diff --git a/.gitattributes b/.gitattributes
index 97977b40aa74b3f607126dfd42be528a11dfc2a6..7cc49c3205f3e7715dcff6eb0ad493b038e19be8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4355,3 +4355,5 @@ dataset/kitchen_supplies/tableware/aeec55166655502ba356d1f96ddc26c4/bowl_009.usd
 dataset/kitchen_supplies/tableware/aeec55166655502ba356d1f96ddc26c4/mesh/bowl_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/aeec55166655502ba356d1f96ddc26c4/mesh/bowl_009.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/aeec55166655502ba356d1f96ddc26c4/mjcf/mesh/bowl_009.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/tray_039.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/material.mtl b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57048a6dc90f25f24aa54c0518a18ef70ca58221
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_039_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd tray_039_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5e46b7bebf72d9137a3018fec589bca349fddd3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21439d620eb010ed73d72d69a8abbc716e02fbd3f04c9a2b7b99bc9f8c5b26bd
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039.glb b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..12e8a664a15ed34cac98287837cb7a8a5ef2490a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa6234d844eda531bdc675b3b480a851e94f97d718b04b094ccd7fbc4c9fa48
+size 16259960
diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039.mtl b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..518458619b874b974fd24654d1f669000d18bf52
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039.mtl
@@ -0,0 +1,6 @@
+newmtl tray_039_geometry_Looks_material_0
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+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/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33bb964ac031101bef7e6c2f06eb17f623be4e3b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039.obj
@@ -0,0 +1,112296 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_039_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039_collision.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1421fae02f8ec32f374b99d69fc0c2eb7e67b8eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039_collision.obj
@@ -0,0 +1,6403 @@
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mesh/tray_039_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/material_0.png
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+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039.obj
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ba68fb6fe81b4461a144405e8f29ca275aad0fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision.obj
@@ -0,0 +1,6403 @@
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_0.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aadf4ab155dd98cc00b85b70d11972f2f3ec2ec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_1.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecefb03e87860f0b0406da75285f06236c004d83
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_1.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_10.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb0bd1fc670616365bc56a9587afccdde08645e9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_10.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_11.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51bfc78663fccfb6c52a0eb4db51921f24fdff86
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_12.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3208c0ad5562384e869548090ecbd1357fcd7a37
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_12.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_13.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7bae5aa320d48cebc9c059cb619c3b918c7005d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_13.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_14.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..187f28d141e137cdfd074d160b6b1badc7e288fa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_14.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_15.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3db18ca35c44484cd7c843ddbbdcd5c507d7851a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_15.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_16.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..896e39e49b423faf3be08a387836a1f919b72377
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_16.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_17.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15ffdd030dbe536648a90b91cbd7d3e9740838cd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_17.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00360592 0.11500065 -0.00162538
+v -0.00360592 0.11500065 -0.00062538
+v -0.00360592 0.11600065 -0.00162538
+v -0.00360592 0.11600065 -0.00062538
+v 0.00200837 0.11500065 -0.00162538
+v 0.00200837 0.11500065 -0.00062538
+v 0.00200837 0.11600065 -0.00162538
+v 0.00200837 0.11600065 -0.00062538
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+f 4 8 3
+f 7 5 3
+f 3 8 7
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+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_18.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c63b5f4564e45670ff6951fcd1e7b5cfa06adc7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_18.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_19.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a8844fb9dd574b72a63eab4c34dc194daa63b30
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00556319 -0.11996057 -0.00168519
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+v -0.00556319 -0.10174201 -0.00168519
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+
diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_2.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3a5c857b2a995bf5f4b02655b66cb8beeeff9f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_2.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_3.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b9d08145d7bf5c205e0b8f505737bcdcd8fa33
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_3.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_4.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75886e295cc8ac67351bac493aa3c12f90870811
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_4.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_5.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73a08beec19e5232aad323423e18ef771c39d718
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_5.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_6.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f5b21be3560c7f4478dbc9b5a28431a5b1abcb7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_7.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e53b9f21c4d199f17ebfe69aa718b1e45f41c2c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_7.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_8.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d75754ea6344761cab3b90b06666fbe19984b2cd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_8.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_9.obj b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..760c8c9c7c3d57db315bb095e9e00b6bfa449781
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/mesh/tray_039_collision_9.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/tray_039.xml b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/tray_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..60c70bf55ee524dc09624f86cb1f6b0a0cb4110a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/mjcf/tray_039.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_039">
+  <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_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
+    <body name="tray_039">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/textures/material_0.png b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/textures/material_0.png
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+size 13180047
diff --git a/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/tray_039.urdf b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/tray_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fde08b66ede487f54834562a2cd3ee6e4ba0ab55
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+++ b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/tray_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_039">
+   <link name="tray_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_039.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_039_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>c29c0729b3dc5c1f979cf3adc286546f</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>round serving tray</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>shallow round brown tray with scalloped decorative rim</description>
+         <min_height>0.0246</min_height>
+         <max_height>0.0246</max_height>
+         <real_height>0.0246</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200012</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.198574 -0.197576 -0.010090</min>
+            <max>0.198031 0.199219 0.014540</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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/c29c0729b3dc5c1f979cf3adc286546f/tray_039.usd b/dataset/kitchen_supplies/tableware/c29c0729b3dc5c1f979cf3adc286546f/tray_039.usd
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