diff --git a/.gitattributes b/.gitattributes
index aacc4392a3d7d04d0d19d5f898874d3a92df9fbd..ba1d08d4ecb46d0a4ca4e633673a58f83103f54b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4150,5 +4150,5 @@ dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mesh/tray.gl
 dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mesh/tray_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2f553c3e207355c4b525c102f63521a8/fork_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2f553c3e207355c4b525c102f63521a8/mesh/fork_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/coaster_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/2faeba613c02524487277aa76af2a82d/mesh/coaster_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/tray_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/material.mtl b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..03e78c8f3c1a988124598df3896e31560cbb399f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_026_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_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/material_0.png b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd7f08701ab96aa8a197cfadc7387b01dcf92c3f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e1d734c140846184a63a7b731328b3b8f25790ec3b2279fe045970f8b8cda42
+size 10573973
diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026.glb b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8acf108fbb7f57289c9ccb6941dfbe93fbdbd221
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d55f1dbdd3ff2d674c55baaba4b2c693c8032e3a1df3266770aa684dbe9a5936
+size 13977428
diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026.mtl b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..768b12900d9ef943086f06e77d833150569752ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026.mtl
@@ -0,0 +1,6 @@
+newmtl tray_026_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/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026.obj b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9d55ab14bcb076afff973999d85be15b18ee027
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026.obj
@@ -0,0 +1,129848 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_026_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026_collision.obj b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbf6f53ce96bc9811575bbce505f33f418ca4de6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026_collision.obj
@@ -0,0 +1,4929 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v 0.14248332 0.00621800 0.15789355
+v 0.14244747 0.00653642 0.15789355
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..fd7f08701ab96aa8a197cfadc7387b01dcf92c3f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mesh/tray_026_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/material_0.png
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+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026.obj b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026.obj
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index 0000000000000000000000000000000000000000..233f695c22fb4136facaf74ab3ff93eb581c76a9
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+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026.obj
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision.obj b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4df94435b00786bfd6b90c5f969af17a1d758ad4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision.obj
@@ -0,0 +1,4929 @@
+# https://github.com/mikedh/trimesh
+
+o tray_026_collision.obj
+v -0.10031081 -0.00050114 -0.00839503
+v -0.10002508 -0.15101032 -0.00838883
+v -0.10002508 -0.15734822 -0.00833486
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_0.obj b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b80a0790affc16e8a1950d8a4eeeae8aa786e4ee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_0.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_1.obj b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6ce0efa3129f2b8022bf5a62829bda6af8f73aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_2.obj b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f31d5278e4c5599d31811f915e48393858025e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_3.obj b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9882f52d33ec2caaa00e312d21f5b6babd7e38c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_4.obj b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9430857de40ab0f2b55d626aaa39f3f8a344b1d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_5.obj b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccfadc401ec0e485b501f531400d45e7e32c4716
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_6.obj b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..054028550d8c270ca0af9f4f907b24b3304be4b6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_6.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_7.obj b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4efaa43913e967b2d97d94887638cb5cde79f42d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_7.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_8.obj b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea9016998d2291e6d40902d354aad9fa8cc20391
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_8.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_9.obj b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44bd41713c204065508b4e60d70dbacb5b02a758
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/mesh/tray_026_collision_9.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/tray_026.xml b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/tray_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e1dd57c4b6f4ab2a93342fcfc299a3abe10df8de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/mjcf/tray_026.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_026">
+  <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_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_026_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_026_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_026_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
+    <body name="tray_026">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/textures/material_0.png b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/tray_026.urdf b/dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/tray_026.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_026">
+   <link name="tray_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_026.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_026_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>30fcc01ae5605d13b0d1ee1406c3411d</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>rectangular serving tray</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>shallow rectangular tray with rounded corners and ornate top pattern</description>
+         <min_height>0.0230</min_height>
+         <max_height>0.0230</max_height>
+         <real_height>0.0230</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195522</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.150528 -0.194203 -0.006971</min>
+            <max>0.148646 0.193044 0.016060</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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