diff --git a/.gitattributes b/.gitattributes
index c3ed4c9a4a0b64ba2f5478b497c0173e6022a8c3..a3d57718406a11ad0efc045b83ca95c302c65fd4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4311,5 +4311,5 @@ dataset/kitchen_supplies/tableware/ab607e999d3151638dcab9473db45e54/mesh/wooden_
 dataset/kitchen_supplies/tableware/ab607e999d3151638dcab9473db45e54/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/a85f83aaa12b59fd9d756c722c0a7ff1/mesh/tray_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/a85f83aaa12b59fd9d756c722c0a7ff1/tray_021.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/abe26afde9e25c30943a77b1d1b5852a/mesh/spoon_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/abe26afde9e25c30943a77b1d1b5852a/spoon_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/tray_057.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/material.mtl b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aff9849b8330be9da84c6db2d0fa0ffe7717cab3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_057_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/material_0.png b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d59e171eaa44360cfff9cc21dd5724044456d49
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057.glb b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057.mtl b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d1b10b7f457ce7cdd0ed56a7b2b02cf4ead3e6aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057.mtl
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+newmtl tray_057_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43dccbe702a718069a9851ca7baf73df3da6b505
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057.obj
@@ -0,0 +1,103448 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_057_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057_collision.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09a6ccc1a7c48c707cd7c61ee134eb0d5a16c264
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057_collision.obj
@@ -0,0 +1,8564 @@
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d59e171eaa44360cfff9cc21dd5724044456d49
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057.obj
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53eac12ce8939538132785a7ef7be4d629ac4793
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision.obj
@@ -0,0 +1,8564 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_0.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6941945958dd513b8b9df06713157c7503ec640a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_1.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd3c6e33d3f7cb88de9ba0c638e8054af770d665
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_1.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_10.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3a75236120d8eed5cb3f7a0ed32cfa5204b6159
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_10.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_11.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edff6ea3bc9451382c6e9fba4e7f24b7700ed20d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_11.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_12.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fae819bdd874bd8ce1ff98dedcb5dcaa673a126
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_12.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_13.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62040c29788d7ba91b6bdfd96ebb573015a0501f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_13.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_14.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39d5762dd345faf169defa03ddc8871c81b4aaa8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_14.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_15.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11104c634bb6378e03046c43c79cd9aead525634
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_16.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b9a5f4eeefe26506df0b765f881d9167ab607b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_16.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_17.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e08bbc1faa5ad1d1bb7f6623cd7a5095a20200e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_17.obj
@@ -0,0 +1,280 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_18.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09bc7c3c6cb394fa7b8a1e0b19c0cdf87b8904f9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_18.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_19.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c59e8a32bb6f827f08d4875906fff5c4aa3adc5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_19.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_2.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81968f8529ae3f49025da4bb412f11dbc51aa1a5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_2.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_20.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b64f4555558402619ff947db4f94c9266fcfbca4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_21.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb8fcf884b138d19e98a9b1a2f4d9e0d877d6645
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_21.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.08613210 0.18039201 0.01556510
+v 0.08264388 0.18020416 0.01878377
+v 0.08942423 0.18031186 0.01556510
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+v 0.08852691 0.18005138 0.01878377
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+
diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_22.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7a169432589249274fc5d78eae8f17602137ffd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_22.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.09046940 -0.16020900 0.00667736
+v -0.09046940 -0.16020905 0.01770538
+v -0.09046940 -0.15520106 0.00667738
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+v -0.03396834 -0.15835584 0.00667737
+v -0.03267844 -0.15869804 0.00667737
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+
diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_23.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6ca3165083707855386c0c188bf2c6f9b518415
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_23.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.03035135 0.16846503 0.01878373
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_3.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec96ca5d0ffbfa22891a709fa1d562e3cc85c859
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_3.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_4.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e85943f7ad747739cfd0da49fd85a620f2c1d819
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_4.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_5.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b1c966825cf988b5656e4eea630fb71cbd18ffe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_5.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_6.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5769a1fe29b98cea790ac7e93465799764ee599
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_6.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_7.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..129f0622ab731c1a98042c2b7d33a958a13c2cdd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_8.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dfe5bede7209f17c4f05fefba3996c8d13367c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_8.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_9.obj b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be9f856b46e5875ee2c0679c17cd51b77731e245
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_9.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/tray_057.xml b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/tray_057.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c958fcb935886be5c0bbb27120c1db3becf1be86
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+++ b/dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/tray_057.xml
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+   <link name="tray_057">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_057.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_057_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
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+      </collision>
+      <inertial>
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+         <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>aae74f42552b5364b0afc6e325e1bf3e</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>wooden serving tray</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular wooden tray with rounded corners and side handles</description>
+         <min_height>0.0530</min_height>
+         <max_height>0.0530</max_height>
+         <real_height>0.0530</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200707</generate_time>
+         <gs_model>""</gs_model>
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+            <max>0.134653 0.179484 0.040667</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
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+            <geometry>
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+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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