diff --git a/.gitattributes b/.gitattributes
index 2da92e6030d708c7510845e52156ee15dea96c31..d2e2f23e4d832bb64b230e513e0d0cd4addeb851 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4306,3 +4306,5 @@ dataset/kitchen_supplies/tableware/8e361317c45150208b904db1618ace6d/mesh/coaster
 dataset/kitchen_supplies/tableware/8e361317c45150208b904db1618ace6d/mjcf/mesh/coaster_010.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/9c28ccb71d6d5f42a457de09b3c3e697/mesh/tray_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/9c28ccb71d6d5f42a457de09b3c3e697/tray_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/tray_079.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/material.mtl b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c64f5457e84f8b808a2fdaa6d00860ef45e26ad2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_079_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_079_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/material_0.png b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7af43753977932dd9e0e8f74c850e0def822cb6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cf7d28ead0ad082bc9192e87465dd6f475fb7dcda0c9385f0f61ec8e0a6a7aa
+size 10387727
diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079.glb b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ede5074d43a5e5d1584693b6c9ff7fa11870d32b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38f800145d0af6309af4bdd04fc824c668dd857c5be0853111e71277a2b60660
+size 13745540
diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079.mtl b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b4bb320d772a150c3ef3551974226cc9abed6421
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079.mtl
@@ -0,0 +1,6 @@
+newmtl tray_079_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/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71616aa143e125c7dafc9fa99cde87f2a245fb3c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079.obj
@@ -0,0 +1,117686 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_079_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079_collision.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0558a92e6ee3fb5b9b70956da63bb7b70a65d03a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mesh/tray_079_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079.obj
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca646636024b3d4f3b77bb5bfa2b9fb16aa9cd51
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision.obj
@@ -0,0 +1,6991 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_0.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d2ceca7117aca4833d4ab229aaa8b34ddba210b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_0.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_1.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb735fd464e659ca6ded8aeb08a02ed4373c0a3d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_1.obj
@@ -0,0 +1,583 @@
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_10.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1b61e7ac82d0eb1aeefcd4f81bfa84a177f645f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_11.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..571f88bcfd06bb5ed92bc9cdb63581363f08dba8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_12.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fc55ce37f805f240f7e72279185a550e7448845
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_13.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef2dee3c2bc10672b12331e979c4f4af1356a5ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_13.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_14.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4bd7b60bc491bc05f3ed6f8d21e4b59db55ed61
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_14.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_15.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2723326dd767ba4b84d6c3230e89343954c4b87b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_15.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_16.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc2ded8c6503abe04b1dbc319215873774080889
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_16.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_2.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69835f03375f4ef0e6f29b19ccd4bc2a8c0082bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_2.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_3.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cb67046e57011e365c6b3060f880670217ba1c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_3.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_4.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f1e35288abef3656f27ef5a5ca333c78a714037
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_4.obj
@@ -0,0 +1,724 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_5.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e383373948e4c7e42dbd598cb5a9716003e10d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_6.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a5e905fcfd17ecad0f4dd982db484ca5de20fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_6.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_7.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..121ec92815a2fcc2cea15c30b124d316707bc84c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_8.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59aa772877459c751e73ab617b8078be421b7bb5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_8.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_9.obj b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a168192d8edb8e06bf7285cbcd7d9c6d2381e920
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/mesh/tray_079_collision_9.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/tray_079.xml b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/tray_079.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6747c46f6ecc8d7f257d3f1cf2de56143a187d22
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/mjcf/tray_079.xml
@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_079">
+  <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_079.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_079_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_079_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_079_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_079_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_079_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_079_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_079_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_079_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_079_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_079_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_079_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_079_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_079_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_079_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_079_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_079_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_079_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_079">
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_16" 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/9eec5bed1b1d5ddd93b977193dfa5be1/textures/material_0.png b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cf7d28ead0ad082bc9192e87465dd6f475fb7dcda0c9385f0f61ec8e0a6a7aa
+size 10387727
diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/tray_079.urdf b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/tray_079.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fa63f558acb8f892898343e5db98fe1bcd0f54cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/tray_079.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_079">
+   <link name="tray_079">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_079.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_079_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>9eec5bed1b1d5ddd93b977193dfa5be1</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>handled tray</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>ornate rectangular tray with side handles and shallow raised rim</description>
+         <min_height>0.0299</min_height>
+         <max_height>0.0299</max_height>
+         <real_height>0.0299</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201541</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.127967 -0.188131 -0.010401</min>
+            <max>0.129870 0.192120 0.019466</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/9eec5bed1b1d5ddd93b977193dfa5be1/tray_079.usd b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/tray_079.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4928862
diff --git a/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/video.mp4 b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9eec5bed1b1d5ddd93b977193dfa5be1/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1801a4c72f919c66f20e4055d66d07404c2d65cac1a629cbfd62dd2cc55da809
+size 257841