diff --git a/.gitattributes b/.gitattributes
index 2f8292452c709990d8427fb99588262c317bf181..503ea6958a842cc8bce1b63ce2632dc49a1918a1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4304,3 +4304,5 @@ dataset/kitchen_supplies/tableware/aaa2bca962955e90bf0140812ff0e8a0/mesh/spoon_0
 dataset/kitchen_supplies/tableware/aaa2bca962955e90bf0140812ff0e8a0/spoon_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/tray_080.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/tray_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/tray_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/material.mtl b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1c2f736ca79d2101fdf7d55d266b57a741b9aed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/material_0.png b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b7301e539e349c86d804a3e20509321e1a69edf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61012459389080bc96a22d856b91a9a7e4f6cd439cf5dabc392646ab772df186
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/tray_014.glb b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/tray_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bc947ac6c644cf4a92c493012253a4a036da1ead
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/tray_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b49bfdec754b5671fb135130b4f87e15460135d97a58d07c53ebfc1e6339c535
+size 17655528
diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/tray_014.mtl b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/tray_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98038490f2b4fe28cfc49ca88627a8df5d32d2a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/tray_014.mtl
@@ -0,0 +1,6 @@
+newmtl tray_014_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/a4f3b8d0ea41562890fc21d5353f51c2/mesh/tray_014.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/tray_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ebbea5db8a5baf06a2779911b1e8f66f7575f6c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/tray_014.obj
@@ -0,0 +1,132914 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_014_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/tray_014_collision.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/tray_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b930423fc79a5dac5f819008a9ccb1f62734b5bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mesh/tray_014_collision.obj
@@ -0,0 +1,5496 @@
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba2ee5547c9b4ea46c06affd87b0f539ad0e4867
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision.obj
@@ -0,0 +1,5496 @@
+# https://github.com/mikedh/trimesh
+
+o tray_014_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_0.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9732dd486d8b097d5ebb73a1d7b1281741dafbb3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_0.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_1.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe1f48e7677bd2749e582442d2ab7a63932f6bb6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_1.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_10.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0750fa98e6d7566f432f58e89533e43a3799c149
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_10.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_11.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e88aa0fb0f244c14c0b122c8462669bbb904baa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_11.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_12.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ebb01db5d9e048e61ff2ebe77ab4ba7c6325e76
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_12.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_13.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3dda1c60c6d527166cb38da5884ec4165dbe6ba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_13.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_14.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdb958880b367a25773219ec8e3dfb2685fb3501
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_14.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_15.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424cc7dd303d749dd07b7c64ed3eaafb3e0b04f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_15.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+v 0.07168784 0.18420748 0.02117762
+v 0.06545559 0.18906397 0.01703202
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+
diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_16.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85b18669d72f9fd1c266f1badca55dab876fecf0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_16.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.10269080 -0.17781076 0.02193603
+v -0.10891627 -0.17781076 0.02179642
+v -0.09023738 -0.18405570 0.02109087
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+
diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_17.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6a5b1f59844bab33316f3ccef3f37d3107432b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_17.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.07771378 -0.18890661 0.01165494
+v 0.07791748 -0.18890661 0.01165494
+v 0.07771378 -0.18879538 0.01685676
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+v 0.09220649 -0.18708955 0.01963942
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_18.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f44944ccd99f48fdf50d316e9350f03fc133e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_18.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.07740651 -0.11591194 -0.00421641
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+v 0.07740651 -0.11491194 -0.00421641
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+
diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_2.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218be2e4d6f0a30f4b5928aa40392358622b7aea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_2.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_3.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baccd7a98ab84cf53c19bda2a1aa9998daf183e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_3.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_4.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44b6136b39387515d2c19557df81be3577b44042
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_4.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_5.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4307bcf2b8b2789797fca9393faf60278847c249
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_5.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_6.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3eb344342a162b94ac82f2db32a02104a3f3887
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_7.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc056a618ddf2556b64caa7eaf1270868be88668
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_7.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_8.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90ece98f23b0047f273650d6f5f98de8864f9048
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_8.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_9.obj b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5a51f5864b184d0bba687875ade4f9328e85186
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/mesh/tray_014_collision_9.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/tray_014.xml b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/tray_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cd81ec3c9103e055ac6fe79b52663f1a35fbfb1f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/mjcf/tray_014.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_8" file="mesh/tray_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_16" file="mesh/tray_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_18" file="mesh/tray_014_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_014">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/textures/material_0.png b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/textures/material_0.png
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+size 14159950
diff --git a/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/tray_014.urdf b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/tray_014.urdf
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/tray_014.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_014">
+   <link name="tray_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_014.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_014_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>a4f3b8d0ea41562890fc21d5353f51c2</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate tray</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>shallow rectangular gray tray with rounded corners and ornate floral surface pattern</description>
+         <min_height>0.0368</min_height>
+         <max_height>0.0368</max_height>
+         <real_height>0.0368</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195108</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
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+            <max>0.152664 0.188161 0.022567</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/a4f3b8d0ea41562890fc21d5353f51c2/tray_014.usd b/dataset/kitchen_supplies/tableware/a4f3b8d0ea41562890fc21d5353f51c2/tray_014.usd
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