diff --git a/.gitattributes b/.gitattributes
index 291bc4b6fa924fae6c4cefd0f0b4685830bb5bd8..ad84951c84e3c841ce6f428d95d1f0a6641bd5b1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4225,6 +4225,5 @@ dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/69abd964d45d
 dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/6dd5651b3d3c578992053d847c5fcc44/6dd5651b3d3c578992053d847c5fcc44.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/6dca185a8ead568bac0a8c5d16aed163.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/tray_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/material.mtl b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..63dfcd92c43c65e13c0b5ce780ffb59f8419905a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_019_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_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/material_0.png b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e0057a1b02cb8d4dd6416de16f85a036d68dedf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:742a578dadef050fbcbcc65a0e239ee56cb922481223ebd908f3643c9169dc42
+size 10921798
diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019.glb b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b8f7e6781c38536c4261390699e75b9fd2742bc3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64d07bb95228df19bce6b6ec82b075b7398c7ad8e51a189992839ebfcbf9b2d9
+size 14388652
diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019.mtl b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4a152fe4c22bcad6c65e3bb05f962bdad8fcd97b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019.mtl
@@ -0,0 +1,6 @@
+newmtl tray_019_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/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef83c148330bc1a64044a5895847ed2d25490b79
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019.obj
@@ -0,0 +1,126646 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_019_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019_collision.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5fd531d459a1a89374f9e1cf063f5ee40c369ec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019_collision.obj
@@ -0,0 +1,4629 @@
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e0057a1b02cb8d4dd6416de16f85a036d68dedf
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e0057a1b02cb8d4dd6416de16f85a036d68dedf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 10921798
diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..856e028e1814f3c3ddb7aebb359506afca7c0de2
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+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019.obj
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2f8804de1e0cbe8919f5f9185a75de7556eacd8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision.obj
@@ -0,0 +1,4629 @@
+# https://github.com/mikedh/trimesh
+
+o tray_019_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_0.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc42742f2bfc71e95eaf1792b4148da4d71f3034
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_0.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_1.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6185cd49cbb264821d2ab7e720097832a7b80564
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_1.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_10.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b14aa00a80f4d55dab9b545834304edc97ad0d3a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_10.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_11.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eee916c4692da0f69b4c4325291d817704f1d680
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_11.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_12.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64e5e25805f542d1dc402feb725edb1f7bca021b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_12.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_13.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca80e099b3483a3e447aa1b718e0c3dc7e34cfef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_13.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_14.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd93d289addd24dace676a81447a015578cf601e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_14.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_15.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38eab6b7361227e30e5baf7b26ddc249bc42b803
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_15.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_2.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4b71ad387d44192372923e912e9d1a9c83a6a8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_2.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_3.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..649177f9484a91ea0c79c9a37bcce53fb7642e96
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_3.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_4.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c7d00c2b91570393dde9bf52d287797152efefe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_4.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_5.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d478e3496963c37925009c3fa4286f02ecdd348
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_5.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_6.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5399a4dd0b46546e2004e8e834a6a7588c3fe63
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_6.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_7.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cf7da4bd6c273b39d78ff54974ba8880b152973
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_7.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_8.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cb476e7fdbddb50a265af7d89414b4eba8e4d96
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_8.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_9.obj b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf655e5a36ec01ac27dd3687ed41636b1d37175a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/tray_019.xml b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/tray_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..433e13e83a987945dba45550d013ede9ee09466a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/tray_019.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_019">
+  <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_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_019_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_019_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_019_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_019_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_019_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_019_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_019_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_019_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_019">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" 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/6b4c4c4158e8578ca4a8cec4569bd368/textures/material_0.png b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e0057a1b02cb8d4dd6416de16f85a036d68dedf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:742a578dadef050fbcbcc65a0e239ee56cb922481223ebd908f3643c9169dc42
+size 10921798
diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/tray_019.urdf b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/tray_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..29909363dcb1be5b9b4e95e380560a3158a31e12
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/tray_019.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_019">
+   <link name="tray_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <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>6b4c4c4158e8578ca4a8cec4569bd368</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate tray</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>rectangular ornate serving tray with raised rim and scalloped edges</description>
+         <min_height>0.0483</min_height>
+         <max_height>0.0483</max_height>
+         <real_height>0.0483</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195253</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.134334 -0.197491 -0.014664</min>
+            <max>0.132299 0.197522 0.033593</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/6b4c4c4158e8578ca4a8cec4569bd368/tray_019.usd b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/tray_019.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/tray_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:304459744ad20f19741a68c71229dd7c8527d813eb8b8ba2a58e71b1451d64f3
+size 5001083
diff --git a/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/video.mp4 b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c807589e93061334e39d60a7b41a8042b71cea5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f75ed61e72c3fd6fc2651092bdb8e89b0f1d993c886ce707103e2ba05bfda2f
+size 382823