diff --git a/.gitattributes b/.gitattributes
index 9d7b8c8ac392d0b43d8ea25ee6529759dea3d582..71fb2a89d4f48d9937babd580c2755ed749665e7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4518,14 +4518,6 @@ dataset/kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38/mjcf/mesh/bot
 dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/54f7bd178e1054749453ac47c71750a4.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/bottle_opener_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mesh/bottle_opener_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mesh/bottle_opener_004.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/578f69c29d15566e99bba0bbc2ae3739/578f69c29d15566e99bba0bbc2ae3739.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/5583edd10280581d96feaab4701e4fb6/mesh/spatula_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/5583edd10280581d96feaab4701e4fb6/spatula_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/spice_jar_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/5c0a6e409c425f1fb5a459bd31de50f5/bottle_opener_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/5c0a6e409c425f1fb5a459bd31de50f5/mesh/bottle_opener_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/546db9c5fab2506dbb325b316655b46a.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/546db9c5fab2506dbb325b316655b46a.urdf b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/546db9c5fab2506dbb325b316655b46a.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aadbb3559c9f6ae05402381a857ffb81eab61a2c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/546db9c5fab2506dbb325b316655b46a.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_tray">
+   <link name="wooden_tray">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_tray.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_tray_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>0.356322</scale>
+         <version>v0.1.7</version>
+         <category>wooden tray</category>
+         <description>rectangular wooden tray with side handles</description>
+         <min_height>0.05</min_height>
+         <max_height>0.08</max_height>
+         <real_height>0.065</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20260120132628</generate_time>
+         <gs_model>mesh/wooden_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.139701843261719</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/546db9c5fab2506dbb325b316655b46a.usd b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/546db9c5fab2506dbb325b316655b46a.usd
new file mode 100644
index 0000000000000000000000000000000000000000..dc1ccaa95738e436b22ddb4c8999b7549769a8bc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/546db9c5fab2506dbb325b316655b46a.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:072bdedb581b1dadb89918bbfafe961e2ec9691d729338961c9dfa4b4c1ccf18
+size 313883
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/material.mtl b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/material_0.png b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..58a6ace58f91e86a379e90224b78c78b30d77323
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:458b7df12e20c672e84782598928e9e1d3135933f1931f5b0dcac2d7c3349e7a
+size 1505620
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray.glb b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c0a99ef6a8ee6189cab8052252c4c563eae65579
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6adc0857a6747d109d9ad08f347a392f305aef3f805f5122c43a686e71ed6632
+size 1716100
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f7e0a7b69cef8d406362a184aa644fa68044da6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray.obj
@@ -0,0 +1,19148 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray_collision.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12158df71f26bc5ad95dd17877286224264272d7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray_collision.obj
@@ -0,0 +1,5994 @@
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray_gs.ply b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4dab4f2e449b01bfd4ad217374a6fcc1e6a4f915
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc6e2f1d7d1a61af446829871c74bb329e3c967eff7805de59fd5df857467101
+size 1840073
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/546db9c5fab2506dbb325b316655b46a.xml b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/546db9c5fab2506dbb325b316655b46a.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b2d4c14e161f596b0f926cc64ddb98af585b9164
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/546db9c5fab2506dbb325b316655b46a.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wooden_tray">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/wooden_tray_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wooden_tray_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wooden_tray_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wooden_tray_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wooden_tray_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wooden_tray_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wooden_tray_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wooden_tray_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wooden_tray_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wooden_tray_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wooden_tray_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wooden_tray_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wooden_tray_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wooden_tray_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wooden_tray_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wooden_tray_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wooden_tray_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wooden_tray_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/wooden_tray_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wooden_tray">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..58a6ace58f91e86a379e90224b78c78b30d77323
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:458b7df12e20c672e84782598928e9e1d3135933f1931f5b0dcac2d7c3349e7a
+size 1505620
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d417d4f6daab8a218a68760a9bea3aaa756ea17
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray.obj
@@ -0,0 +1,19148 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e54a94cc4b175c96925aa737006aeb591994ca24
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision.obj
@@ -0,0 +1,5994 @@
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_0.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a0df60edbe87c648e81c939a9cd1832d83afeb5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_1.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31386fdfa8851cea28e50f6855b66eef27261043
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_1.obj
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+
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_10.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb74b127d60a4b8adeffd348db4db02e96d25460
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_10.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_11.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b21f3bf7cac23fac702a5a70367079cacc5e291
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_11.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_12.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be909a63ed38dc168ee44af323818f1e81b6bc44
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_12.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.04362351 0.17106565 0.01288584
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+
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_13.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7f0e526beec906e31b110341e54f5ca4c78c45e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_13.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.10715821 -0.13590727 -0.00215118
+v -0.10715821 -0.13590727 -0.00214885
+v -0.10713465 -0.13590724 -0.01010282
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+v -0.10699329 -0.13798613 -0.00214886
+v -0.09225956 -0.13590727 -0.00214885
+v -0.10696187 -0.13798610 -0.01010283
+v -0.08771220 -0.13590724 -0.01010282
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+v -0.10555604 -0.14385081 -0.00214888
+v -0.08772006 -0.13590724 -0.01008258
+v -0.04316547 -0.15332195 -0.00214891
+v -0.03874378 -0.14972209 -0.01010287
+v -0.04347176 -0.14825426 -0.01010286
+v -0.10548536 -0.14385078 -0.01010285
+v -0.10435441 -0.14696578 -0.00215122
+v -0.10435441 -0.14696578 -0.00214889
+v -0.03835109 -0.15625428 -0.00214892
+v -0.03834323 -0.15625428 -0.00215125
+v -0.03786415 -0.15010399 -0.01010287
+v -0.10430728 -0.14688606 -0.01010286
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+v -0.10173124 -0.14989812 -0.00214890
+v -0.03747932 -0.16143485 -0.00214894
+v -0.02693167 -0.16332771 -0.01010292
+v -0.02841603 -0.16115919 -0.01010291
+v -0.03255498 -0.15523806 -0.01010289
+v -0.10283862 -0.14849004 -0.01010287
+v -0.10160558 -0.14981839 -0.01010287
+v -0.09883318 -0.15295001 -0.00215124
+v -0.09883318 -0.15295001 -0.00214891
+v -0.02887941 -0.16744893 -0.01010294
+v -0.03959199 -0.16547967 -0.00214896
+v -0.10001911 -0.15148548 -0.01010288
+v -0.09870753 -0.15285699 -0.01010288
+v -0.09553459 -0.15472996 -0.01010289
+v -0.09553459 -0.15489272 -0.00215125
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+v -0.03074076 -0.16838541 -0.01010294
+v -0.04336181 -0.16831902 -0.00214897
+v -0.09007620 -0.15744977 -0.01010290
+v -0.09022542 -0.15751621 -0.00215126
+v -0.09022542 -0.15751621 -0.00214893
+v -0.04336181 -0.16983000 -0.01010294
+v -0.04915791 -0.16954442 -0.00214897
+v -0.08848973 -0.15810398 -0.01010290
+v -0.08717815 -0.15864196 -0.01010290
+v -0.08732737 -0.15870176 -0.00215126
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+v -0.04897727 -0.16966063 -0.01010294
+v -0.05495402 -0.16836552 -0.00214897
+v -0.08538748 -0.15929617 -0.01010291
+v -0.08394239 -0.15993049 -0.00215127
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+v -0.05495402 -0.16836552 -0.00215130
+v -0.05495402 -0.16831567 -0.01010294
+v -0.06075797 -0.16697406 -0.00214896
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+v -0.08076160 -0.16092008 -0.01010291
+v -0.07813843 -0.16182668 -0.01010291
+v -0.07813843 -0.16193630 -0.00215127
+v -0.07813843 -0.16193630 -0.00214894
+v -0.06075797 -0.16697406 -0.00215129
+v -0.06075797 -0.16687773 -0.01010293
+v -0.06655408 -0.16546971 -0.00214896
+v -0.07516969 -0.16277977 -0.01010292
+v -0.07284497 -0.16363991 -0.00215128
+v -0.07284497 -0.16363991 -0.00214895
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+v -0.06975842 -0.16446678 -0.01010292
+v -0.07107001 -0.16406827 -0.01010292
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+
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_14.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0130d9a4bcfe6a0c29ec3894480617ed629f0c8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_14.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.11022989 -0.08520594 -0.01041711
+v 0.11019683 -0.08520596 -0.00677221
+v 0.11020192 -0.09106742 -0.00677223
+v 0.11022735 -0.09106740 -0.01041713
+v 0.11020700 -0.06176012 -0.01041703
+v 0.11016631 -0.06176013 -0.00762707
+v 0.11015359 -0.06176014 -0.00677213
+v 0.11019429 -0.09692888 -0.00677226
+v 0.11022226 -0.09405961 -0.01041715
+v 0.11019429 -0.05589867 -0.01041701
+v 0.11015105 -0.06084472 -0.00677212
+v 0.11018412 -0.10187491 -0.00677227
+v 0.11021717 -0.09692886 -0.01041716
+v 0.11017649 -0.05003721 -0.01041698
+v 0.11013579 -0.05589869 -0.00677211
+v 0.11018157 -0.10279033 -0.00677228
+v 0.11020446 -0.10279031 -0.01041718
+v 0.11015105 -0.04417576 -0.01041696
+v 0.11012816 -0.05003722 -0.00762702
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+v 0.09395460 -0.14177106 -0.00677242
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+v 0.08425148 -0.14175738 -0.01041732
+v 0.08778428 -0.00218915 -0.01041681
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+f 29 34 33
+f 30 33 35
+f 31 36 34
+f 31 34 32
+f 33 34 36
+f 33 36 35
+
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_15.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d38056345c506cdf088941d2fcdd72b03743c3b4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_15.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.10988205 0.04966725 -0.01020743
+v 0.10972515 0.04379439 -0.00378780
+v 0.10987914 0.04379442 -0.01020745
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+v 0.10972224 0.03793506 -0.00378782
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+v 0.10986461 0.03793509 -0.01020747
+v 0.10983556 0.06138591 -0.01020738
+v 0.10929511 0.12587898 -0.00378750
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+v 0.09571112 -0.00217568 -0.00378797
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+v 0.10944911 0.12311137 -0.01020716
+v 0.10942586 0.12587901 -0.01020715
+v 0.10925443 0.12998321 -0.00378748
+v 0.08460275 0.02659446 -0.01020751
+v 0.08493981 0.02204470 -0.01020753
+v 0.08878110 -0.00217565 -0.01020762
+v 0.09515904 0.02620291 -0.00378786
+v 0.08020067 0.13573457 -0.01020711
+v 0.10938809 0.12897069 -0.01020714
+v 0.10923118 0.13173832 -0.00378748
+v 0.09504863 0.03207573 -0.00378784
+v 0.09334009 0.13573454 -0.00378746
+v 0.10922246 0.13573457 -0.01020711
+v 0.10934450 0.13173835 -0.01020713
+v 0.10912948 0.13573454 -0.00390183
+v 0.10912658 0.13573454 -0.00378746
+v 0.10925152 0.13484352 -0.01020711
+f 1 2 3
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+f 1 21 26
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+f 22 27 23
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+f 23 28 29
+f 26 28 30
+f 27 30 28
+
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_16.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ad14cb99c0059a00be47cf2a4d8df0675d6171e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_16.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.00856524 0.17887387 0.02522887
+v -0.00856524 0.17729192 0.03025774
+v -0.00276655 0.17729620 0.03023612
+v -0.00276655 0.17886960 0.02522887
+v -0.00856524 0.17807224 0.01975492
+v -0.01436393 0.17795252 0.01975492
+v -0.01436393 0.17864299 0.02522887
+v -0.01436393 0.17717220 0.03017125
+v -0.00856524 0.17279193 0.03288658
+v -0.00276655 0.17279193 0.03287757
+v -0.01436393 0.17279193 0.03277847
+v -0.00043903 0.17279193 0.03283973
+v -0.00043903 0.17724060 0.03019828
+v -0.00276655 0.17791190 0.01975492
+v -0.00043903 0.17876271 0.02522887
+v -0.00043903 0.17841212 0.02303425
+v -0.00043903 0.17725776 0.01847743
+v -0.00856524 0.17649244 0.01643417
+v -0.01436393 0.17648176 0.01641255
+v -0.02015897 0.17632356 0.01650084
+v -0.02595766 0.17603711 0.01672786
+v -0.02015897 0.17755491 0.01975492
+v -0.02015897 0.17819406 0.02522886
+v -0.02595766 0.17665700 0.02953521
+v -0.02015897 0.17696057 0.02994062
+v -0.02015897 0.17279193 0.03245054
+v -0.01436393 0.16693020 0.03291179
+v -0.00043903 0.16693020 0.03294962
+v -0.03776697 0.16693020 0.03193700
+v -0.03755504 0.16693020 0.03194781
+v -0.03175635 0.16693020 0.03223430
+v -0.02595766 0.16693020 0.03251899
+v -0.02015897 0.16693020 0.03277665
+v -0.00043903 0.17783708 0.01975492
+v -0.00043903 0.17631501 0.01656750
+v -0.03776697 0.16693027 0.01454402
+v -0.03776697 0.17203950 0.01582874
+v -0.02954941 0.17581050 0.01692787
+v -0.02595766 0.17692641 0.01975492
+v -0.02595766 0.17754633 0.02522886
+v -0.03594003 0.17593446 0.02836223
+v -0.03175635 0.17625725 0.02892439
+v -0.02595766 0.17279193 0.03189378
+v -0.03175635 0.17279194 0.03112800
+v -0.03776697 0.16106636 0.03055679
+v -0.00043903 0.16190222 0.03030633
+v -0.03776697 0.16092740 0.03049192
+v -0.03776697 0.16671643 0.03190277
+v -0.03776697 0.17327293 0.02986133
+v -0.00043903 0.17279199 0.01618009
+v -0.03776697 0.16077568 0.01555662
+v -0.00043903 0.16744333 0.01663054
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_17.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60203d3134dd61f9e6f0c31cd3af0a383c068fd6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_17.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_18.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..739efadf7436fb3883e03572e6b5026fbe76deb2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_18.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_2.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05b5d229dbc70561b841ab9f7bf1125b25f66568
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_2.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_3.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cea6e54b55b60b56e98265010a8f5a72d48e6c3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_3.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_4.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40de49c754ff6fb9b8863cbf77fd1ed3b4943934
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_4.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_5.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4b51dfec0c0b4d0f42d4d4bfc981c46765c6186
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_5.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_6.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..868d3373a783894e0979f335960988e94318ea02
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_6.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_7.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff36cd8d1d7a9972bdf0ab538ead3453ed2084a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_7.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_8.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f32ab6eae30f7949e1376cdfa91cc3630bf9a9e5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_8.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_9.obj b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a75bd21db3bff676c05af12d0033f11ff694f475
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mjcf/mesh/wooden_tray_collision_9.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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