diff --git a/.gitattributes b/.gitattributes
index 35af4aec9eac24d984794f939cda11c6c783e4bf..6d3bfabe618efc15673b551a568276461b4f6288 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4105,3 +4105,5 @@ dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/mesh/tray_02
 dataset/kitchen_supplies/tableware/1721e181de105dde8d46f64651d9c45e/tray_024.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1ad89a48b7895f06a2e9ce1650048631/fork_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1ad89a48b7895f06a2e9ce1650048631/mesh/fork_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/tray_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/material.mtl b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6200c59ba344ae3b0639336e11592324d4362d2e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_020_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_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/material_0.png b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..689685196d7f3955e9f917269a0130a00a74ddb7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5d7ad5ab14959d1d51bcbcb515c7d22f9a541c6ce26ca15054cc2e60fca374a
+size 10152610
diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_020.glb b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ae03ddb6c1c62cd68cdca1b90ad3363d641e7d91
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9af457d14f560ffa57c9616adceb2001f02a4916a5b8235b2219568256e08c9
+size 13599912
diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_020.mtl b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..391a06d0c92566874aead8c2d1c2af52a618431b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_020.mtl
@@ -0,0 +1,6 @@
+newmtl tray_020_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/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_020.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bff67533716ed6bb754f7da4f6f0e19167e9d6af
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_020.obj
@@ -0,0 +1,123548 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_020_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_020_collision.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c591d4684ecfd2ec0909237138b0caf2d6b32664
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_020_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020.obj
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index 0000000000000000000000000000000000000000..d30c139e86e7326119235cd29283754713744117
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59fc88725e40ca6a36e818817ad167bd333dfb3a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision.obj
@@ -0,0 +1,5235 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_0.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2636061651253b83fd8abeffc04496b3c737399
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_1.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2d1a8d614436cb310d36c7a912b26291b6b0bed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_1.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_10.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db702d7ac56c9e5c8aa732a24edc3fe887dc87ec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_11.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e582d63b18437340ce9342342c82ac81f2d99ea8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_11.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_12.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94aaa3ca05913dd9ac4dec1a745f2a12fb00272f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_12.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_13.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4395f7172b0e53e71e08758a35167f4016680f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_13.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_14.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..288a64767a6fa7355c8a2a7657f0fb26dac1aec6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_14.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_15.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fe3af4fd2d21b4c952cae1351855ef61403efb4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_15.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_2.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fba2df24f16dbc2a19fc86fc5476a34bc31a3ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_3.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db3777b4b99a0f1c581dceac6726af9b0409e2b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_3.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_4.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b38581f2cfcfba9468b0a359be7865c91cdb863f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_4.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_5.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25536a8c01d3fa0cfd41e58bba67edcf83945dc4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_5.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_6.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14cd2888320e84a06adabbaba56f228b1d741d2a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_6.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_7.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2ab93ec63477a4be9c125bf4f3cdd8eb1e75850
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_7.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_8.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..426e7a739dbec8e70e45a79190ed094f602c8eba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_8.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_9.obj b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..868313f6f23e0912df9c4c2c93973dbca0036c15
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/mesh/tray_020_collision_9.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/tray_020.xml b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/tray_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..774a14f864dcd3227f3f7a0feb3360cd6af712a1
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+++ b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mjcf/tray_020.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_020">
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/tray_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/textures/material_0.png b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/tray_020.urdf b/dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/tray_020.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_020">
+   <link name="tray_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</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>1a4a73f09a275c47b91e6ca389d65aba</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate tray</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>shallow rectangular ornate tray with rounded corners and floral relief</description>
+         <min_height>0.0446</min_height>
+         <max_height>0.0446</max_height>
+         <real_height>0.0446</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195314</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.139488 -0.197552 -0.012975</min>
+            <max>0.144597 0.198406 0.031633</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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