diff --git a/.gitattributes b/.gitattributes
index b08c457104ee8f82fe9e0b45c70f845642fc26e9..594bfd06816573b7ee5d83a7df6500a2cad774d8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4192,3 +4192,5 @@ dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/mesh/tray_02
 dataset/kitchen_supplies/tableware/40171ce5765355609665ce58b1d7cb26/tray_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/mesh/tray_046.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/tray_046.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/tray_017.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/material.mtl b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f6bcc6c430b5baaceabc44d77c1180fe1ffcadf8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_017_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_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/material_0.png b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2eeeb1da96b860334b454fe6c0defc43aaf7cec5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6af0e19021906a6ae1980e78304f3e7c1d1ca7928555f3b1b444e27ebe0bb9b1
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017.glb b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1a7d3a001c483532eb2a78ad89a6115dd8923d4d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da14c8eaffd0209dd49e4988dae945d8f0d7fd079d983cc8767e3d0040013713
+size 13457920
diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017.mtl b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6577812cda7abda1bd8d0f4db0e2b0d50fbcfcd3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017.mtl
@@ -0,0 +1,6 @@
+newmtl tray_017_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/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345581e84fb9a6b63aabaf5ced2fd73949738f5e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017.obj
@@ -0,0 +1,118368 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_017_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017_collision.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b8883ada19b3cd6cb963c3449b22a75093bc388
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017_collision.obj
@@ -0,0 +1,6157 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mesh/tray_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2eeeb1da96b860334b454fe6c0defc43aaf7cec5
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2eeeb1da96b860334b454fe6c0defc43aaf7cec5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017.obj
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index 0000000000000000000000000000000000000000..616bbba60f46fb9fd0cf20528c614c101c364897
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017.obj
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4df33b19918b298fcc6f1f5862b944c683b728db
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision.obj
@@ -0,0 +1,6157 @@
+# https://github.com/mikedh/trimesh
+
+o tray_017_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_0.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a31e334e139a3bc86b929fc27c6e92cf4f85df
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_1.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..098a0c8fc424c37d785cb5d4ce5b7c322285f18d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_10.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6575159b21bc063edfac6cd6cfcae7d4d2c8b65
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_10.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.16788512 0.08057979 0.00630014
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+
diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_11.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50472d24c732f1d6a4e126292ff281ae8a964b3b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_11.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_12.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20d842cc18c2e0bee066c4f295c859ffe12941dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_12.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_13.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7de5cb0be92c7fc4c0b990fe7631b532bbb11107
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_13.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.14107070 -0.02633063 0.00402454
+v -0.14143097 -0.02633064 0.00414999
+v -0.13094655 -0.03639891 0.00402451
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+v -0.16574601 -0.08159526 0.00402434
+v -0.17407492 -0.04907492 0.01395066
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+v -0.17443519 -0.06451543 0.00402440
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+
diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_14.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a49b4cc3fbde0cea0d361f6b7579d24ea0c54a17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_14.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.03760324 0.14157058 0.00394970
+v 0.04786727 0.12764129 0.00394965
+v 0.03760324 0.17120250 0.01198485
+v 0.03760324 0.18283723 0.00394985
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+
diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_15.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c3ce71d8753f9a6d90b4731597606d8e7a7d0b9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_15.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.07790201 0.16987225 0.00597301
+v 0.08088801 0.16802803 0.00406279
+v 0.08050045 0.16812417 0.00394980
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_16.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f61c45d26d3c2fea5c62e50c32f2513ab1d3f5e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_2.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adcd0bfa07e12b8dd185af594887197984930ec3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_2.obj
@@ -0,0 +1,808 @@
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_3.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbfe22bd18e2a6b99e1d860b178c1cfed29c75a5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_3.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_4.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d1ec13b9db7761441885284c2d01ccb62f76d70
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_4.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+v -0.18723964 -0.00708576 0.00932295
+v -0.18744995 -0.00306861 0.00951945
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+v -0.18096740 0.01561008 0.01408107
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+v -0.16733423 0.07783512 0.00416193
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+
diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_5.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2be9e0001c8cc080808a75b75636fc74b859c79d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_5.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.07776766 -0.16974903 0.00603779
+v -0.07776766 -0.16913563 0.00984014
+v -0.07776766 -0.16895409 0.00404684
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+v -0.05444804 -0.17993292 0.00499714
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+
diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_6.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb9595e5b2eb0abfc5a8e32eade1184cec071757
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_6.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
+v 0.09130713 -0.07592698 -0.00821621
+v 0.09130713 -0.07592702 0.00250968
+v 0.09130713 -0.07153309 -0.00822518
+v 0.09658545 -0.06531124 -0.00822741
+v 0.09658545 -0.07153309 -0.00820721
+v 0.09658545 -0.07592698 -0.00818926
+v 0.16069832 -0.07592706 0.01273240
+v 0.09179392 -0.04985886 0.00381710
+v 0.09130713 -0.04740646 0.00377892
+v 0.09130713 -0.06531124 -0.00823414
+v 0.10281824 -0.06531124 -0.00819596
+v 0.09658545 -0.05908940 -0.00823412
+v 0.10904150 -0.04041252 -0.00823405
+v 0.11527429 -0.03419067 -0.00822505
+v 0.11527429 -0.04041252 -0.00820710
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+v 0.10281824 -0.07592698 -0.00814433
+v 0.16561392 -0.07592705 0.01188332
+v 0.16846784 -0.06881963 0.01397012
+v 0.16776151 -0.06881963 0.01397012
+v 0.16753244 -0.06531132 0.01405774
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_7.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eca0ec28f9a658b9ee7a58210d5f25d07dbaee6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_8.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41cc543bdad9aa3a2a9a214e54dd61e7dad413df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_8.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_9.obj b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22ecbc7ec486165c90d5e9b7f13ac41841d9e770
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/mesh/tray_017_collision_9.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/tray_017.xml b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/tray_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b397c77ffc63d103a74d3ca5e8b3685f8e7ff71d
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+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/mjcf/tray_017.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_017">
+  <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_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_017_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_017_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_017_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/textures/material_0.png b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/tray_017.urdf b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/tray_017.urdf
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+++ b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/tray_017.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_017">
+   <link name="tray_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>46a98dc71af35693a583a3b60e637bbb</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate round tray</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>shallow round decorative tray with embossed floral pattern</description>
+         <min_height>0.0230</min_height>
+         <max_height>0.0230</max_height>
+         <real_height>0.0230</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195206</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.187780 -0.187982 -0.006802</min>
+            <max>0.187828 0.188062 0.016149</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/tray_017.usd b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/tray_017.usd
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diff --git a/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/video.mp4 b/dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/video.mp4
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