diff --git a/.gitattributes b/.gitattributes
index bed3351a133d640b215cf09123771d0bd6b399d7..a9a2f7e16e6c1ff767461976119b9f159f377f41 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4231,3 +4231,5 @@ dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mesh/tray_gs
 dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/6d72e2bda69a53b387e34bb6eccd80db.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/tray_068.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/material.mtl b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8949ac13ab20073d0bd9f9e940aa40f38056f405
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_068_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_068_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/material_0.png b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ca0552c28a2d97d85578e96d6929c464db9d65d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bacf3b57da70db38b4195be373f77ac3a7e41a20303b24bd2010553d97d831f
+size 14137486
diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068.glb b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d133dae30e13b1d59566fcea62c31ea6374053ba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dcb51be1aa4bf4f3a813fe18a056142dbc87e554baca04204bb423bdcb3ce89
+size 16966844
diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068.mtl b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b1ad94692c7f4fbb6e513629d2911dc940bf6707
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068.mtl
@@ -0,0 +1,6 @@
+newmtl tray_068_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/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068.obj
new file mode 100644
index 0000000000000000000000000000000000000000..486225869a335870f59f6603fa5c7d925b05b1a9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068.obj
@@ -0,0 +1,106004 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_068_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068_collision.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4095fe25595eb90dc306c2aaeb4539668322c94
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068_collision.obj
@@ -0,0 +1,6945 @@
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mesh/tray_068_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..2ca0552c28a2d97d85578e96d6929c464db9d65d
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+version https://git-lfs.github.com/spec/v1
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+size 14137486
diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..2ca0552c28a2d97d85578e96d6929c464db9d65d
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+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bacf3b57da70db38b4195be373f77ac3a7e41a20303b24bd2010553d97d831f
+size 14137486
diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068.obj
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index 0000000000000000000000000000000000000000..ace121e5f0d90f9ecdf89155bb567e9d0cbf9a16
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+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f03b22e0adf359a6c0ba3ddb085a4a684dd9cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision.obj
@@ -0,0 +1,6945 @@
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_0.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16d81573fe540df126251d2efbb1f113fb8c5d6c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_0.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_1.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88bced5d1c0e15901dea2675d0a40ff879727623
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_1.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_10.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc5414a67a2e17c57530f02f6e46c52b22c5cff7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_10.obj
@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_11.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c71222c2337b734666e07cdac35ed9f941757e63
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_12.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b217f95fb19ff136c8a147c913377920d5c4788d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_12.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_13.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b91e48b49b6e48d96d81e929cad698af9644518
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_13.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_14.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78bcf7951fe2d691db898f1a798fcc786787973f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_14.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_15.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee396e4d18045fff32836c62f64ce73e2faa07b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_15.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_16.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..549e7765b15b33c1432d6b3e14b80daa868034c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_16.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_17.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9043a810af570608d44221358bd7f856dbce5921
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_17.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_18.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0d1dc025e696ac32876b29831478d6112c0862d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_18.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_2.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01050cbc84c36e1a24746d2a6211dfeb7748231d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_2.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_3.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14b56f25d069e4f4e8d1954a70aa602cb9914614
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_3.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_4.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebb551523cd71a0e6e97dfc3c482ee99bfd862fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_4.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_5.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eee1bc4aa8e48305aaaa51fc3115e93cb098ade3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_5.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_6.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78cb3b7bcfe2f056833cd38c055d7355837fe6b6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_6.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_7.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12bb970f9f5d210688ed515b4e1cbd4621fea86b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_8.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5aeebed1ba9da074eb1e95b6ebf7582bad198d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_8.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_9.obj b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d35fed4fe737bf2e6a60fd83fb5584da032f0b0d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/mesh/tray_068_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/tray_068.xml b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/tray_068.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b91468b32753811d8a375d5f6c44b491a7580ba9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/mjcf/tray_068.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_068">
+  <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_068.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_068_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_068_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_068_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_068_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_068_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_068_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_068_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_068_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_068_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_068_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_16" file="mesh/tray_068_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_068_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_068_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_068">
+      <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/6f1cd111eb105b138177f4fb7ac5dd60/textures/material_0.png b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/tray_068.urdf b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/tray_068.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/tray_068.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_068">
+   <link name="tray_068">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_068.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_068_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.8500" />
+         <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>6f1cd111eb105b138177f4fb7ac5dd60</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>decorative tray</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular shallow tray with side handles and colorful floral pattern</description>
+         <min_height>0.0559</min_height>
+         <max_height>0.0559</max_height>
+         <real_height>0.0559</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201129</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.139973 -0.196984 -0.009060</min>
+            <max>0.140149 0.197294 0.046831</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/6f1cd111eb105b138177f4fb7ac5dd60/tray_068.usd b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/tray_068.usd
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/video.mp4 b/dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/video.mp4
new file mode 100644
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