diff --git a/.gitattributes b/.gitattributes
index 95c4c6c0afd446c5895c9f568ed82a8df59a51f1..eed4f92dab4dd9f0d8456edd6b59d9c11f2d3f61 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4160,3 +4160,6 @@ dataset/kitchen_supplies/tableware/3495c90ad8ad5433972f9742fbe7e4d9/mesh/fork_01
 dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/355958e54fe25c9e97d61ef37444ecaa.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/fruit_plate.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/355958e54fe25c9e97d61ef37444ecaa/mesh/fruit_plate_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/3831dacac6ef557d8793c3f13d3aa79b.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/metal_tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/3831dacac6ef557d8793c3f13d3aa79b.urdf b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/3831dacac6ef557d8793c3f13d3aa79b.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..454235dd55decfc430f2f8c2e069b7ca04337d79
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/3831dacac6ef557d8793c3f13d3aa79b.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="metal_tray">
+   <link name="metal_tray">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_tray.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_tray_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>0.364878</scale>
+         <version>v0.1.7</version>
+         <category>metal tray</category>
+         <description>flat metallic tray with side handles</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260119212005</generate_time>
+         <gs_model>mesh/metal_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.4143829345703125</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/3831dacac6ef557d8793c3f13d3aa79b.usd b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/3831dacac6ef557d8793c3f13d3aa79b.usd
new file mode 100644
index 0000000000000000000000000000000000000000..eb7930414574f2174c6dc8cd8da87ccbc7a5fd53
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/3831dacac6ef557d8793c3f13d3aa79b.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbb80aa1a02ce05c829c30c43cf9c7f43180f5c8c712a4a707994b19e39a79fb
+size 328997
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/material.mtl b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/material_0.png b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7be2cd11b1691121f34fba1ed7b5c7a71ae3ecc6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f84238ee0273a0864572d252b1099ae7f8cdeacb353a7a3d12bcf8b274a19f87
+size 2322265
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/metal_tray.glb b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/metal_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3a1c065ec49b6e8f7bb52a0a684f804aa260fd12
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/metal_tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7fabd69923f927472bc2b8758bed5a6fb5c8063c1635c23f17e6b15b587e1b3
+size 2555488
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/metal_tray.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebb1f3301b6c82cb90745d9ae280faea1a03524b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/metal_tray.obj
@@ -0,0 +1,21424 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd31ed79debcd933e98e65c81b8537eae3a5b8fa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/metal_tray_collision.obj
@@ -0,0 +1,7857 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/metal_tray_gs.ply b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mesh/metal_tray_gs.ply
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diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/3831dacac6ef557d8793c3f13d3aa79b.xml b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/3831dacac6ef557d8793c3f13d3aa79b.xml
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index 0000000000000000000000000000000000000000..59d79d5bbcdb23acfd25157ca430bd8289c9251f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/3831dacac6ef557d8793c3f13d3aa79b.xml
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+      <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" />
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+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f84238ee0273a0864572d252b1099ae7f8cdeacb353a7a3d12bcf8b274a19f87
+size 2322265
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae573d7fb6e14cb49c9aaba55c3c97114363d29c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray.obj
@@ -0,0 +1,21424 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2736da6d336111ce3134dfefebbccbc51d40ceeb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision.obj
@@ -0,0 +1,7857 @@
+# https://github.com/mikedh/trimesh
+
+o metal_tray_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_0.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..523f5561292f1f97dfd498bb27c524fbf59bf80f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_1.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbf7f766f55dd0c1182ebb212a768a74dd4864f9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_10.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc307db528d9270d8eb11622541013c681568cd2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_11.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03825d05d2cf346fdf9f29e662a2d9991942b747
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_11.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_12.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3354651b130548e4e8f4c4ffd902038048284e86
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_12.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.10536338 0.07665110 -0.01027535
+v -0.11729017 0.05518566 -0.01027543
+v -0.10536338 0.10213637 -0.01027525
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_13.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21b6173c962eeb1f6f455631ddcb652caff5d44b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_13.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.14673183 0.05704380 0.01273187
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+v 0.14671753 0.05710338 0.00948098
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_14.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6a28c61ac9fb6f2cc81caac778cf44e98209f26
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_14.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01371220 0.15857655 0.01287159
+v 0.02076596 0.15857654 0.01531739
+v 0.01498097 0.15857657 0.00846951
+v 0.00046941 0.15725158 0.00992918
+v 0.00046941 0.15725157 0.01278468
+v 0.02088680 0.15857654 0.01532625
+v 0.00046941 0.15570727 0.01359875
+v 0.00046941 0.15321784 0.01489702
+v 0.02056205 0.15857659 0.00391490
+v 0.00046941 0.14994161 -0.00253218
+v 0.02093211 0.15321783 0.01558695
+v 0.02709849 0.15857654 0.01538833
+v 0.00046941 0.14665849 0.01256117
+v 0.02698143 0.14721019 0.01441458
+v 0.03303074 0.14721019 0.01471787
+v 0.02701164 0.15857659 0.00302455
+v 0.00279549 0.14997553 -0.00253218
+v 0.00046941 0.14021453 -0.00253221
+v 0.03904607 0.14721019 0.01481187
+v 0.02698143 0.15321783 0.01541491
+v 0.02721555 0.15857654 0.01538478
+v 0.00046941 0.14546918 0.01160341
+v 0.03904607 0.14171807 0.01282364
+v 0.03055362 0.15857658 0.00486200
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+v 0.03302319 0.14745897 -0.00253219
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+v 0.02726841 0.14898518 -0.00253218
+v 0.02093211 0.15001849 -0.00253218
+v 0.00046941 0.14428890 0.01064567
+v 0.03904230 0.13547986 -0.00253223
+v 0.03904607 0.13851191 0.00827789
+v 0.03904607 0.13864983 0.00876208
+v 0.03904607 0.15221618 0.01283432
+v 0.03168268 0.15857655 0.01262151
+v 0.03220755 0.15857657 0.00815026
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+v 0.03904607 0.13668501 -0.00253223
+v 0.03904607 0.13563135 -0.00204271
+v 0.03181106 0.15857656 0.01200607
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+f 34 36 40
+f 34 40 35
+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_15.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c77a4363af61f4f0d398601b7e4a48c140b570
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_15.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03584439 -0.12650053 -0.01028931
+v -0.03584439 -0.14248072 -0.01028937
+v -0.03584439 -0.13872746 0.00907429
+v -0.02928380 -0.12695068 -0.01028932
+v -0.03584439 -0.14263922 -0.01008812
+v -0.03083297 -0.14424010 -0.01028938
+v -0.02632062 -0.15888576 0.00262655
+v -0.02375600 -0.12758151 -0.01028932
+v -0.03584439 -0.14154882 0.01275867
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+v -0.03584439 -0.14339054 -0.00888323
+v -0.03020915 -0.14438275 -0.01028938
+v -0.02187065 -0.15888576 0.00136488
+v -0.02974128 -0.15888578 0.00819957
+v -0.00043869 -0.13070084 -0.01028933
+v -0.03584439 -0.14715030 0.01504462
+v -0.03349117 -0.14715030 0.01505236
+v -0.02744351 -0.14715029 0.01479951
+v -0.00043869 -0.14702666 0.01279993
+v -0.03584439 -0.15263128 0.00871303
+v -0.02607802 -0.14503895 -0.01028938
+v -0.02139585 -0.14571417 -0.01028939
+v -0.01921245 -0.14598046 -0.01028939
+v -0.01535165 -0.14638622 -0.01028939
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+v -0.00930398 -0.14674761 -0.01028939
+v -0.00652102 -0.14686172 -0.01028939
+v -0.00325631 -0.14698535 -0.01028939
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+v -0.02974821 -0.15888578 0.00833632
+v -0.03584439 -0.15255838 0.01292376
+v -0.02257072 -0.15888581 0.01605856
+v -0.02139585 -0.15888581 0.01606888
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+v -0.00043869 -0.14834849 -0.00788732
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+v -0.02744351 -0.15888580 0.01362810
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+v -0.00043869 -0.15703766 0.01277925
+v -0.00043869 -0.15703765 0.01001596
+v -0.01723006 -0.15888576 0.00382630
+v -0.01509172 -0.15888580 0.01386289
+v -0.01459959 -0.15888578 0.00843694
+v -0.01459959 -0.15888578 0.00840082
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+f 1 16 9
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_16.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dee6926c012adbc70ea055dda5cffd8b6e810dbe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_16.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.01693317 0.15025417 -0.00302161
+v -0.02139578 0.14981534 -0.00302161
+v 0.00046256 0.14993787 -0.00253294
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+v 0.02092585 0.15001765 -0.00253294
+v 0.00279021 0.14827372 -0.00788715
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+v -0.00930279 0.14797450 -0.00788715
+v -0.00930279 0.14669219 -0.01027438
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+v -0.02139578 0.14563783 -0.01027439
+v -0.02665997 0.14481999 -0.01027439
+v -0.03002042 0.14424722 -0.01027439
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+v -0.03068326 0.14407909 -0.01027439
+v -0.03348878 0.14369724 -0.00936457
+v -0.03691089 0.14432414 -0.00552800
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+v 0.02513412 0.14556659 -0.01028501
+v 0.02092585 0.14730769 -0.00788715
+v 0.01488321 0.14783772 -0.00788715
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+v 0.00604275 0.14687457 -0.01028500
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+v -0.03969328 0.14100436 -0.01027440
+v -0.03969328 0.14260299 -0.00756922
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+v 0.03904607 0.14351202 -0.00889638
+v 0.03904607 0.14248047 -0.01028274
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+f 1 11 2
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_17.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2d9df380bea416cdab849ce421d54083b824bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_17.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.02957791 0.15903496 0.00822927
+v -0.02957791 0.15903496 0.00831241
+v -0.02949928 0.15903496 0.00808287
+v -0.03969328 0.15171460 0.00961547
+v -0.02794640 0.15903494 0.01320306
+v -0.03969328 0.15171459 0.01282169
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_18.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b596feff1485b6193b01c77c9ca05f8d79c3553
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_18.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_19.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d5d5645e0db41ee38da18ede74605d5a0bc8117
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_19.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.03969970 0.12218533 -0.01027518
+v -0.03969970 0.14100498 -0.01027511
+v -0.03969970 0.13385547 -0.00253231
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_2.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a71b7dc87d07c095a5abfd36381b8bd80090700e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_2.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.03394082 -0.12691103 -0.01025922
+v 0.03394082 -0.14132134 0.01205540
+v 0.03394082 -0.14321752 -0.01025928
+v 0.03302883 -0.12692424 -0.01025922
+v 0.03394082 -0.14190939 0.01272194
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_20.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4566110da07497a7df2ed3e89951d01ad4bc640d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_20.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_21.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5df510b461a6bbb8803465b34607458eb058210
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_21.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_22.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c99ea19c7114b8540b106a984036eba50b7b52
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_22.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_23.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fc85edca71f24e513b8bf5a434a28786b234d01
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_23.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_24.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cbbdfcbed981dae0bc1b08b5115985d259e63ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_24.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_3.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41006c6ce03f372219d1d0f2ff52a15c17f89e16
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_3.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_4.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..706ca0003c14d2d67ed9ab7d7d3410caac0c2e50
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_4.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.12018516 -0.04940247 -0.01028903
+v -0.13781425 -0.04940247 -0.01028903
+v -0.12064968 -0.04585203 -0.01028902
+v -0.13668668 -0.04940256 0.01227372
+v -0.13896055 -0.04940248 -0.00941812
+v -0.13920779 -0.04783104 -0.01028903
+v -0.13040448 0.00074576 -0.01028885
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+v -0.14235076 -0.04940256 0.01458224
+v -0.14593576 0.00076041 0.01270322
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+v -0.15153616 -0.04839095 0.01072570
+v -0.13927148 -0.04765426 -0.01028903
+v -0.13270458 0.00076050 -0.01028885
+v -0.13254351 0.00076049 -0.00928792
+v -0.14839694 -0.03301059 0.01468289
+v -0.14839694 -0.03901640 0.01465588
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+v -0.15748869 -0.02410745 0.01082392
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+v -0.14713826 0.00076050 -0.01028885
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+v -0.14543003 -0.02358193 -0.01028894
+v -0.15775840 -0.02099897 0.01056389
+v -0.15845143 0.00076042 0.00994819
+v -0.14713826 0.00054934 -0.01028885
+v -0.15841772 -0.00297665 0.01237938
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+v -0.15813301 -0.01499316 0.01020573
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+v -0.14711203 -0.00297656 -0.01028886
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+v -0.14682733 -0.00898237 -0.01028888
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_5.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e741e5a00183e82bb525e2e6524fbbb4527b6de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_5.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.15021705 -0.04940256 0.01005225
+v -0.14596879 -0.06168430 0.01033199
+v -0.15021705 -0.04940256 0.01179726
+v -0.13895660 -0.04940249 -0.00941775
+v -0.14013952 -0.07397514 0.01022151
+v -0.14596879 -0.06168430 0.01183157
+v -0.13374722 -0.06128892 -0.01028663
+v -0.13323538 -0.06254754 -0.01028663
+v -0.13272354 -0.06486031 -0.00935400
+v -0.14853936 -0.04940257 0.01295078
+v -0.14680480 -0.05704515 0.01254825
+v -0.13780780 -0.04940248 -0.01028658
+v -0.13726753 -0.05125632 -0.01028659
+v -0.13387234 -0.08511640 0.01038590
+v -0.14013952 -0.07397514 0.01194197
+v -0.12778714 -0.07327532 -0.01028667
+v -0.12722981 -0.07428858 -0.01028667
+v -0.14130538 -0.06905882 0.01268565
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+v -0.14234611 -0.04940257 0.01458044
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+v -0.13519174 -0.08106794 0.01258988
+v -0.13686944 -0.07561090 0.01319611
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+v -0.12399953 -0.09581694 0.01294325
+v -0.12850372 -0.09194111 0.01209653
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+v -0.10848513 -0.09581693 0.01129641
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+v -0.12474454 -0.09359959 0.01327950
+v -0.11228411 -0.09581686 -0.00926085
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_6.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeab9d2fa013149487ffd2b39af7641c9a1c9c7d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_6.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.12079209 -0.05287982 -0.01025751
+v 0.13332856 -0.05287989 0.00948104
+v 0.12089496 -0.05287982 -0.01025997
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+v 0.13653812 -0.05287982 -0.01025997
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+v 0.09718674 -0.10603972 0.00982027
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+v 0.09943618 -0.10603972 0.01194047
+v 0.13679873 -0.05287982 -0.00995251
+v 0.13628437 -0.05360840 -0.01025998
+v 0.10412021 -0.10364055 -0.01026016
+v 0.10211081 -0.10603965 -0.00945833
+v 0.14188739 -0.05287991 0.01465856
+v 0.10465514 -0.10603973 0.01406067
+v 0.13707991 -0.05287983 -0.00951962
+v 0.14498722 -0.06620758 0.01076492
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+v 0.10326982 -0.10603965 -0.00828754
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+v 0.14629709 -0.05287991 0.01346810
+v 0.11070392 -0.10603973 0.01486743
+v 0.13767655 -0.05287983 -0.00859726
+v 0.14779215 -0.05287989 0.00924983
+v 0.14498722 -0.06620758 0.01101088
+v 0.13890414 -0.07813537 0.01080422
+v 0.13211469 -0.06465670 -0.00942374
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+v 0.10767953 -0.10105412 -0.00914593
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+v 0.11165718 -0.10509778 0.01486497
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+v 0.12346672 -0.09863951 0.01248654
+v 0.12793815 -0.09308152 0.01212499
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+
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_7.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1438593af2290bd0d84a74185ab78bf292917619
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_7.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.12399289 -0.09582148 0.01294326
+v -0.12376853 -0.09582146 0.00895297
+v -0.12289697 -0.09909696 0.00991519
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+v -0.11815947 -0.09909697 0.01457260
+v -0.11815947 -0.09582148 0.01454037
+v -0.11359456 -0.09582140 -0.00780922
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+v -0.12156805 -0.10260602 0.01160404
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+v -0.11216209 -0.09582148 0.01315654
+v -0.03584439 -0.14715050 0.01504361
+v -0.11134230 -0.09582139 -0.01028672
+v -0.11033268 -0.09780670 -0.01028673
+v -0.11578641 -0.10877885 0.01044091
+v -0.10923676 -0.09913581 -0.01028673
+v -0.10826164 -0.10124348 -0.00900211
+v -0.11578641 -0.10877885 0.01185698
+v -0.11192911 -0.11091432 0.01294320
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+v -0.03954637 -0.14715050 0.01503121
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diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_8.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4db93ff0ba0450c917d8a3956f31315b254402e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_8.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_9.obj b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdb9ae452cbc504da498af36b2f66f9d8df0d00c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/mjcf/mesh/metal_tray_collision_9.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/textures/material_0.png b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7be2cd11b1691121f34fba1ed7b5c7a71ae3ecc6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2322265
diff --git a/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/video.mp4 b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9d2d615bd3a920cf6df0b3678f4482e404f2abc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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