diff --git a/.gitattributes b/.gitattributes
index b39ef4865f1dc892cdef33721be89452b74bffa2..cf6042a81f040471c5c960d7409b0201a96b6689 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4459,3 +4459,5 @@ dataset/kitchen_supplies/tableware/eed8692e5d045b7bb95162497c49083a/mjcf/mesh/co
 dataset/kitchen_supplies/tableware/f7d08d58c6565237827d69bf31964904/f7d08d58c6565237827d69bf31964904.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f7d08d58c6565237827d69bf31964904/mesh/spoon.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f7d08d58c6565237827d69bf31964904/mesh/spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/tray_054.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/material.mtl b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..25d75a9d896170ada941214f3290516e5d042357
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_054_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_054_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/material_0.png b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b77e8082d8d1744e265c0446aede906575a63541
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ec32b6de84359f0e0c3726bba7c4f8019fd05ee8d55583c16fb4c12f64bc897
+size 12604974
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054.glb b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1d7e3fb17c7f3c5f720ef1c011cd57512703c058
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b92211b003cfd39a2737dd610795b08da7be14149c3b426289d754a4859d3aa
+size 15902288
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054.mtl b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2e2bee57c97e532be412dd6fc59ac533e3ee937c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054.mtl
@@ -0,0 +1,6 @@
+newmtl tray_054_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/f7096c69c7135c668a08feff582342b0/mesh/tray_054.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c26bd2af9ff4f3106c81276f9748392e3a58bd13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054.obj
@@ -0,0 +1,109524 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_054_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054_collision.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed03028927b158773b84152ec2671213b17292aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..b77e8082d8d1744e265c0446aede906575a63541
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054.obj
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+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054.obj
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ed3fdc04de7e878c50b464b21eb2fb399f55ff8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision.obj
@@ -0,0 +1,9046 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_0.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15126655be8b7594b16d0eb4b2b17c0879134bee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_1.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c58d4081d1c4f852fa3706a07f0664abcbad79a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_10.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a2343c5f057c0b0ce8b7052ef5ff84561b4010f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_10.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_11.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..941bd99f746c18f02b06c6b7df8486f99809cfef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_11.obj
@@ -0,0 +1,253 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_12.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a1110bc5c2d6b313a1702bd47ac6e824f9b7717
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_12.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_13.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..111789b5d134a360029e42f0090a5e3769e5c4dc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_13.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+v -0.05115968 -0.16022333 0.00534764
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+
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_14.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46894246b96593eca31a32ebbc94cae2675da145
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_14.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_15.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30a164013b98d40dc02ecbcb0b24374f7561f470
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_15.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_16.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6e21f1abc1c6294b4c6ffe03eaaeb613a4ba87e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_16.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_17.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e44a6314e1a77c6edf607853fa0f7d8790b4cc0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_17.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_18.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bb23086b5e55310ac63e94b86486d83c2e05f95
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_18.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_19.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5238b180d4ba2d8a665168dfdbd146a160dc70bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_19.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_2.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d93c7fc126f6caf076e01b71ce4c74b93bba36d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_20.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9f4f5f39e5d843eb5d87c127b2485e54ca9d9cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_20.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_21.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a46351d003e643b563f9cf406a84cf274ec10f3b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_21.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_22.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5699f21c2ed6629a579e993f0beb7a960558dd6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_22.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+v -0.13968888 -0.05758687 0.00557354
+v -0.13968888 -0.05758684 -0.00210090
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+f 1 26 22
+f 1 22 14
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+f 1 6 3
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+
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_23.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bde624ed53acaa0178fd32bbc28219f15832d4ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_23.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.07920931 -0.05972801 -0.00703161
+v 0.10815177 -0.05972801 -0.00703161
+v 0.10374257 -0.05972806 0.00505725
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+v 0.13695292 -0.05972807 0.00936507
+v 0.12348223 0.00058471 0.00582947
+v 0.12198989 0.00058471 0.00559675
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+v 0.13695292 -0.05054679 -0.00318279
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+v 0.12921985 0.00058471 0.00643777
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+v 0.13695292 0.00058474 -0.00397066
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+v 0.13695292 -0.01414066 -0.00411195
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+
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_24.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0cda21228d41f3114f3448b73a3f703950382dc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_24.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.13969178 -0.05758427 0.00957771
+v -0.14928205 -0.05750822 0.02032553
+v -0.14936343 -0.05758431 0.02042074
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+v -0.13969178 -0.03078253 0.00769316
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+v -0.16056662 -0.05758427 0.01025260
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+
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_25.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f150b647056ee80f9299d1c217155e51c116e0f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_25.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v -0.16148556 0.05460229 0.01016629
+v -0.16100927 0.05460230 0.00885631
+v -0.14295856 0.05460229 0.01016629
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+v -0.15526453 0.07001635 0.00946085
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+v -0.08348941 0.05460236 -0.00703521
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+
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_26.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60ca6b3f5b16e41d5d7b66b357a8e05185a11247
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_26.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_27.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33e6d0ac84d09789f804a8da9bf91a2681d8b795
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_27.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.14639633 0.06014527 0.01562301
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+v 0.16128748 0.06014527 0.01562301
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+
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_28.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7ee67738e9676f2dde7d7ae267b21badfe6748
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_28.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_29.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f10831eb039f6cf73e034b27800004f074694ff7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_29.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_3.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f6cb96d4327c2556edd44a26334f2d767317493
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_3.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_30.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ba4e09b8546531b150d7ed6cd044367b3cdf1df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_30.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_31.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ecff4b1b575e4cbe6807d20843bc49744692d6c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_31.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_4.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b753144b314d6c9097e4c0e598cb38719c10f1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_4.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_5.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3046e4105e6a9aadcd26377f8fe4809acdd972a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_5.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_6.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7bb8878838ee2ac9e19169e6455310c3789eca8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_6.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_7.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e885487fe58346d503aba75f546954ca3cd6948
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_7.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_8.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dc00c957e400bc21c2ebd21c23d41621830b9f6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_8.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_9.obj b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7272e346a38fee00cc1c83b79d8de49df95dd220
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/mesh/tray_054_collision_9.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/tray_054.xml b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/tray_054.xml
new file mode 100644
index 0000000000000000000000000000000000000000..166d61055d909cc021031ee5d086e1b0f53ee248
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mjcf/tray_054.xml
@@ -0,0 +1,78 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_054">
+  <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_054.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_054_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_054_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_054_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_054_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_054_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_054_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_054_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_054_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_054_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_054_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_054_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_054_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_054_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_054_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_054_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_054_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_054_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_054_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_054_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_054_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_054_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_054_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_054_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_054_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tray_054_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tray_054_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tray_054_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tray_054_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/tray_054_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/tray_054_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/tray_054_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/tray_054_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_054">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" 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" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/textures/material_0.png b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b77e8082d8d1744e265c0446aede906575a63541
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ec32b6de84359f0e0c3726bba7c4f8019fd05ee8d55583c16fb4c12f64bc897
+size 12604974
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/tray_054.urdf b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/tray_054.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..53e3810a4ccd9c1e0e6296df2ffc3cd5e8072601
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/tray_054.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_054">
+   <link name="tray_054">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_054.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_054_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>f7096c69c7135c668a08feff582342b0</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>decorative tray</name>
+         <color>white,orange</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>shallow round tray with scalloped rim and colorful ornamental border</description>
+         <min_height>0.0459</min_height>
+         <max_height>0.0459</max_height>
+         <real_height>0.0459</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200558</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.172960 -0.173186 -0.017410</min>
+            <max>0.173209 0.173594 0.028504</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>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/tray_054.usd b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/tray_054.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/tray_054.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4879690
diff --git a/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/video.mp4 b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d2d0e0827a4bf8553135c133d1f05961a1cfb74
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e8bc55ed51db1610fbca7dcf18cc90b2d56ad7ccdd85342c32e71c295635393
+size 346106