diff --git a/.gitattributes b/.gitattributes
index 93929775accfbf759e49267b7b62457ae9d53f88..c59d06461346813d5b6b6199306e025ce5a28f2a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4212,5 +4212,5 @@ dataset/kitchen_supplies/tableware/57bf72d87cce5c8684c8e217df6cb481/spoon_016.us
 dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/5ec47cd32a0e549e875cf3c36ba307e7.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/mesh/napkin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/tray_051.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/tray_042.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/material.mtl b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a4a79b18dc0ea427459a4e2fba9222f4cd9d5ee2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_042_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_042_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/material_0.png b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c20ba46af9b46596930f2b7e8fb8946cee010e5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c73e1118ce69f2453afeed2e3febd9f99a189d4363daa9adbc7757f611c7b540
+size 16957405
diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042.glb b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7a0f4f45e0d60cdfe3aa50c53f244e0868b9ecaa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c13130af6f1ef2d639d591e089ad5d10d85e4af21c27bce1aceba9abb12fd238
+size 20070504
diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042.mtl b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9f4aaeb26647cd2efd86b7ee0a35ecee4252b45d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042.mtl
@@ -0,0 +1,6 @@
+newmtl tray_042_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/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49f1af9b3daa016fe67e992953ad8ba5b644dc5a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042.obj
@@ -0,0 +1,128605 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_042_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042_collision.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b896e47dabcffeab481b8324cd2f093d8059a64
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c20ba46af9b46596930f2b7e8fb8946cee010e5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c20ba46af9b46596930f2b7e8fb8946cee010e5
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042.obj
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index 0000000000000000000000000000000000000000..db8d4f67835386f405b83a421d91f70793872c2b
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..966c949d3001d95b7488385bfe584b9440b68ecd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision.obj
@@ -0,0 +1,5924 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_0.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bb5572b50fd3a809cf6c56e399beada3ff5ee65
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_1.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e3e87af7b8a35a693f40205a1475a4e57764c52
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_1.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_10.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9927a778ebd143f82cedc6bc0aacce2ad3a241a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_10.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v -0.09592674 -0.15363724 -0.00117634
+v -0.13403727 -0.12971476 -0.00117626
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+v -0.12638020 -0.15363724 -0.00117634
+v -0.13378478 -0.13207773 -0.00117627
+v -0.13579980 -0.12971476 0.00012846
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+v -0.12279687 -0.15363730 0.01616850
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+v -0.12692887 -0.15281055 -0.00117634
+v -0.13345947 -0.13457185 -0.00117627
+v -0.13893643 -0.13603321 0.00300501
+v -0.13930544 -0.12971477 0.00272701
+v -0.13544049 -0.12971482 0.01736245
+v -0.12914296 -0.14869824 0.01714432
+v -0.12914296 -0.15363730 0.01729150
+v -0.13277970 -0.15363725 0.00293045
+v -0.13294964 -0.15304476 0.00281960
+v -0.12824956 -0.15023915 -0.00117633
+v -0.13294478 -0.13723928 -0.00117628
+v -0.13864510 -0.13939617 0.00321761
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+v -0.14174289 -0.12971482 0.01593598
+v -0.13544049 -0.13603326 0.01738787
+v -0.13544049 -0.14236340 0.01736786
+v -0.13544049 -0.14869824 0.01689537
+v -0.13565413 -0.15363730 0.01577780
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+v -0.13909666 -0.15287384 0.01421141
+v -0.13940255 -0.15363728 0.01103500
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+
diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_11.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72ec0b74eef4c642933ee1655c6aa17d191bf003
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_11.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.14572188 -0.11702454 0.01103527
+v -0.14537469 -0.11702453 0.00783949
+v -0.14536781 -0.12336406 0.00784854
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+v -0.14523718 -0.11702455 0.01410584
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+v -0.14262468 -0.04103954 0.00524467
+v -0.14259375 -0.12336405 0.00525526
+v -0.14528188 -0.12971478 0.00795740
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+v -0.14174124 -0.12336409 0.01605850
+v -0.14514094 -0.12969244 0.01397694
+v -0.14174468 -0.12971481 0.01593688
+v -0.14174124 -0.11702456 0.01606215
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+v -0.13947937 -0.08536038 0.00258771
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+v -0.12589433 -0.01549135 0.01372148
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+
diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_12.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e17011bcddcc85cabec1e1dd0853ad99c89ceee6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_12.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.11212165 -0.12969441 -0.00010457
+v 0.11250976 0.00011459 -0.00010751
+v 0.13539203 -0.12969441 -0.00010457
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+
diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_13.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bc8883bbfb1c0cb6e70e9a6b4bf060cbf10d0c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_13.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.14547309 -0.12969731 0.01103180
+v 0.14547876 -0.12970015 0.01103522
+v 0.14525187 -0.12969730 0.00798392
+v 0.14511572 -0.12969732 0.01393919
+v 0.14497391 -0.13342935 0.01375243
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+v 0.14507601 -0.13418312 0.00820321
+v 0.14243832 -0.12969729 0.00539005
+v 0.14511005 -0.12970016 0.01394262
+v 0.14174061 -0.12969733 0.01589915
+v 0.14343667 -0.14236686 0.01103518
+v 0.14458252 -0.13744297 0.01103520
+v 0.14220575 -0.13573911 0.01526694
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+v 0.14007291 -0.14869593 0.00696104
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+v 0.14254611 -0.13618850 0.00622439
+v 0.13891573 -0.13603489 0.00301889
+v 0.13929011 -0.12970012 0.00274136
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+v 0.13543852 -0.13603494 0.01739480
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+v 0.13568243 -0.15495393 0.01542963
+v 0.13433806 -0.15875421 0.01490023
+v 0.13579020 -0.15875421 0.01260446
+v 0.13639149 -0.15875420 0.01103512
+v 0.13771883 -0.15663218 0.01103512
+v 0.13938654 -0.15346622 0.01103514
+v 0.13441179 -0.15875418 0.00661836
+v 0.13550091 -0.15514447 0.00571548
+v 0.13706651 -0.14869592 0.00436717
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+v 0.13539313 -0.12970011 -0.00010778
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+
diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_14.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..682c413b2c74981d3ed95f050e0d3b0d8d3f5698
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_14.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.13643191 0.15898941 0.01103655
+v 0.13906671 0.15305958 0.01418567
+v 0.13772689 0.15689519 0.01103655
+v 0.13918444 0.15331852 0.00779669
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+v 0.13436330 0.15898940 0.01492847
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+v 0.14495860 0.13354292 0.01372692
+v 0.14336650 0.14261408 0.01103649
+v 0.14136517 0.14894512 0.01103652
+v 0.13939747 0.15372825 0.01103653
+v 0.13706538 0.14894514 0.00437371
+v 0.13550692 0.15540706 0.00570527
+v 0.13443057 0.15898943 0.00659183
+v 0.14505950 0.13428559 0.00822792
+v 0.14005897 0.14894513 0.00696661
+v 0.12913853 0.15898939 0.01685047
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+v 0.14506511 0.13431403 0.01103646
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+v 0.13801280 0.14377220 0.00366342
+v 0.13391483 0.14894515 0.00215563
+v 0.13293378 0.15327586 0.00282996
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+
diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_2.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebeb687c8cb2bf4cc5a4d147d692f58599f92af7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_2.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v -0.00002439 -0.15363957 -0.00276078
+v -0.00002439 -0.17531273 0.01499210
+v -0.00002439 -0.15363954 -0.01105173
+v -0.01575647 -0.15363957 -0.00258484
+v -0.00002439 -0.17785394 0.01597073
+v -0.02066738 -0.15363957 -0.00255461
+v -0.07978564 -0.17510988 0.01507457
+v -0.00002439 -0.15503261 -0.01104899
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+v -0.00002439 -0.18036071 0.01693562
+v -0.02205711 -0.15363957 -0.00255186
+v -0.07978564 -0.17194483 0.01249878
+v -0.07978564 -0.18036071 0.01701534
+v -0.00002439 -0.16136653 -0.01087307
+v -0.01575647 -0.16136653 -0.01087307
+v -0.02835775 -0.16136653 -0.01087032
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+v -0.06122725 -0.15363954 -0.01103523
+v -0.00002439 -0.18669463 0.01703180
+v -0.05354469 -0.15363957 -0.00259859
+v -0.07978564 -0.15363957 -0.00273879
+v -0.07978564 -0.18669463 0.01688886
+v -0.07874724 -0.18669463 0.01692459
+v -0.07244660 -0.18669463 0.01699057
+v -0.06614597 -0.18669463 0.01700431
+v -0.05984533 -0.18669463 0.01700981
+v -0.02835775 -0.18669463 0.01702356
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_3.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9bbbb0d5daa3d27bcd6ec28b78429d0e1d89e31
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_4.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7aa5ec7180bc4e04caa717733de0e6c9275a1f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_5.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec938037fee6a5c6a6842f04173b38bc19efd273
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_5.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_6.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c792f11f900a1b173fda890a33c96cf8d3cbc126
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_7.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6882e793403bac75314f706075d6462734d8171c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_7.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_8.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47b617a8d04d040af9457b5d07a8b24a12776d9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_8.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_9.obj b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f77e0a28ebe526be916f49c732fdc048830187c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/tray_042.xml b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/tray_042.xml
new file mode 100644
index 0000000000000000000000000000000000000000..00afe93ea5297d6302f0e383a552657a9dd604b8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/tray_042.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_042">
+  <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_042.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_042_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_042_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_042_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_042_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_042_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_042_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_042_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_042_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_042_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_042_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_042_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_042_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_042_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_042_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_042_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_042">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/textures/material_0.png b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:c73e1118ce69f2453afeed2e3febd9f99a189d4363daa9adbc7757f611c7b540
+size 16957405
diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/tray_042.urdf b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/tray_042.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a70136f339311be18bb592125ebfab9e7c7c32b9
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+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/tray_042.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_042">
+   <link name="tray_042">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_042.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_042_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.9000" />
+         <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>5b2c4f2c243b51b89bfc2a55cb35dac2</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>floral tray</name>
+         <color>white</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>shallow rectangular tray with rounded corners and colorful floral pattern</description>
+         <min_height>0.0283</min_height>
+         <max_height>0.0283</max_height>
+         <real_height>0.0283</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200125</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.144999 -0.191777 -0.010151</min>
+            <max>0.144996 0.192028 0.018181</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/5b2c4f2c243b51b89bfc2a55cb35dac2/tray_042.usd b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/tray_042.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4962472
diff --git a/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/video.mp4 b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/video.mp4
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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