diff --git a/.gitattributes b/.gitattributes
index 077be31b4fc37b8d8491ba39b729b9e5e9cb92d0..a89f4a53f2844403d7773f6b8b209202e5d8dff1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4165,3 +4165,5 @@ dataset/kitchen_supplies/tableware/364d0ff2e4dd5fb89ffd15c7b6113cba/tray_003.usd
 dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/38d395d5a51d50a69d8299b1578dbe7a.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/mesh/fork.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/mesh/fork_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/tray_053.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/material.mtl b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..56e5a98e2c6f2bbb321fbebaad0c625c556e360f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_053_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_053_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/material_0.png b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..08c51a8c65be40ff8be93e76ec373ec914304e17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b31d2e53062ae713cb0c95a39681cdca222bfbad056fc7bf48f76d14ab7c816
+size 13602732
diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053.glb b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0f8d41c8bd522da091b734d76d7b52110a7fa600
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73ddeeb97eaa26017caa68bd94f0ca666ee9c9a0befd05c2e7c08a4d233bda8e
+size 17028060
diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053.mtl b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c0d2351e797d5f722226832b7fdc473073cf7e20
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053.mtl
@@ -0,0 +1,6 @@
+newmtl tray_053_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/380b88b47fcb50dd8860727d96297505/mesh/tray_053.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f925b1cbe57f3f42367eb7259651b379f67f0103
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053.obj
@@ -0,0 +1,131644 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_053_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053_collision.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de9f506be5dd1621b037e30d68c6e5e464b34a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053.obj
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffca4b791817cce87e46575cce7f2e553cde0c95
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision.obj
@@ -0,0 +1,5357 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_0.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caed2dbb5806a515c5d2b9a5c08fde7bfd44019b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_1.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83fa6e12889be2d6857cc0e63582252e13c5bb13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_1.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_10.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91cb2a4dad54af0ae08d0bb26609c2ed51298c18
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_10.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_11.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37b90376d7c838e72280360142820fe6c157ad52
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_11.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_12.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5deba20fca4d0d10f6f652ed4926b92681ecfa7b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_12.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.09292221 0.11658726 -0.01341462
+v -0.09667422 0.11658726 -0.01339899
+v -0.09292221 0.11967292 -0.01341721
+v -0.09292221 0.11658721 -0.00097629
+v -0.09667422 0.11967292 -0.01337033
+v -0.10294073 0.11658726 -0.01280260
+v -0.09292221 0.12595630 -0.01328177
+v -0.09292221 0.13566896 0.00566224
+v -0.09514232 0.13566895 0.00713629
+v -0.09993429 0.13566894 0.01005055
+v -0.10431970 0.13566893 0.01255071
+v -0.10569612 0.13484522 0.01296741
+v -0.10594209 0.13416532 0.01280854
+v -0.10594209 0.12885696 0.01059743
+v -0.10592934 0.11658719 0.00544861
+v -0.09667422 0.12595630 -0.01307081
+v -0.10294073 0.11967292 -0.01258122
+v -0.10554318 0.11658725 -0.01168794
+v -0.10594209 0.11951228 -0.01130770
+v -0.09292221 0.13223970 -0.01267493
+v -0.09292221 0.13566902 -0.01149255
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+v -0.10535966 0.13566893 0.01303773
+v -0.10594209 0.13468831 0.01300126
+v -0.10594209 0.11658719 0.00539653
+v -0.09667422 0.13223969 -0.01202384
+v -0.10294073 0.12595629 -0.01150561
+v -0.10594209 0.11658725 -0.01151605
+v -0.10594209 0.12595629 -0.01003676
+v -0.09655697 0.13566902 -0.01073729
+v -0.10594209 0.13566893 0.01318878
+v -0.10285535 0.13195950 -0.00963046
+v -0.10006811 0.13566901 -0.00937782
+v -0.10594209 0.12912226 -0.00903668
+v -0.10594209 0.13566900 -0.00577081
+v -0.10594209 0.13000948 -0.00875280
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+v -0.10594209 0.13510492 -0.00609115
+v -0.10594209 0.13342574 -0.00696882
+v -0.10488811 0.13386656 -0.00746104
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+f 36 39 40
+f 36 40 37
+f 37 40 38
+f 38 40 39
+
diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_13.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2559f7d792acd8a35b2a2696a6713f95268b7ce8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_13.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.11319174 0.14032528 0.01476179
+v 0.11319174 0.14032534 -0.00211666
+v 0.11016607 0.14032528 0.01469412
+v 0.11319174 0.00634433 0.01318013
+v 0.10858215 0.11524983 -0.00708127
+v 0.10858215 0.11843672 -0.00654217
+v 0.10858215 0.14032534 -0.00220237
+v 0.11319174 0.10293501 -0.00424831
+v 0.10858215 0.10709242 -0.00795195
+v 0.10858215 0.11106621 -0.00756849
+v 0.10858215 0.11330884 -0.00734517
+v 0.10858215 0.14032528 0.01450691
+v 0.11275402 0.00634433 0.01308766
+v 0.11319174 0.00634440 -0.00423514
+v 0.11319174 0.10081041 -0.00432727
+v 0.10858215 0.10081042 -0.00820911
+v 0.10858215 0.10528257 -0.00802864
+v 0.10858215 0.00634434 0.01089749
+v 0.10858215 0.00634441 -0.00823427
+v 0.10858215 0.00651490 -0.00823653
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+f 22 26 23
+f 24 26 25
+
diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_14.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a87f68946a3563a8b25d77fe4115ea7e40255df9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_14.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.09292221 0.06966011 0.00679239
+v -0.09292221 0.06444372 0.00679237
+v -0.09292221 0.07593815 0.00679043
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+v -0.10594209 0.06444373 0.00217512
+v -0.09292221 0.06444379 -0.01344031
+v -0.09292221 0.08197120 0.00678451
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+v -0.09292221 0.08844829 0.00674688
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+v -0.09292221 0.09453749 0.00634265
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+v -0.10594209 0.11658719 0.00539748
+v -0.10594209 0.06444379 -0.01263972
+v -0.09667422 0.06444379 -0.01344427
+v -0.09292221 0.08825441 -0.01344618
+v -0.09292221 0.10092271 0.00438479
+v -0.09292221 0.11658721 -0.00097750
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+v -0.10294073 0.06444379 -0.01329565
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+v -0.10594209 0.08825441 -0.01261784
+v -0.10594209 0.09453756 -0.01260394
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+
diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_15.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aa63f8ff098fc9df041c0d61ce73daa2a6d6010
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_15.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.07912639 0.06444379 -0.01344960
+v -0.06533001 0.06444379 -0.01344960
+v -0.07912639 0.06444370 0.01066299
+v -0.07912639 0.10081635 -0.01345447
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+v -0.02017877 0.06444379 -0.01343959
+v -0.02773186 0.13223884 -0.01346186
+v -0.07786850 0.06444370 0.01076311
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+v -0.07160214 0.09454152 0.01195958
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+v -0.07912639 0.09327961 0.01090837
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+v -0.06533001 0.13223884 -0.01346186
+v -0.05279729 0.13566903 -0.01343182
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+v -0.05906365 0.11966835 0.01067070
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+v -0.02040380 0.13566898 0.00087205
+v -0.02017877 0.12944302 0.00770234
+v -0.02017877 0.11338666 0.01071073
+v -0.02017877 0.12095120 0.01023520
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+v -0.07912639 0.11333088 0.00953438
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_16.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afb3943836806784abf01efaa8de8f30c50d8105
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_16.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_17.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13a52b43c2599925cd5bc8c122e8930cd539b4f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_17.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.07912639 0.09327961 0.01091038
+v -0.07912639 0.09454152 0.01089608
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+
diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_18.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07067bb6b5a7e36bf619d97ac9dee9575e7f12bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_18.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.07571119 0.00634443 -0.01344758
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_19.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696d6662ab1430b7af2675b0e6bfe109721b383d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_19.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_2.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9902c03941e3ff45bf1baa5bc9e548550516002
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_2.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_20.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df2041699bca20138a474d6d6f2a8471993d9662
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_20.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_3.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5215d82f8ac819a6e50dd924bbcdac2e48a289bb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_3.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_4.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d66cdf00b334b71dfc74d4c4c3de8650cb33a20
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_4.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_5.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e32cf7b0040874572bee0c49ed30e462530c847
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_5.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_6.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e73400b15940be0cfa59276fc6b8f18341fa5d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_6.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_7.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..077efd4133e6beeec30e3caadb51cb4b852e1883
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_7.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_8.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0015aad93bf6370b2dbecf76cf4c159d2bb632dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_8.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_9.obj b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c778070071f76045a43c1fd4ba2b9ec4df94bdd4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/mesh/tray_053_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/tray_053.xml b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/tray_053.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1c635f932df077d5416a7f3ae9ec1ef1e555501f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mjcf/tray_053.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_053">
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+    <mesh name="collision_mesh_0_0" file="mesh/tray_053_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_053_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_053_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_053_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_053_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_053_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_053_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_053_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_053_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_053_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_053_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_12" file="mesh/tray_053_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_053_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/tray_053_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_053_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_053_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_053_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_053_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_053_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
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+      <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/380b88b47fcb50dd8860727d96297505/textures/material_0.png b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..08c51a8c65be40ff8be93e76ec373ec914304e17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b31d2e53062ae713cb0c95a39681cdca222bfbad056fc7bf48f76d14ab7c816
+size 13602732
diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/tray_053.urdf b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/tray_053.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d2ed1f469ea595a30af27feace7670d80e2cc11f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/tray_053.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_053">
+   <link name="tray_053">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_053.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_053_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>380b88b47fcb50dd8860727d96297505</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 rim and decorative floral surface</description>
+         <min_height>0.0308</min_height>
+         <max_height>0.0308</max_height>
+         <real_height>0.0308</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200531</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.158415 -0.186288 -0.012750</min>
+            <max>0.146731 0.193182 0.018093</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/tray_053.usd b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/tray_053.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f88270346596081f6e47e39885751c022ebd53c5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/tray_053.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f83cd455ff85ce4d9bc97aca11a4356a07c8dea493af78e206e7acd433777260
+size 4971369
diff --git a/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/video.mp4 b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9091bb1c92bfdfb85b36572b0540ce010b21b67e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cde6ecd9ddfbfeeb9126176e246a588b387fa35c4568925a7307cfbaa64ef73
+size 475040