</name>
+         <color>white,brown</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>shallow square tray with rounded corners and ornate floral top pattern</description>
+         <min_height>0.0397</min_height>
+         <max_height>0.0397</max_height>
+         <real_height>0.0397</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200247</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.182621 -0.172566 -0.012971</min>
+            <max>0.182509 0.172710 0.026761</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/453d423f7a105a5c852ae01720e86d75/tray_046.usd b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/tray_046.usd
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+size 4930787
diff --git a/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/video.mp4 b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/video.mp4
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/video.mp4
@@ -0,0 +1,3 @@
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