diff --git a/.gitattributes b/.gitattributes
index 0ff11a8cdca0e4def10a3138975f72512401a789..4363048fa7d9e8a5cd9ccba066212a602620cbbe 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4117,5 +4117,6 @@ dataset/kitchen_supplies/tableware/200521cfb54c59799efc51ffd95f9f42/mesh/white_d
 dataset/kitchen_supplies/tableware/200521cfb54c59799efc51ffd95f9f42/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/mesh/tray_075.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1d3391827ac55427bf5b1cc0ceee929b/tray_075.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/1d571c7d6111543c946c8b15c920c916/mesh/plate_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/1d571c7d6111543c946c8b15c920c916/plate_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/2151ac4c6a865383afde0fffffd3fc7d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/metal_tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/2151ac4c6a865383afde0fffffd3fc7d.urdf b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/2151ac4c6a865383afde0fffffd3fc7d.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8ba950728f87dfc085c84f663e2a3347bd027edb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/2151ac4c6a865383afde0fffffd3fc7d.urdf
@@ -0,0 +1,57 @@
+<?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>0.70</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.1500" />
+         <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>0.251547</scale>
+         <version>v0.1.7</version>
+         <category>metal tray</category>
+         <description>rectangular metal tray with shallow depth and smooth edges</description>
+         <min_height>0.04</min_height>
+         <max_height>0.06</max_height>
+         <real_height>0.05</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.5</max_mass>
+         <generate_time>20260119211653</generate_time>
+         <gs_model>mesh/metal_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.416690349578857</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/2151ac4c6a865383afde0fffffd3fc7d.usd b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/2151ac4c6a865383afde0fffffd3fc7d.usd
new file mode 100644
index 0000000000000000000000000000000000000000..74a419cf447b39b9676a62f4f4a8b9d808b135cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/2151ac4c6a865383afde0fffffd3fc7d.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9898c2a551e0f974dabeb292917076c9497c599da71b61b6e91c56a34391e728
+size 484097
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/material.mtl b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/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/2151ac4c6a865383afde0fffffd3fc7d/mesh/material_0.png b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..25c9e517b9b9e3a837e4e4de7fe0a13c1925cdde
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11571ffe64f404862d5ec8ef811b17ba1c9f003242b0b7ef34d78bef65b1f7af
+size 1103363
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/metal_tray.glb b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/metal_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ba2815012961e6d003686f5a4ae6bff88a4b7b03
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/metal_tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54aa9a32e7c5704f92d51a8bffb23d1c8d2d4ec1b12bad6e93355158f75b9173
+size 1436980
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/metal_tray.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1decf45cc9304b0cbc1dd957af0ecd1072fa5bcc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/metal_tray.obj
@@ -0,0 +1,30520 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6501ac29ca81888bc7bf113676eccd43eff96269
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/metal_tray_collision.obj
@@ -0,0 +1,9787 @@
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/metal_tray_gs.ply b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mesh/metal_tray_gs.ply
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/2151ac4c6a865383afde0fffffd3fc7d.xml b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/2151ac4c6a865383afde0fffffd3fc7d.xml
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index 0000000000000000000000000000000000000000..520bad24715a80d3735aaefdd526c5b2837a9ccc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/2151ac4c6a865383afde0fffffd3fc7d.xml
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+    <mesh name="collision_mesh_0_16" file="mesh/metal_tray_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/metal_tray_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/metal_tray_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/metal_tray_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/metal_tray_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/metal_tray_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/metal_tray_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/metal_tray_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/metal_tray_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/metal_tray_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/metal_tray_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/metal_tray_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/metal_tray_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/metal_tray_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/metal_tray_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/metal_tray_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/metal_tray_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/metal_tray_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/metal_tray_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/metal_tray_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/metal_tray_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/metal_tray_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/metal_tray_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/metal_tray_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/metal_tray_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/metal_tray_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/metal_tray_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/metal_tray_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/metal_tray_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/metal_tray_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/metal_tray_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="metal_tray">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_4" 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" />
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+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..25c9e517b9b9e3a837e4e4de7fe0a13c1925cdde
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11571ffe64f404862d5ec8ef811b17ba1c9f003242b0b7ef34d78bef65b1f7af
+size 1103363
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3024e9792d1e44331cee008a5831c7d6c60473a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray.obj
@@ -0,0 +1,30520 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37ac459338b34838c67ea146cb82126e797a26bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision.obj
@@ -0,0 +1,9787 @@
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_0.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ee99c310f94edf289dcf40231c59e6de8338181
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_0.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_1.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb3d8e2240cc05bfd7ecb95aebe3bc6b9d3117f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_1.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_10.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42f8afc8284ae7b1d9b70c67e9dfcc8fd7a14926
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_11.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a68f7f7e405f805a263b3978399ffdedbd5972f4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_11.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_12.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e198eb371bec76d2faf7a3e2e26f7c5f7b292f61
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_12.obj
@@ -0,0 +1,295 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_13.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a74edcd902835c8a177d1df0239d1b38b7e79ab4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_13.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+v -0.07848309 0.00007749 0.01438130
+v -0.07848309 0.00018735 0.01605138
+v -0.08590524 0.00626653 0.02404596
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+v -0.07990953 -0.00620519 0.01839492
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+v -0.07990953 -0.00960490 0.01706702
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+v -0.07990953 -0.00890704 0.01347466
+v -0.08257190 -0.01451629 0.01890477
+v -0.07990953 -0.00845740 0.01134514
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_14.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50c661d68327b04ef7943279b1088cae27977cbc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_14.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.06359688 0.11016993 -0.02398962
+v -0.06359688 0.11016990 -0.01512595
+v -0.06343065 0.11016993 -0.02400306
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+f 33 35 34
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+f 38 40 39
+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_15.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8673ba4b0cbbe9ccc801784041676a411cf0bf1f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_15.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.06359688 0.11016993 -0.02399025
+v -0.06359688 0.11037788 -0.02396141
+v -0.06017257 0.11025089 -0.02424485
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+v -0.01507712 0.11016990 -0.01556897
+v -0.01507712 0.11353032 0.01735713
+v -0.06359688 0.11360334 0.01735713
+v -0.06359688 0.11233357 -0.02345700
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+v -0.01507712 0.11714164 0.02277116
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_16.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b9339d59cec80b44e8a60352db6c9ebf23f6ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_16.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.04360331 -0.07361639 -0.01983906
+v -0.04360778 -0.07361637 -0.02480180
+v -0.04360331 -0.07275072 -0.02480550
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+v -0.04775057 -0.07361637 -0.02479346
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+v -0.04360331 -0.00621091 -0.02525169
+v -0.05189336 -0.03947360 -0.02497672
+v -0.04360331 0.00007947 -0.01851706
+v -0.06340310 0.00007946 -0.01578932
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_17.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9652fb41e8e1df071f91bf932ec0ba2eea11378d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_17.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_18.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b81eb54a04444ac8d5f9e6d0c6555c54e6f16b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_18.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_19.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75d72bece9e8e51ffa44986abb700cccffba5e0f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_19.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_2.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cddbc753dff0f18beb022899020441c8e437e544
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_2.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_20.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e2c3edbf8ee404643a03d98ae48aae54749e2e6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_20.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_21.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e73d2d22a6e090f8c690e7b7d555d2ade6270fc4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_21.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_22.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1930cc371d2c71dbe15fd4d6fd54af31ea23c7d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_22.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_23.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..662de3dcec9223fe51bbe92a0fb7543147df3052
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_23.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.07886637 0.09620602 0.01520783
+v -0.08607154 0.09620602 0.01520783
+v -0.07948794 0.09620602 0.01722373
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+v -0.09196667 0.09620601 0.01866816
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+v -0.07906288 0.08113572 0.01520778
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+v -0.09200152 0.09361265 0.01864496
+v -0.09301888 0.07282094 0.02124432
+v -0.09294641 0.07697992 0.02124433
+v -0.08632378 0.08945368 0.01520781
+v -0.08364659 0.09620600 0.02269069
+v -0.08619139 0.06350084 0.02389194
+v -0.08180139 0.08529468 0.02052075
+v -0.07962870 0.07732572 0.01520776
+v -0.08194076 0.08113571 0.02036581
+v -0.08492596 0.06350085 0.02124428
+v -0.09258824 0.09361264 0.02124439
+v -0.09251160 0.09620600 0.02124440
+v -0.09212555 0.08113571 0.01857349
+v -0.09217015 0.07697993 0.01855862
+v -0.09306348 0.06866196 0.02124430
+v -0.09209907 0.06866195 0.02393278
+v -0.09206423 0.07282093 0.02390126
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+v -0.09179108 0.09620599 0.02369446
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+v -0.08560606 0.07697994 0.01520776
+v -0.08988875 0.06350084 0.02450423
+v -0.08390720 0.07413045 0.01520775
+v -0.08463607 0.07534708 0.01520776
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+f 38 52 39
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_24.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..946308b622947df9275b281e16b58105d9c226b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_24.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.07877648 0.00007947 -0.01827852
+v 0.08719605 -0.03947839 0.00201654
+v 0.08770989 0.00007939 0.00201669
+v 0.08999560 0.00007947 -0.01827852
+v 0.07797270 -0.08936771 -0.01827885
+v 0.08694316 -0.08936779 0.00201636
+v 0.09442686 0.00007939 0.00201669
+v 0.09021144 0.00007947 -0.01796861
+v 0.08928524 -0.08106739 -0.01827882
+v 0.08905651 -0.08936771 -0.01827885
+v 0.09340241 -0.08936779 0.00201636
+v 0.09441559 -0.00183808 0.00201668
+v 0.09438982 -0.00204822 0.00181603
+v 0.09440109 0.00007939 0.00181604
+v 0.09118596 0.00007946 -0.01602571
+v 0.08963156 -0.08522631 -0.01760935
+v 0.08924658 -0.08522630 -0.01827883
+v 0.08922886 -0.08614565 -0.01827884
+v 0.08919826 -0.08936771 -0.01827488
+v 0.09280158 -0.08936777 -0.00205023
+v 0.09429317 -0.01452494 0.00181599
+v 0.09432055 -0.01452494 0.00201664
+v 0.09438821 -0.00620713 0.00201667
+v 0.09385343 0.00007941 -0.00206977
+v 0.09436243 -0.00620713 0.00181602
+v 0.09151296 0.00007945 -0.01483573
+v 0.09072367 -0.08936773 -0.01447847
+v 0.08959612 -0.08936772 -0.01759546
+v 0.08958968 -0.08936772 -0.01760937
+v 0.09222653 -0.08936776 -0.00593604
+v 0.09383087 -0.00204820 -0.00206978
+v 0.09433022 -0.01036603 0.00181600
+v 0.09164343 -0.08936774 -0.00983973
+v 0.09435760 -0.01036603 0.00201665
+v 0.09435921 -0.01015590 0.00201665
+v 0.09325099 0.00007942 -0.00595558
+v 0.09181417 0.00007945 -0.01372323
+v 0.09118758 -0.08936773 -0.01253556
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+v 0.09222492 0.00007944 -0.01173860
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+f 31 33 36
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+f 33 39 36
+f 37 40 38
+f 38 40 39
+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_25.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adaabe53c77e432909e4b19fcf8fd14939d5e943
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_25.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.06882460 0.10823431 -0.01638971
+v 0.08243650 0.10823431 -0.01638971
+v 0.08350010 0.09013624 -0.01638978
+v 0.08902755 0.09013613 0.01348359
+v 0.07844869 0.10823421 0.01173208
+v 0.08281461 0.10823431 -0.01581365
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+v 0.09128260 0.09013624 -0.01638978
+v 0.09661149 0.09013613 0.01348359
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+v 0.09087457 0.09949881 -0.00706455
+v 0.09147302 0.09684859 -0.00983667
+v 0.09471278 0.09873342 0.01348362
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_26.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8289d26309daf311a7ca6debc005d3e1a49f579a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_26.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.06359865 0.09620935 -0.01833853
+v -0.07523835 0.09622052 -0.01303640
+v -0.07526487 0.09620933 -0.01303640
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+v -0.06359865 0.09750080 -0.02482391
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+v -0.08140211 0.09777381 -0.01372557
+v -0.06846282 0.09620937 -0.02478582
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+v -0.06359865 0.09777385 -0.02482275
+v -0.06359865 0.11897836 -0.01372549
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+v -0.06432005 0.11894703 -0.01303631
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+v -0.06846282 0.09777385 -0.02476965
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+v -0.06359865 0.11878588 -0.01440312
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+v -0.06464008 0.11749894 -0.01793788
+v -0.06730821 0.11696624 -0.01686083
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+v -0.07966755 0.09620935 -0.01906118
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_27.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bdcd65dba3fb8d187033af823ce7d7b2d0739d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_27.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_28.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..004b5ad97f02c68041f600f82257774894c21072
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_28.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.09297612 -0.10033028 0.01343444
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_29.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6192a7930e230858907a26670d888003f206dcb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_29.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.08098853 0.09620575 -0.01548056
+v -0.08034515 0.09620575 -0.01761078
+v -0.08061810 0.09361123 -0.01761079
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_3.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dab903d5b074462281099b04d5a411e3d87e7104
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_30.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ade3953b2203fdb76582126aacf5cdda6227c07
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_30.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.06666922 0.07302476 -0.01548064
+v -0.06666922 0.06991154 -0.00146053
+v -0.05835713 0.07226790 -0.01548064
+v -0.06666922 0.06467775 -0.01548067
+v -0.06484985 0.06933317 -0.00146054
+v -0.05603528 0.07157528 -0.01548065
+v -0.06666922 0.06304257 -0.00146056
+v -0.06666922 0.06452781 -0.01516363
+v -0.06358801 0.00007946 -0.01548091
+v -0.06472141 0.00007945 -0.01356490
+v -0.06588727 0.00007944 -0.00983855
+v -0.06625707 0.00007942 -0.00664199
+v -0.06645045 0.00007942 -0.00453794
+v -0.06663958 0.00007941 -0.00196861
+v -0.06665793 0.00007941 -0.00146079
+v -0.06431914 0.06914039 -0.00146054
+v -0.05540577 0.07136821 -0.01548065
+v -0.06666922 0.06310684 -0.00304580
+v -0.06666922 0.06405654 -0.01372387
+v -0.05308392 0.00007946 -0.01548091
+v -0.06666922 0.06332107 -0.00710429
+v -0.06666922 0.06347816 -0.00983832
+v -0.06666922 0.06366381 -0.01116690
+v -0.06000854 0.00007941 -0.00146079
+v -0.06149057 0.06779801 -0.00146054
+v -0.05408323 0.07061848 -0.01548065
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+v -0.05271694 0.00513479 -0.01548089
+v -0.05941573 0.01459564 -0.00146074
+v -0.05915461 0.06449920 -0.00146055
+v -0.05322506 0.06865490 -0.01548066
+v -0.05267036 0.00627724 -0.01548089
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+v -0.05863519 0.06033640 -0.00146057
+v -0.05245300 0.06449925 -0.01548067
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+v -0.05253768 0.01043290 -0.01548087
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+v -0.05897394 0.03604510 -0.00146066
+v -0.05898382 0.03538820 -0.00146066
+v -0.05905863 0.03123254 -0.00146068
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+f 1 17 26
+f 1 26 33
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+f 39 40 51
+f 39 51 50
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+f 42 54 51
+f 50 51 54
+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_31.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e4193516518d703dca94a711bd2e3a747b4e5ed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_31.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.07292897 -0.10033016 -0.01827889
+v 0.07797173 -0.08936771 -0.01827885
+v 0.08669836 -0.10033016 -0.01827889
+v 0.08318286 -0.10033024 0.00201632
+v 0.08694288 -0.08936779 0.00201636
+v 0.08905539 -0.08936771 -0.01827885
+v 0.08696894 -0.09988913 -0.01827889
+v 0.08720745 -0.10033017 -0.01719421
+v 0.09102560 -0.10033024 0.00201632
+v 0.09340268 -0.08936779 0.00201636
+v 0.08919769 -0.08936771 -0.01827488
+v 0.08919569 -0.08938809 -0.01827885
+v 0.08756622 -0.09840293 -0.01827888
+v 0.08792297 -0.09793722 -0.01783984
+v 0.08736378 -0.10033017 -0.01678695
+v 0.09118795 -0.10006949 0.00201632
+v 0.09056061 -0.10033023 -0.00060998
+v 0.09303589 -0.09354738 0.00201635
+v 0.09337261 -0.08938817 0.00181571
+v 0.09280139 -0.08936777 -0.00205023
+v 0.08959053 -0.08936772 -0.01760937
+v 0.08959053 -0.08938810 -0.01760937
+v 0.08912153 -0.09038283 -0.01827885
+v 0.08779069 -0.09768720 -0.01827888
+v 0.08866055 -0.09442829 -0.01827887
+v 0.08919769 -0.09354731 -0.01760938
+v 0.09049045 -0.09344968 -0.01365205
+v 0.08929390 -0.09770546 -0.01372359
+v 0.08745798 -0.10033017 -0.01648498
+v 0.09101157 -0.09975400 -0.00006366
+v 0.09189946 -0.09805105 0.00201633
+v 0.08814545 -0.10033018 -0.01372360
+v 0.09103963 -0.09567524 -0.00799220
+v 0.09300583 -0.09354738 0.00181570
+v 0.09114184 -0.09199889 -0.01230711
+v 0.09222215 -0.08938814 -0.00595591
+v 0.09222616 -0.08936776 -0.00593604
+v 0.09072295 -0.08936773 -0.01447847
+v 0.08882290 -0.09354730 -0.01827886
+v 0.09072295 -0.08938811 -0.01447847
+v 0.09080513 -0.09477170 -0.01058076
+v 0.09022188 -0.09731917 -0.00950601
+v 0.09051050 -0.09827636 -0.00595594
+v 0.09120398 -0.09619675 -0.00595593
+v 0.09129016 -0.09344970 -0.00950599
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+v 0.09164291 -0.08936774 -0.00983973
+v 0.09118795 -0.08936773 -0.01253556
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+f 1 13 7
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+f 28 43 30
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+f 33 45 34
+f 34 45 35
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+f 35 46 47
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+f 35 37 36
+f 35 45 41
+f 37 47 48
+f 38 49 46
+f 38 46 40
+f 46 49 48
+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_32.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..637b724341551b12c4d23a92d076163eecab6f5e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_32.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.07906179 0.10823420 0.01348366
+v 0.07924749 0.10823420 0.01405231
+v 0.08855896 0.10823420 0.01348366
+v 0.08903052 0.09013613 0.01348359
+v 0.08955583 0.09013612 0.01735990
+v 0.09027172 0.09013611 0.01958081
+v 0.07958955 0.10823420 0.01487580
+v 0.09045008 0.09013611 0.02005574
+v 0.08984659 0.10667702 0.01348365
+v 0.10018669 0.10823418 0.01877950
+v 0.09660968 0.09013613 0.01348359
+v 0.08062552 0.10823419 0.01735997
+v 0.09309619 0.09013610 0.02179750
+v 0.08219168 0.10823418 0.01970619
+v 0.08151489 0.10823418 0.01883320
+v 0.09146894 0.10459545 0.01348364
+v 0.10075109 0.10823417 0.02112677
+v 0.10357801 0.10046774 0.01916384
+v 0.09556883 0.09665540 0.01348362
+v 0.09471123 0.09873342 0.01348362
+v 0.09308642 0.10194346 0.01348363
+v 0.09628960 0.09361544 0.01348360
+v 0.10372705 0.09777500 0.01901113
+v 0.10385410 0.09361542 0.01889001
+v 0.10390297 0.09013611 0.01884998
+v 0.08501127 0.10823417 0.02126156
+v 0.09565679 0.09013610 0.02298641
+v 0.10026977 0.10823417 0.02286116
+v 0.10151585 0.10609061 0.02124470
+v 0.10357801 0.10046774 0.02005051
+v 0.10392985 0.09361541 0.02124465
+v 0.10402025 0.09013610 0.02124464
+v 0.08895477 0.10823417 0.02280851
+v 0.09738910 0.09013609 0.02363193
+v 0.10322862 0.09877768 0.02264103
+v 0.10278882 0.10188497 0.02130576
+v 0.09989593 0.10823416 0.02360673
+v 0.10369040 0.09754469 0.02130575
+v 0.10348028 0.09600521 0.02321599
+v 0.10395428 0.09013610 0.02157531
+v 0.09301312 0.10823416 0.02381945
+v 0.09772872 0.09013609 0.02374672
+v 0.09734511 0.10823416 0.02407745
+v 0.10024288 0.10609060 0.02377521
+v 0.10352670 0.09361540 0.02326442
+v 0.10078041 0.10193101 0.02382890
+v 0.10356824 0.09013609 0.02330759
+v 0.09723761 0.10609060 0.02424171
+v 0.10138147 0.09013609 0.02386677
+v 0.10166001 0.09754468 0.02368883
+v 0.10138147 0.09361540 0.02383518
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+f 1 12 15
+f 1 15 14
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+f 1 33 41
+f 1 41 43
+f 1 43 37
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+f 1 17 10
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+f 45 46 50
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+f 47 51 49
+f 48 49 51
+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_33.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c068ef7c479e7808b90127e8800ea65a60c786a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_33.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.07855115 0.09620923 0.01329227
+v -0.06359688 0.11356164 0.01329234
+v -0.08542157 0.09620923 0.01329227
+v -0.07524412 0.09620933 -0.01302237
+v -0.06359688 0.12099318 0.01329236
+v -0.06359688 0.11156010 -0.01303519
+v -0.08530621 0.09765769 0.01329228
+v -0.08302675 0.09620930 -0.00460302
+v -0.07526548 0.09620933 -0.01303525
+v -0.07523771 0.09622146 -0.01303525
+v -0.06404551 0.12095679 0.01329236
+v -0.06359688 0.11975587 -0.00663110
+v -0.06359688 0.11907413 -0.01303516
+v -0.08529552 0.09777415 0.01329228
+v -0.08302462 0.09628208 -0.00457210
+v -0.08301820 0.09620930 -0.00466487
+v -0.08165950 0.09620933 -0.01303525
+v -0.06577807 0.12056132 0.01329236
+v -0.06432110 0.11970007 -0.00595333
+v -0.06359688 0.11949629 -0.00983700
+v -0.06432110 0.11894555 -0.01303516
+v -0.06432110 0.11938468 -0.00983700
+v -0.06359688 0.11941865 -0.01051477
+v -0.08526135 0.09796825 0.01329228
+v -0.08303316 0.10019800 -0.00070645
+v -0.08283021 0.09905283 -0.00329643
+v -0.08206540 0.09777424 -0.00983708
+v -0.08241149 0.09620931 -0.00862328
+v -0.08158687 0.09703668 -0.01303524
+v -0.08222990 0.09620932 -0.00970566
+v -0.06846343 0.11895519 0.00181659
+v -0.06814939 0.11977036 0.01329236
+v -0.06846343 0.11864950 -0.00206708
+v -0.06505599 0.11867623 -0.01303516
+v -0.06846343 0.11785858 -0.00983701
+v -0.06846343 0.11830014 -0.00595334
+v -0.08455208 0.10193271 0.01329229
+v -0.08190731 0.10193278 -0.00595340
+v -0.08135401 0.10193280 -0.00983707
+v -0.08320620 0.10094770 0.00181652
+v -0.08152064 0.09777425 -0.01303524
+v -0.07181105 0.11729808 0.00181658
+v -0.07209945 0.11743878 0.00570283
+v -0.07299884 0.11752367 0.01329235
+v -0.06846343 0.11918810 0.00570284
+v -0.07149701 0.11711613 -0.00206709
+v -0.06858520 0.11728357 -0.01303517
+v -0.07078134 0.11665760 -0.00983701
+v -0.07116374 0.11690990 -0.00595334
+v -0.07055917 0.11650474 -0.01186260
+v -0.08451363 0.10206130 0.01329229
+v -0.08305666 0.10425464 0.00686504
+v -0.08287079 0.10374028 0.00427507
+v -0.08270844 0.10302698 0.00181653
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+v -0.07975176 0.10644559 -0.01006641
+v -0.07978381 0.10480062 -0.01303522
+v -0.08074302 0.10193281 -0.01303523
+v -0.07475490 0.11656773 0.01329235
+v -0.07388328 0.11589329 0.00181658
+v -0.06904878 0.11705551 -0.01303517
+v -0.07285358 0.11502717 -0.00983702
+v -0.07323384 0.11535227 -0.00595335
+v -0.07356711 0.11563370 -0.00206710
+v -0.07496213 0.11262036 -0.01278006
+v -0.07033912 0.11636888 -0.01303517
+v -0.07190291 0.11510724 -0.01303518
+v -0.07424005 0.11316384 -0.01303518
+v -0.08350101 0.10521298 0.01329231
+v -0.08109124 0.10609376 -0.00206713
+v -0.07923691 0.10881357 -0.00595337
+v -0.07900619 0.10846178 -0.00892217
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+v -0.08345829 0.10531002 0.01329231
+v -0.08254394 0.10729468 0.01329231
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_34.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c6b8ccad73d5987ec59d92eaa18558ff4dc15bb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_34.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.07559641 0.07215474 0.01191723
+v -0.07559641 0.07482540 0.01112638
+v -0.07559641 0.07064074 0.01174046
+v -0.06369137 0.06350089 0.01161080
+v -0.06251432 0.06350089 0.01160557
+v -0.06585091 0.06669298 0.01157808
+v -0.06308826 0.06591216 0.01134763
+v -0.07559641 0.07574650 0.00980918
+v -0.06153993 0.06710590 0.00875643
+v -0.07559641 0.07037870 0.01164357
+v -0.07544402 0.07034430 0.01169332
+v -0.07162753 0.06599290 0.00882189
+v -0.06569040 0.06350089 0.00960880
+v -0.06177502 0.06350089 0.01114991
+v -0.06099518 0.06451595 0.00986675
+v -0.07559641 0.07620044 0.00902226
+v -0.05936418 0.06450141 0.00570169
+v -0.06116380 0.06738647 0.00570170
+v -0.07559641 0.07027019 0.01145109
+v -0.06808827 0.06350091 0.00570168
+v -0.06661778 0.06350090 0.00811875
+v -0.07559641 0.06934908 0.00966774
+v -0.07559641 0.06783246 0.00570170
+v -0.07425724 0.06683063 0.00570170
+v -0.07218525 0.06570969 0.00570169
+v -0.06079576 0.06350089 0.00979866
+v -0.07559641 0.07657498 0.00533773
+v -0.06098545 0.06755193 -0.00145786
+v -0.05919719 0.06350091 0.00570168
+v -0.05915341 0.06450144 -0.00145787
+v -0.07559641 0.07702100 -0.00145783
+v -0.07215606 0.06575605 -0.00145787
+v -0.07157240 0.06546357 -0.00145787
+v -0.06789048 0.06350092 0.00284991
+v -0.07425238 0.06683329 0.00181815
+v -0.07422644 0.06684787 -0.00145786
+v -0.07390218 0.06667583 -0.00145787
+v -0.07559641 0.06784174 0.00181815
+v -0.05903506 0.06350094 -0.00145788
+v -0.07559641 0.06788543 -0.00145786
+v -0.06753704 0.06350094 -0.00145788
+v -0.06761811 0.06350093 -0.00061989
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+f 1 23 22
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+f 28 36 40
+f 28 40 31
+f 29 39 30
+f 33 41 42
+f 33 42 34
+f 35 38 36
+f 36 38 40
+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_35.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2c51782d818d221f2e03fc8e382500dc99051ba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_35.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.08306746 0.07891033 -0.00146050
+v -0.08282189 0.07891033 -0.00344925
+v -0.08120564 0.07697681 -0.01372383
+v -0.08168233 0.07697680 -0.00983827
+v -0.08292301 0.07822232 -0.00146050
+v -0.07618837 0.07891033 -0.00146050
+v -0.08147047 0.07891037 -0.01372382
+v -0.08100662 0.07891038 -0.01548062
+v -0.08072574 0.07697682 -0.01548063
+v -0.07954284 0.07362065 -0.01548064
+v -0.07978842 0.07320752 -0.01372384
+v -0.08251373 0.07690066 -0.00146051
+v -0.06667223 0.06991810 -0.00146053
+v -0.06667223 0.07302427 -0.01548064
+v -0.07344700 0.07891038 -0.01548062
+v -0.07885108 0.07248070 -0.01548064
+v -0.07852687 0.07112797 -0.01372385
+v -0.07980928 0.07246359 -0.00968319
+v -0.07873873 0.07084375 -0.01087590
+v -0.08028276 0.07281767 -0.00595409
+v -0.08050586 0.07281766 -0.00206854
+v -0.08053956 0.07281766 -0.00146052
+v -0.06667223 0.06304424 -0.00146056
+v -0.06667223 0.06468588 -0.01548067
+v -0.07822674 0.07154110 -0.01548065
+v -0.07615466 0.06945844 -0.01548065
+v -0.07645480 0.06918975 -0.01372386
+v -0.07884787 0.07070551 -0.00828599
+v -0.07711285 0.06932175 -0.00968321
+v -0.07890726 0.07064338 -0.00595410
+v -0.07897628 0.07057504 -0.00206855
+v -0.07898270 0.07056727 -0.00146053
+v -0.07157395 0.06546391 -0.00146055
+v -0.07212287 0.06578541 -0.00595412
+v -0.07202175 0.06584755 -0.00983831
+v -0.06667223 0.06311412 -0.00304580
+v -0.06667223 0.06453523 -0.01516363
+v -0.06700126 0.06479925 -0.01548067
+v -0.07462508 0.06832004 -0.01548066
+v -0.07366207 0.06711019 -0.01372386
+v -0.07409222 0.06691294 -0.00983830
+v -0.07674691 0.06884805 -0.00595411
+v -0.07674691 0.06876417 -0.00206856
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+v -0.07215657 0.06575744 -0.00146055
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+v -0.07419493 0.06686478 -0.00595411
+v -0.07159000 0.06608207 -0.01372387
+v -0.06667223 0.06348068 -0.00983832
+v -0.06667223 0.06332536 -0.00710429
+v -0.06667223 0.06405843 -0.01372387
+v -0.07029796 0.06596560 -0.01548067
+v -0.07311316 0.06739287 -0.01548066
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+v -0.07390443 0.06667530 -0.00146055
+v -0.06667223 0.06366860 -0.01116690
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+f 48 57 49
+f 51 54 52
+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_36.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..036aa17633a7818b3fb2ba4f2577832a49ac317f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_36.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.08099172 0.09620934 -0.01548056
+v -0.07360474 0.09620934 -0.01548056
+v -0.08125098 0.09361347 -0.01548057
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+v -0.07691339 0.09620929 -0.00146044
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+v -0.08144037 0.08945468 -0.01548058
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+v -0.08179382 0.09620933 -0.01226067
+v -0.08296253 0.09155606 -0.00790710
+v -0.08338788 0.09620929 -0.00146044
+v -0.08306684 0.07891201 -0.00146050
+v -0.08100590 0.07891206 -0.01548062
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+v -0.08146872 0.08529758 -0.01548060
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+v -0.08379096 0.08945463 -0.00146046
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+v -0.08282682 0.09432972 -0.00716456
+v -0.08241159 0.09620931 -0.00862353
+v -0.08303950 0.09620930 -0.00450740
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+v -0.08125503 0.07891205 -0.01454046
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+v -0.08301823 0.09620930 -0.00466798
+v -0.08147075 0.07891205 -0.01372382
+v -0.08339801 0.08094400 -0.00146049
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+v -0.08315697 0.08533648 -0.00620248
+v -0.08374133 0.08529753 -0.00146048
+v -0.08369170 0.08464390 -0.00146048
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+f 32 40 41
+f 32 41 33
+f 36 42 37
+f 37 42 41
+f 37 41 39
+f 37 39 38
+f 39 41 40
+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_37.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c0ad3b533969985e3f599f24e773fc17e9eedaa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_37.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.09311362 -0.09765781 0.01367886
+v -0.09746091 -0.09775840 0.01347324
+v -0.09311362 -0.09765279 0.01347324
+v -0.09311362 -0.09683801 0.01668528
+v -0.09746091 -0.09683801 0.01658761
+v -0.10160183 -0.09668712 0.01638200
+v -0.10160183 -0.09746166 0.01347324
+v -0.10160183 -0.09640042 0.01092947
+v -0.09746091 -0.09654628 0.01081858
+v -0.09311362 -0.09649095 0.01087219
+v -0.09311362 -0.09653624 0.01678590
+v -0.09746091 -0.09354367 0.01763114
+v -0.10409641 -0.09619926 0.01591569
+v -0.10160183 -0.09354367 0.01731831
+v -0.10421840 -0.09636019 0.01347325
+v -0.10397670 -0.09602824 0.01122100
+v -0.10160183 -0.09354365 0.01036109
+v -0.09746091 -0.09354365 0.01022230
+v -0.09311362 -0.09368951 0.01041764
+v -0.09311362 -0.09354368 0.01772441
+v -0.10160183 -0.04638183 0.01725386
+v -0.10431303 -0.09354367 0.01617346
+v -0.10475996 -0.09354366 0.01347326
+v -0.10430961 -0.08938426 0.01617347
+v -0.10426743 -0.04638183 0.01614206
+v -0.10411921 -0.09354365 0.01107855
+v -0.10160183 -0.04638181 0.01038182
+v -0.09311362 -0.09354365 0.01039561
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_38.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde6c44bdc0cdb73252dc1c69f052b88a86c9038
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_38.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.08338755 0.09620928 -0.00145906
+v -0.07691364 0.09620928 -0.00145906
+v -0.08361838 0.09361204 -0.00145907
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_39.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..559791cfa0dc07378b1a024e8f85d8814de68548
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_39.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_4.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eaa7e94309be8b875225b7855eb670108ce8062
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_4.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.08500140 -0.10033028 0.01343444
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+v 0.09297325 -0.10033028 0.01343444
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_40.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea2848ff11d9ebe5c56d21a96edcdcfbab9a7e1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_40.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.06753703 0.06350094 -0.00145787
+v -0.06761818 0.06350093 -0.00061930
+v -0.05903387 0.06350094 -0.00145787
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+v -0.05941533 0.01459385 -0.00145805
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+v -0.06256310 0.06033478 0.01165262
+v -0.06194287 0.06033478 0.01165262
+v -0.06251367 0.06350089 0.01160415
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+v -0.06205386 0.06313462 0.01160677
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+v -0.05930900 0.01875325 -0.00145803
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+v -0.06009431 0.05201598 0.00958631
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+v -0.05922413 0.02291265 -0.00145802
+v -0.05905905 0.03123145 -0.00145799
+v -0.05898444 0.03538464 -0.00145797
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_41.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff97eafb54b9e806309bdb7151577c2305e1e08
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_41.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.08962228 -0.08468388 0.02124352
+v -0.09310997 -0.08988512 0.01335616
+v -0.09310997 -0.08984736 0.01347391
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+v -0.08850339 -0.08468389 0.02407384
+v -0.08822115 -0.08468387 0.01861292
+v -0.09310997 -0.09083610 0.01105495
+v -0.09310997 -0.09334406 0.01764709
+v -0.09310997 -0.09354663 0.01772310
+v -0.08850591 -0.08522977 0.02407086
+v -0.08503083 -0.08522977 0.02481756
+v -0.08503083 -0.08468389 0.02481607
+v -0.07283649 -0.08468384 0.00959137
+v -0.09310997 -0.09096313 0.01102365
+v -0.09310997 -0.09653691 0.01678710
+v -0.08787591 -0.10221886 0.02383083
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+v -0.08815312 -0.09770594 0.02394412
+v -0.08835219 -0.09354665 0.02400376
+v -0.08846559 -0.08938906 0.02404550
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+v -0.06736808 -0.08468384 0.00959137
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+v -0.09310997 -0.09765268 0.01347388
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_42.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54636af4a3d935db62134f2ebbaeac45146b36c5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_42.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.09540917 -0.01063546 0.01452075
+v -0.09540917 -0.01061727 0.01347414
+v -0.09540917 -0.00988962 0.01692152
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+v -0.09540917 -0.00937114 0.01109864
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+v -0.09540917 -0.00620584 0.01813263
+v -0.10160201 -0.04638183 0.01725419
+v -0.09958650 -0.04638181 0.01066241
+v -0.09746034 -0.00620581 0.01039249
+v -0.09540917 -0.00204905 0.01080793
+v -0.10160201 -0.04638181 0.01038163
+v -0.09540917 -0.00353169 0.01801712
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_43.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..504b433023085754537ec70a36a3e86899d24eaf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_43.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.08492464 0.06349688 0.02124444
+v -0.08513313 0.06349688 0.02055373
+v -0.08619251 0.06349687 0.02389170
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+v -0.08501077 0.02290031 0.02123663
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+v -0.08614421 0.02291222 0.02391940
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+v -0.08917501 0.06349687 0.02466805
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+v -0.09223239 0.05201936 0.01856302
+v -0.09221306 0.06349689 0.01857489
+v -0.08988985 0.06349687 0.02450443
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+v -0.09286913 0.06349688 0.02190033
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_44.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b817c20ea119eda61f94e5234ce4a374897cc3ca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_44.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.06203311 -0.01451956 0.00959163
+v -0.06814104 -0.01451956 0.00959163
+v -0.06260521 -0.01451956 0.01113642
+v -0.06424216 -0.07689745 0.00959162
+v -0.06411209 -0.04638496 0.00959151
+v -0.07283513 -0.08467838 0.00959159
+v -0.07269343 -0.08467838 0.00995148
+v -0.06692707 -0.01451956 0.01190192
+v -0.06815055 -0.02284989 0.00959160
+v -0.06428552 -0.01451956 0.01183243
+v -0.06618049 -0.07690432 0.01160382
+v -0.06625135 -0.07984363 0.01158005
+v -0.06424639 -0.07695239 0.00959162
+v -0.06488299 -0.08115533 0.00959160
+v -0.06520446 -0.08206871 0.00959160
+v -0.06730776 -0.08464404 0.00959159
+v -0.06736909 -0.08467838 0.00959159
+v -0.06809557 -0.04638496 0.00959151
+v -0.06815161 -0.03115962 0.00959157
+v -0.06814950 -0.03532135 0.00959155
+v -0.06870572 -0.08467838 0.01018303
+v -0.06651360 -0.07984363 0.01158005
+v -0.06657176 -0.07690432 0.01160382
+v -0.06692601 -0.01452643 0.01190396
+v -0.06689640 -0.01451956 0.01190305
+v -0.06825207 -0.08467838 0.01014976
+v -0.06739659 -0.08467838 0.00962781
+v -0.06503526 -0.08116907 0.00993791
+f 1 2 8
+f 1 8 25
+f 1 25 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 18
+f 1 18 20
+f 1 20 19
+f 1 19 9
+f 1 9 2
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+f 2 7 8
+f 2 9 6
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+f 3 11 12
+f 3 12 4
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_45.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2935b2bb9e57cc7be3de23cd8c08c903cb7e4c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_45.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.07990951 0.00007936 0.01147469
+v -0.07990951 -0.00204703 0.01081972
+v -0.07990951 0.00007934 0.01627744
+v -0.06846981 0.00007936 0.00959254
+v -0.06985956 -0.00204703 0.00959253
+v -0.07990951 -0.00303162 0.01078697
+v -0.07990951 -0.00134111 0.01758305
+v -0.06431987 0.00007934 0.01596892
+v -0.05997046 0.00007936 0.00959254
+v -0.07036571 -0.00486792 0.00959252
+v -0.07990951 -0.00620549 0.01068872
+v -0.07990951 -0.00138541 0.01760976
+v -0.06431987 -0.00204705 0.01720299
+v -0.06178057 0.00007934 0.01580001
+v -0.07990951 -0.00188415 0.01790794
+v -0.06019351 0.00007935 0.01338614
+v -0.05799951 -0.00361183 0.01559920
+v -0.05799951 -0.00361182 0.01495458
+v -0.05965091 -0.00204274 0.00959253
+v -0.07054800 -0.00620549 0.00959252
+v -0.07990951 -0.00673994 0.01084298
+v -0.06814382 -0.01451956 0.00959249
+v -0.06431987 -0.00620551 0.01733139
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+v -0.06149104 0.00007934 0.01573021
+v -0.07990951 -0.00620552 0.01839570
+v -0.05799951 -0.00450640 0.01559919
+v -0.05799951 -0.00450639 0.01495457
+v -0.05988896 -0.00620263 0.00959252
+v -0.07990951 -0.00845906 0.01134539
+v -0.07990951 -0.00960516 0.01706508
+v -0.07990951 -0.00890779 0.01347401
+v -0.06203364 -0.01451956 0.00959249
+v -0.06698998 -0.01451956 0.01178574
+v -0.06431987 -0.00866915 0.01595338
+v -0.06173553 -0.00848338 0.01570518
+v -0.06028359 -0.00601831 0.01624898
+v -0.07990951 -0.00889922 0.01746324
+v -0.06260413 -0.01451956 0.01113682
+v -0.06692779 -0.01451956 0.01190295
+v -0.06689777 -0.01451956 0.01190381
+v -0.06428555 -0.01451956 0.01183314
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+f 1 32 31
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+f 1 38 26
+f 1 26 15
+f 1 15 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
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+f 1 4 2
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+f 13 25 14
+f 13 15 26
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+f 16 25 17
+f 17 27 28
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+f 19 28 29
+f 21 22 30
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+f 22 41 40
+f 22 40 34
+f 22 34 31
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+f 23 37 24
+f 23 26 38
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+f 27 33 28
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+f 27 39 33
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+f 31 34 40
+f 31 40 41
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+f 31 42 35
+f 31 35 38
+f 35 42 36
+f 36 42 39
+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_46.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49248a906b64ebd67322f30f1cb72f8e91ee9bdd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_46.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.05889736 0.01458971 0.01347285
+v -0.05903923 0.01458972 0.00958831
+v -0.05933448 0.01874863 0.00846888
+v -0.05963738 0.02290753 0.00846889
+v -0.05988662 0.02290976 0.00958834
+v -0.06124397 0.01724236 0.01605613
+v -0.06055379 0.01458970 0.01652906
+v -0.06019336 0.00007935 0.01338556
+v -0.05996905 0.00007936 0.00958826
+v -0.05910058 0.01458973 0.00846886
+v -0.06316497 0.02290977 0.00846889
+v -0.06155071 0.02290976 0.01192825
+v -0.06432101 0.01749713 0.01639040
+v -0.06432101 0.01458970 0.01767789
+v -0.06149128 0.00007934 0.01573006
+v -0.06010901 0.00007937 0.00846881
+v -0.06512622 0.02290977 0.00846889
+v -0.06302501 0.02290976 0.01192733
+v -0.07848118 0.01746361 0.01647765
+v -0.07848118 0.01625683 0.01706079
+v -0.07848118 0.01458969 0.01785054
+v -0.07260315 0.01458969 0.01779085
+v -0.06846400 0.01458969 0.01774310
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+v -0.06177886 0.00007934 0.01579986
+v -0.06816493 0.00007937 0.00846881
+v -0.07848118 0.01749044 0.01208986
+v -0.07848118 0.01794856 0.01347287
+v -0.06484057 0.02290976 0.00958742
+v -0.06792336 0.01494505 0.00846886
+v -0.07848118 0.01458972 0.01046807
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+v -0.07848118 0.01774743 0.01474109
+v -0.07848118 0.00007934 0.01614974
+v -0.07749000 0.00007936 0.01148002
+v -0.07848118 0.00008160 0.01147819
+v -0.07848118 0.00007935 0.01437828
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+f 26 35 36
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+f 26 31 30
+f 28 33 29
+f 35 37 36
+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_5.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e775a6343f8884a76e364c8f88d025c6fdb47cd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_5.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.08350286 0.09013624 -0.01638978
+v 0.08955561 0.09013612 0.01735772
+v 0.09128557 0.09013624 -0.01638978
+v 0.08283667 0.03955423 -0.01638996
+v 0.09027044 0.09013611 0.01957779
+v 0.08280284 0.03539343 -0.01638998
+v 0.08262942 0.01043740 -0.01639007
+v 0.08262307 0.00627660 -0.01639009
+v 0.08975864 0.00007934 0.01735739
+v 0.09132153 0.09013624 -0.01632657
+v 0.09134901 0.08952799 -0.01638978
+v 0.09045020 0.09013611 0.02005578
+v 0.09017526 0.00007933 0.01857408
+v 0.09061516 0.00007933 0.01984213
+v 0.08264211 0.00007946 -0.01639011
+v 0.10390287 0.09013611 0.01884698
+v 0.09135536 0.08944865 -0.01638978
+v 0.09309801 0.09013610 0.02179786
+v 0.09188408 0.00007932 0.02080996
+v 0.09309801 0.00007932 0.02172643
+v 0.09309801 0.00211565 0.02173039
+v 0.09100429 0.00007946 -0.01639011
+v 0.10401919 0.09013610 0.02124087
+v 0.10403611 0.08944851 0.02124087
+v 0.10410801 0.08528770 0.02124085
+v 0.10416300 0.08113571 0.02124084
+v 0.10391133 0.08944852 0.01883908
+v 0.09145053 0.08528784 -0.01638980
+v 0.09144630 0.08548178 -0.01638980
+v 0.09565700 0.09013610 0.02298691
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+v 0.09531228 0.00627646 0.02312881
+v 0.09422312 0.00007932 0.02244539
+v 0.09118617 0.00007946 -0.01602668
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+v 0.10364697 0.08113570 0.02337796
+v 0.10419049 0.07697491 0.02124082
+v 0.09146110 0.08132979 -0.01638981
+v 0.10397054 0.08113572 0.01879560
+v 0.10399169 0.07281411 0.01877582
+v 0.10401073 0.06449250 0.01875999
+v 0.09738908 0.09013609 0.02363081
+v 0.09737216 0.00211564 0.02378455
+v 0.09738485 0.00627645 0.02379246
+v 0.09772957 0.09013609 0.02374537
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+v 0.09633165 0.00007931 0.02344876
+v 0.10399592 0.00007933 0.01879530
+v 0.09118617 0.01875020 -0.01639004
+v 0.09127711 0.01875020 -0.01621227
+v 0.10138194 0.09013609 0.02386388
+v 0.10138194 0.08944850 0.02387178
+v 0.10138194 0.08528769 0.02389546
+v 0.10138194 0.08113570 0.02391125
+v 0.10366178 0.07697490 0.02338979
+v 0.10419895 0.07281410 0.02124081
+v 0.09146110 0.08113585 -0.01638981
+v 0.10401707 0.06034051 0.01875207
+v 0.10402342 0.05617970 0.01874811
+v 0.10422221 0.06034050 0.02124076
+v 0.10138194 0.00211564 0.02395836
+v 0.10138194 0.00627645 0.02396628
+v 0.09738908 0.00007931 0.02378059
+v 0.10138194 0.00007931 0.02395440
+v 0.10138194 0.06865328 0.02393490
+v 0.09744618 0.01043725 0.02379248
+v 0.10138194 0.07281409 0.02393097
+v 0.10138194 0.07697490 0.02392308
+v 0.10401073 0.02707168 0.01874800
+v 0.10422644 0.05201888 0.02124073
+v 0.10418837 0.00007932 0.02124054
+v 0.09129403 0.02291101 -0.01624782
+v 0.09130672 0.02707181 -0.01626755
+v 0.09137651 0.05203665 -0.01638992
+v 0.09138920 0.05617983 -0.01638990
+v 0.09122212 0.02291101 -0.01639003
+v 0.10422856 0.05617969 0.02124075
+v 0.10364274 0.00007931 0.02335791
+v 0.10402342 0.05201889 0.01874809
+v 0.09136593 0.04983284 -0.01638993
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_6.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4f1883a4d96e333e55ec6b8a359f0b26bdc0120
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_6.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.05187637 -0.12265981 0.02483222
+v -0.06017423 -0.11896002 0.02408923
+v -0.05602531 -0.12265981 0.02482829
+v -0.05187637 -0.12562028 0.02392803
+v -0.04773960 -0.12561870 0.02392803
+v 0.06412346 -0.12553497 0.02383368
+v -0.02289466 -0.12265981 0.02479291
+v 0.03922985 -0.11902479 0.02402633
+v -0.02289466 -0.11907218 0.02408530
+v -0.06017423 -0.11688421 0.02281945
+v -0.06017423 -0.12265665 0.02482043
+v 0.06408695 -0.11688421 0.02291380
+v -0.05602531 -0.12560922 0.02392410
+v -0.05602531 -0.12641015 0.02124300
+v -0.05187637 -0.12641805 0.02124300
+v 0.06412346 -0.12630430 0.02125480
+v 0.06412346 -0.12265823 0.02460421
+v 0.03922985 -0.12265823 0.02467890
+v 0.01024814 -0.12265823 0.02474573
+v 0.06408695 -0.11896002 0.02395164
+v 0.06412346 -0.11894738 0.02394770
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_7.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07b58b3df7da09a29a6e02d89c9b60c95e857e4e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_7.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_8.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68ee2f8153e2124696e552860ed2ad31ce15af99
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_8.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_9.obj b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..556caff06e076d74ec165826b3933e50b864ea7e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2151ac4c6a865383afde0fffffd3fc7d/mjcf/mesh/metal_tray_collision_9.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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