diff --git a/.gitattributes b/.gitattributes
index d1b8b1fb4e5f037b579ced0b3d5dd75d12a5a3d5..df43bab369096bdcf87c66d60b2b611d5500ba19 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4530,8 +4530,6 @@ dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/6f7beae1fb2e5
 dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/7430dc594d845ffeb0800ddf9353a7e4.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/mesh/spatula_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/spatula_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/780bff5eb6e8548b9798e07bfbe61736.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/79cfd180fe805aa392ccf65a62c0b6c0.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/79cfd180fe805aa392ccf65a62c0b6c0.urdf b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/79cfd180fe805aa392ccf65a62c0b6c0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a595de598ed2018e93921412d77dd39cab9a57f7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/79cfd180fe805aa392ccf65a62c0b6c0.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_tray">
+   <link name="wooden_tray">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_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/wooden_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="0.6000" />
+         <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>0.260541</scale>
+         <version>v0.1.7</version>
+         <category>wooden tray</category>
+         <description>flat circular wooden tray with smooth edges</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260120130020</generate_time>
+         <gs_model>mesh/wooden_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: The object appears incomplete or consists of multiple disconnected parts.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.325441837310791</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/utensils/79cfd180fe805aa392ccf65a62c0b6c0/79cfd180fe805aa392ccf65a62c0b6c0.usd b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/79cfd180fe805aa392ccf65a62c0b6c0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1910c7633a75406e075da1e47d11e2c3ed0f93dd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/79cfd180fe805aa392ccf65a62c0b6c0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5847909b7cf6f7c2f41e8b106a1259f2181459a1f9ad0a9d39356d3e7d05703
+size 428337
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/material.mtl b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/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/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/material_0.png b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f75c29fdf2bb92f0371be0e362ed5920eefcf2d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ca0281b314bf4647a654019d9b46fe2975bdc6f64080c0bfaafcbf4e2779efe
+size 1578808
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray.glb b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3bb037f1bdfa3d693b26086c3271def184950e9a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9bdfde3dfbfc6084c565db55644f4908e077ae27ec34dffb0cc070a671a0692
+size 1875336
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9db67368ceb1e2413e709801f864275819f35060
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray.obj
@@ -0,0 +1,27166 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray_collision.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f84d6cacd2f715b7f2ee961e7cab17a0058909c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray_gs.ply b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0eaee387bab5129eba4191696c3988b46a492519
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02342f0e55e2468ad412b0d68a21bd0d9ce4535987960d865f2db438051a7f0b
+size 1962153
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/79cfd180fe805aa392ccf65a62c0b6c0.xml b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/79cfd180fe805aa392ccf65a62c0b6c0.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a2603db20c417841d0f785937dbc535deae2ca03
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/79cfd180fe805aa392ccf65a62c0b6c0.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <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/wooden_tray.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wooden_tray_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wooden_tray_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wooden_tray_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wooden_tray_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wooden_tray_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wooden_tray_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wooden_tray_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wooden_tray_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wooden_tray_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wooden_tray_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wooden_tray_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wooden_tray_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wooden_tray_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wooden_tray_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wooden_tray_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wooden_tray_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wooden_tray_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wooden_tray_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/wooden_tray_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/wooden_tray_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/wooden_tray_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/wooden_tray_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/wooden_tray_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/wooden_tray_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/wooden_tray_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/wooden_tray_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/wooden_tray_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/wooden_tray_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/wooden_tray_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_30" file="mesh/wooden_tray_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/wooden_tray_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/wooden_tray_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_35" file="mesh/wooden_tray_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wooden_tray">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f75c29fdf2bb92f0371be0e362ed5920eefcf2d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ca0281b314bf4647a654019d9b46fe2975bdc6f64080c0bfaafcbf4e2779efe
+size 1578808
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebc1adf2fabbaf4b4ac1f4d51911386851029411
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray.obj
@@ -0,0 +1,27166 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51f7b441c1b9a38b8d292e993c5bda8e1001c74c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision.obj
@@ -0,0 +1,10319 @@
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_0.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49ca68717f627c24bce57307a13c97143ade7c41
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_0.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_1.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139dc814bec7e257548b4e83c4675133fa8e000c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_1.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_10.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af40778e5a882a4e6635ef2824aa6ecee31508c4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_10.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_11.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b006cf2b7a3aa47819eeaae4e76dec73d507bcf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_11.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_12.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efea1b97a42b09d01d6b95d48852250d08e667ad
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_12.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_13.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e03702f4fcc1c66ab44da5b7e431fc002cf1277d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_13.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
+v -0.07341318 0.05252211 0.00226388
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_14.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e69b31ab89c1e6a45b9aea2a1a17be93689f7436
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_14.obj
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+
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_15.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..536fbab32353a8ed2ca3092d9ae2bd0e6324f9d1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_15.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v -0.10396627 -0.07348334 0.00288644
+v -0.10393681 -0.07348331 -0.00623989
+v -0.10387298 -0.07360307 0.00288644
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+v -0.05381273 -0.07348334 0.00230160
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+v -0.10187469 -0.07590625 0.00288643
+v -0.05381273 -0.09614884 0.00288636
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+v -0.09314999 -0.08456955 -0.00243759
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+v -0.05887472 -0.10725973 0.00288632
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+v -0.05972903 -0.10686530 0.00288632
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+v -0.08628610 -0.09032043 -0.00623995
+v -0.08846114 -0.08858426 -0.00243761
+v -0.08842677 -0.08855607 -0.00623995
+v -0.09101423 -0.08645366 0.00288639
+v -0.08846605 -0.08859485 0.00136473
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+v -0.08360044 -0.09244049 -0.00243762
+v -0.08631556 -0.09034157 -0.00243761
+v -0.08846605 -0.08859485 0.00288638
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+v -0.07074169 -0.10111791 -0.00243765
+v -0.07403126 -0.09916338 -0.00243764
+v -0.07615229 -0.09776528 0.00288635
+v -0.07801310 -0.09648340 0.00288636
+v -0.07925037 -0.09563115 0.00136471
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+v -0.08138613 -0.09411331 0.00288636
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+
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_16.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c188284109a78415849f0d739ed54d0693ce95e4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_16.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.05381273 -0.07348330 -0.00806834
+v -0.05381273 -0.09605356 -0.00999771
+v -0.05381273 -0.07348334 0.00230156
+v -0.00058826 -0.07348330 -0.00750730
+v -0.05381273 -0.09605361 0.00276756
+v -0.00058826 -0.08346495 -0.00769602
+v -0.00058826 -0.08500925 -0.00771976
+v -0.00058826 -0.08774216 -0.00776101
+v -0.00058826 -0.09202380 -0.00780476
+v -0.00058826 -0.09605357 -0.00784351
+v -0.05216102 -0.07348334 0.00230281
+v -0.00058826 -0.07348334 0.00230156
+v -0.02785961 -0.07348334 0.00231281
+v -0.03214779 -0.07348334 0.00231156
+v -0.03643076 -0.07348334 0.00231031
+v -0.03929649 -0.07348334 0.00230906
+v -0.00058826 -0.09605361 0.00228149
+v -0.00058826 -0.07490392 0.00230031
+v -0.00161993 -0.07348334 0.00230281
+v -0.01928847 -0.07348334 0.00231031
+f 1 2 5
+f 1 5 3
+f 1 3 11
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+f 1 15 14
+f 1 14 13
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+f 1 4 2
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+f 5 14 15
+f 5 15 16
+f 5 16 11
+f 5 17 18
+f 5 18 12
+f 5 12 19
+f 5 19 20
+f 5 20 13
+
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_17.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..defcf55849b408f8e5d530eb4f7f9bbd867bfb5d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_17.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.07341586 0.00066598 0.00232528
+v -0.07502684 0.00066598 0.00232418
+v -0.07341586 0.00066602 -0.00814784
+v -0.07341586 0.00375247 0.00232198
+v -0.10084283 0.05251703 0.00229016
+v -0.07651163 0.00066598 0.00232307
+v -0.07360112 0.00066602 -0.00815115
+v -0.10084283 0.05251707 -0.00894886
+v -0.07341586 0.00112798 -0.00814784
+v -0.07341586 0.04066348 0.00228018
+v -0.10084283 0.00066598 0.00229328
+v -0.09217575 0.00066598 0.00230762
+v -0.08788785 0.00066598 0.00231314
+v -0.08508743 0.00066598 0.00231645
+v -0.07341586 0.04922241 0.00226918
+v -0.07341586 0.05251703 0.00226477
+v -0.07931474 0.00066602 -0.00824385
+v -0.07341586 0.05251707 -0.00800087
+v -0.07341586 0.02307863 -0.00812238
+v -0.07341586 0.01926620 -0.00813563
+v -0.07341586 0.00642274 -0.00814451
+v -0.08211785 0.00066602 -0.00828910
+v -0.08360264 0.00066602 -0.00831117
+v -0.08640575 0.00066602 -0.00833435
+v -0.08788785 0.00066602 -0.00834649
+v -0.10075155 0.00066602 -0.00838511
+v -0.10084283 0.00066602 -0.00838511
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+
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_18.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d20d238da9abe858f7258941945e67b94b613b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_18.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.12342936 -0.04078403 -0.00849885
+v -0.12338407 -0.04078402 -0.01004449
+v -0.12171679 -0.04494225 -0.01004451
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_19.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..433781253d9e9bb78684254e77e245a6cb1483a0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_19.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_2.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2641453172fc3434362f2c3f81f93981a7e83677
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_2.obj
@@ -0,0 +1,1513 @@
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+
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_20.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2a83e47adcfbd3e1bc5e9be2c84e63fe9614342
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_20.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.03873192 0.10314957 -0.01133449
+v -0.03873192 0.08360117 -0.00785831
+v -0.03873192 0.10314952 0.00291074
+v -0.00045602 0.10314956 -0.00794330
+v -0.00045602 0.08360117 -0.00770632
+v -0.03873192 0.08360113 0.00225948
+v -0.02785911 0.08360113 0.00226088
+v -0.02343805 0.08360113 0.00226088
+v -0.01928675 0.08360113 0.00225948
+v -0.00045602 0.08360113 0.00224554
+v -0.01928675 0.10314952 0.00266811
+v -0.00045602 0.10314952 0.00225537
+f 1 2 6
+f 1 6 3
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+f 1 12 4
+f 1 4 5
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+f 2 5 10
+f 2 10 9
+f 2 9 8
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+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 10
+f 4 10 5
+f 10 12 11
+
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_21.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..829773a8da8044656b8a55e5697fc8c92dc7deae
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_21.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.05986194 0.09092473 -0.00855299
+v 0.07164440 0.09092475 -0.01374199
+v 0.06193026 0.08860782 -0.00855299
+v 0.08556489 0.09092473 -0.00855299
+v 0.07615287 0.09092476 -0.01512200
+v 0.11245887 0.05039880 -0.01537715
+v 0.10930990 0.05039879 -0.01392582
+v 0.10858367 0.05039879 -0.01348645
+v 0.10077518 0.05039877 -0.00855313
+v 0.08634922 0.09033757 -0.00855299
+v 0.08552422 0.09092474 -0.01004402
+v 0.08094602 0.09092475 -0.01433342
+v 0.08362439 0.08774694 -0.01496927
+v 0.08791209 0.08346624 -0.01519738
+v 0.09219397 0.07918552 -0.01530303
+v 0.09648167 0.07490481 -0.01535351
+v 0.10934477 0.05778988 -0.01542624
+v 0.11363247 0.05039880 -0.01535562
+v 0.11921577 0.05039877 -0.00855313
+v 0.08632598 0.09032171 -0.01004402
+v 0.08849308 0.08860782 -0.00855299
+v 0.08525115 0.09092474 -0.01158147
+v 0.08383354 0.09092475 -0.01319227
+v 0.08769131 0.08763585 -0.01340826
+v 0.09213588 0.08346623 -0.01369491
+v 0.09652234 0.07922915 -0.01380662
+v 0.10076937 0.07062806 -0.01528759
+v 0.11363247 0.05350916 -0.01490749
+v 0.10505707 0.06634733 -0.01496397
+v 0.11671752 0.05039879 -0.01399983
+v 0.11915767 0.05039878 -0.01004416
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_22.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22c652e4f9385a92642247c486233bd7ae926280
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_22.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_23.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4fa6fc77deb29d153f5f0b34904d14ff79b04d2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_23.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.10146480 -0.04078387 -0.00854324
+v 0.10099676 -0.04088852 -0.00854324
+v 0.12347603 -0.04078387 -0.00854324
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+
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_24.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb54362b799d9adf4f276d6b41780593c52af4ff
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_24.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.11121411 -0.03946837 0.00291707
+v -0.11207958 -0.03946839 0.00897287
+v -0.12406302 -0.03946837 0.00291707
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_25.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7de38b00ed8b6dc8f3cf2d535ee56105ef1f24e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_25.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_26.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..923aeab5fac25ebff4910218d39babbd9bb21109
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_26.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_27.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c412910a86ffe480405cd60e40c2fa4c33718ca
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_27.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_28.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2093fcfcf45539157b2a6de00e7f3ad7765368be
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_28.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_29.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..800d7e02f677df7fc0c4c7d26c5c0b01cde70c7f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_29.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_3.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6e5ff5f2319e5381b8e5882d845cb7fc60d3b37
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_3.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_30.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0300be3f1d9324b85d25f8f466957ccb8b7fa0be
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_30.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+v 0.10258103 -0.07527039 -0.00854337
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_31.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2c72cff547c9bfcbf8ec2749916e8ca7c927b1e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_31.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_32.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36b60bbc74c1b498fc5c4fe76e05a69e97fc99b1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_32.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_33.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a14408ed692612ca86eae4f2b0f1adfc5c33f09a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_33.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_34.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a88fd98af9f7d83d4f8fe2621df9ec6535eb3259
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_34.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_35.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a809fb00b61ebd02f6e3418f1d7e07b12b79f5de
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_35.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_4.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d79367ff797cd0929332a5fb7df8b294647d04
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_4.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_5.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9b4cfa953959073b58703296a2775d3776aac62
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_5.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_6.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a102d31a4e3c8b3d4f273a5f733c3a4b9d144eab
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_6.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_7.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d50123fbda240e8b18e6d7d8a1bd96ca73387b7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_7.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_8.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21c051cc78fc0dd0f6b5edcbe4c3a44a7e969fd1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_8.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_9.obj b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96806fb26eb314ccbfbb0a319e9f948a9f17fffb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mjcf/mesh/wooden_tray_collision_9.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/textures/material_0.png b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f75c29fdf2bb92f0371be0e362ed5920eefcf2d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/textures/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/utensils/79cfd180fe805aa392ccf65a62c0b6c0/video.mp4 b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b66d22325fb7419bb15ac537e1d3506ea6e49812
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/video.mp4
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