diff --git a/.gitattributes b/.gitattributes
index 1ea1bd0a48ca13f2a5a6907213a214036a39e2d4..8c8c747e3b2bc81c5841936ba3b3d2219a908457 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4434,3 +4434,5 @@ dataset/kitchen_supplies/tableware/ed352fda2bda523e85c3555f78eefc17/mesh/tray_01
 dataset/kitchen_supplies/tableware/ed352fda2bda523e85c3555f78eefc17/tray_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/eef3b4e04d1759529454055bf5d724b1/mesh/tray_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/eef3b4e04d1759529454055bf5d724b1/tray_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/tray_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/material.mtl b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..be9a5ec911d83412a6c47a7f1882cad6026ada92
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_012_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd tray_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/material_0.png b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4758c6703ba93c80fabde70f20170aeaffe11a7f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f6b3e12071509fac231fdfbcb52f39182d8ad138798c720ffde9251eba91e7e
+size 15223593
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012.glb b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3742140bc3d891df45436ed23670b977789e0e82
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d70fb2b9bc2aad50103ab08cb2fad7859a5a5c7edbf9cf9e42087818e9da229
+size 17564960
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012.mtl b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd07fa5bbf73c861dbcd6007872c2f7b8795477a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012.mtl
@@ -0,0 +1,6 @@
+newmtl tray_012_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..691809d4805c07107b668f5dedc9bae32cb941ae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012.obj
@@ -0,0 +1,104878 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012_collision.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a430cb6f9850becb34358b9d41ca1e3e69a367
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012_collision.obj
@@ -0,0 +1,7714 @@
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mesh/tray_012_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012.obj
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ba6ea5a71ed8dc866ba0d4f0f5ec95f16dc1f61
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision.obj
@@ -0,0 +1,7714 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_0.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec03ecf95a7b4e8fc337f5476c1cca3a6b3424fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_0.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_1.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df10fe9f0ed0875816fcb62e0649c3136118e31d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_1.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_10.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b78c071fef1ab6d256f8c848b31a7008a342b5db
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_10.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_11.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..314f0fa66ba9e1e8b3c2bc2f9290025e97765dc1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_11.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_12.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27e47ada8c83754bcaf225a8d79c6cbe4fffa635
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_12.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_13.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a433bedcdbd76afdd1d19b451c8906f8637a739
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_14.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..450ed13acb9fa41c97dedeca9e2723c139c0b1c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_14.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_15.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21db079f26b2cde04e97d15c8caa588d10541955
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_15.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+v 0.12464546 0.14911354 0.00998293
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+v 0.11352346 0.14924289 0.00627158
+v 0.12072085 0.14464965 0.00766638
+v 0.12660776 0.14423662 0.00960067
+v 0.13034711 0.13874644 0.01003193
+v 0.13147921 0.13679400 0.01112816
+v 0.12477582 0.15055282 0.01686617
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+v 0.12513947 0.15086989 0.01358754
+v 0.12109135 0.15086991 0.00918671
+v 0.13002464 0.14264713 0.01334519
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+f 90 105 106
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+f 93 107 109
+f 93 109 110
+f 93 110 111
+f 93 111 94
+f 94 111 95
+f 95 111 108
+f 97 108 111
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+f 97 112 98
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+f 99 112 109
+f 99 109 100
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+f 105 109 106
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+f 109 112 115
+f 109 115 110
+f 110 115 111
+f 111 115 112
+
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_16.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1715c9a4637901204577d73dab43c4ea9f47355b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_16.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.06765114 0.17940226 0.01334417
+v -0.06176319 0.17922466 0.01334417
+v -0.06765114 0.17799709 0.00985098
+v -0.06935433 0.17798599 0.00985605
+v -0.06935433 0.17936895 0.01334417
+v -0.06935433 0.17912033 0.01450518
+v -0.06765114 0.17863417 0.01689311
+v -0.04999114 0.17886061 0.01689311
+v -0.05550146 0.17844105 0.01288585
+v -0.06176319 0.17780396 0.01003452
+v -0.04999114 0.17825013 0.01417360
+v -0.04343656 0.17011210 0.00653421
+v -0.04410704 0.17015428 0.00653422
+v -0.05634921 0.17053389 0.00653422
+v -0.06246451 0.17066708 0.00653422
+v -0.06815593 0.17043843 0.00653422
+v -0.06935433 0.17126422 0.00693880
+v -0.06765114 0.17046729 0.00653422
+v -0.06935433 0.17860308 0.01689311
+v -0.04447697 0.17820574 0.01689310
+v -0.05721236 0.17746875 0.01034784
+v -0.04541334 0.17772180 0.01521394
+v -0.05328963 0.17696706 0.01080616
+v -0.03581074 0.16772574 0.00653421
+v -0.06935433 0.17032078 0.00653422
+v -0.06935433 0.16193182 0.01689304
+v -0.04223045 0.17750203 0.01689310
+v -0.04149060 0.17695372 0.01620967
+v -0.03854663 0.17608575 0.01689310
+v -0.03823065 0.17592148 0.01689310
+v -0.03315191 0.17315108 0.01689309
+v -0.03357578 0.16612743 0.00653420
+v -0.06935433 0.15672404 0.00653417
+v -0.06935433 0.16016481 0.01421207
+v -0.04410704 0.16101502 0.01689304
+v -0.03139092 0.16825181 0.01689307
+v -0.02998829 0.16192076 0.00653418
+v -0.04410704 0.15738112 0.00653417
+v -0.06935433 0.15981851 0.01344347
+v -0.04066984 0.15920806 0.01126238
+v -0.04047332 0.16129473 0.01689304
+v -0.03337541 0.16414282 0.01689305
+v -0.03419617 0.16330370 0.01689305
+v -0.03344477 0.15858651 0.00653417
+v -0.03843103 0.15766748 0.00653417
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
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+f 2 10 3
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+f 22 24 23
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+f 24 28 29
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+f 27 29 28
+f 31 36 37
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+f 33 38 35
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+f 34 39 35
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+f 35 40 41
+f 36 42 37
+f 37 42 43
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+f 38 45 40
+f 40 45 41
+f 41 45 44
+f 41 44 43
+
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_17.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33d7cbd56b21e567238b40a6326cc40500e37b3c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_17.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.07108587 -0.14456029 -0.00331880
+v 0.07108587 -0.15623288 0.00632905
+v 0.07108587 -0.16407401 -0.00331887
+v 0.02645628 -0.14460049 -0.00331880
+v -0.06728617 -0.14457536 -0.00331689
+v 0.07108587 -0.16970682 0.00632900
+v -0.06728617 -0.15675295 0.00643212
+v -0.04233694 -0.15710216 0.00643212
+v -0.03659402 -0.15749660 0.00643212
+v -0.03300469 -0.15844880 0.00643212
+v -0.03254417 -0.15867994 0.00643212
+v -0.02949663 -0.16072000 0.00643211
+v 0.07108587 -0.16426746 -0.00302107
+v 0.06959596 -0.16431018 -0.00331887
+v 0.02055082 -0.14460803 -0.00331880
+v -0.06728617 -0.16455639 -0.00331696
+v 0.01465890 -0.14462310 -0.00331880
+v 0.00284797 -0.14465827 -0.00331880
+v -0.00000995 -0.14466833 -0.00331880
+v -0.02949663 -0.16169481 0.00643211
+v -0.03262544 -0.16547847 0.00643209
+v -0.03349230 -0.16600858 0.00643209
+v -0.03812456 -0.16811647 0.00643208
+v -0.04409775 -0.16994297 0.00643208
+v 0.06764553 -0.16989776 0.00632900
+v 0.06184842 -0.16491817 -0.00331888
+v 0.06327061 -0.16483275 -0.00331888
+v 0.06772680 -0.16455137 -0.00331887
+v 0.06826858 -0.16449358 -0.00331887
+v -0.06728617 -0.17003594 0.00643208
+v -0.00000995 -0.16577741 -0.00331888
+v -0.06175996 -0.16491817 -0.00331697
+v -0.06175996 -0.17022688 0.00643207
+v 0.06182134 -0.17002337 0.00632900
+v 0.03829430 -0.16578243 -0.00331888
+v 0.05794757 -0.16509153 -0.00331888
+v -0.05586804 -0.16515685 -0.00331697
+v -0.03232746 -0.16582263 -0.00331697
+v -0.03820583 -0.16573973 -0.00331697
+v 0.03241592 -0.16583017 -0.00331888
+v -0.03232746 -0.16625225 -0.00237013
+v 0.03241592 -0.16625476 -0.00238349
+v 0.03829430 -0.16628742 -0.00228231
+v 0.03608652 -0.16582012 -0.00331888
+f 1 2 6
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+f 1 13 3
+f 1 3 14
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+f 1 28 27
+f 1 27 26
+f 1 26 36
+f 1 36 35
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+f 1 44 40
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+f 1 17 15
+f 1 15 4
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+f 5 31 16
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+f 7 9 8
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+f 16 32 30
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+f 25 35 36
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+f 33 41 42
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+f 34 42 43
+f 34 43 35
+f 35 43 44
+f 38 40 42
+f 38 42 41
+f 40 44 43
+f 40 43 42
+
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_18.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05240490872be5027f3bfe649edcdc9080becb70
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_18.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.06748113 0.17005573 0.00627165
+v 0.06774259 0.17005247 0.00627165
+v 0.06748113 0.16477752 -0.00333640
+v 0.06748113 0.15686176 0.00627161
+v 0.06774259 0.16476449 -0.00333640
+v 0.07365678 0.16968452 0.00627165
+v 0.06748113 0.14467723 -0.00333648
+v 0.07432612 0.13944457 -0.00333650
+v 0.10444092 0.13679727 0.00627153
+v 0.07951868 0.16923192 0.00627165
+v 0.06992316 0.16448446 -0.00333641
+v 0.08555838 0.13679730 -0.00333651
+v 0.12090234 0.13679727 0.00627153
+v 0.08572048 0.16797830 0.00627165
+v 0.07520462 0.16362157 -0.00333641
+v 0.07401237 0.16384951 -0.00333641
+v 0.11358150 0.13679730 -0.00333651
+v 0.12030099 0.13866306 0.00627154
+v 0.09063591 0.15847033 -0.00333643
+v 0.08606561 0.16053473 -0.00333642
+v 0.08529169 0.16082127 -0.00333642
+v 0.08038673 0.16241028 -0.00333641
+v 0.07951868 0.16265775 -0.00333641
+v 0.09737107 0.16211069 0.00627163
+v 0.11296447 0.13798255 -0.00333650
+v 0.11194477 0.13961389 -0.00333650
+v 0.11352922 0.14924233 0.00627158
+v 0.09210530 0.15766931 -0.00333643
+v 0.10306042 0.15829446 0.00627161
+v 0.09668082 0.15491786 -0.00333644
+v 0.11005705 0.14224161 -0.00333649
+v 0.10849352 0.14422462 -0.00333648
+v 0.10739017 0.14555639 -0.00333648
+v 0.10395460 0.14910560 -0.00333646
+v 0.10767777 0.15517831 0.00627160
+v 0.09809793 0.15395077 -0.00333644
+v 0.10272574 0.15019968 -0.00333646
+v 0.10115177 0.15157377 -0.00333645
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 18
+f 1 18 27
+f 1 27 35
+f 1 35 29
+f 1 29 24
+f 1 24 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
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+f 3 5 11
+f 3 11 16
+f 3 16 15
+f 3 15 23
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+f 3 25 17
+f 3 17 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 6 10
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+f 8 12 9
+f 9 12 17
+f 9 17 13
+f 10 14 15
+f 10 15 16
+f 10 16 11
+f 13 17 18
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 14 24 19
+f 17 25 18
+f 18 25 26
+f 18 26 27
+f 19 24 28
+f 24 29 30
+f 24 30 28
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 29 35 30
+f 30 35 36
+f 34 37 35
+f 35 37 38
+f 35 38 36
+
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_19.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..618e8b7527ff1c3260eecd033d6badc31f08abe9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_19.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.04419056 -0.16128084 0.01830812
+v 0.00887018 -0.16414233 0.02870464
+v 0.01475476 -0.16414591 0.02870180
+v 0.02065226 -0.16415128 0.02869613
+v 0.03240848 -0.16285645 0.02399777
+v 0.03829305 -0.16287613 0.02399777
+v 0.04463028 -0.16130051 0.01830812
+v 0.03877158 -0.16172079 0.01830812
+v -0.06922004 -0.16291187 0.01840596
+v -0.04409097 -0.16130766 0.01840597
+v -0.00878354 -0.16413518 0.02871173
+v -0.00291190 -0.16413518 0.02871031
+v 0.01475476 -0.16593791 0.03136368
+v 0.02065226 -0.16595043 0.03135942
+v 0.02652390 -0.16416917 0.02865642
+v 0.03240848 -0.16425679 0.02843802
+v 0.03829305 -0.16444993 0.02791472
+v 0.04419056 -0.16339834 0.02399777
+v 0.05050192 -0.16168681 0.01830812
+v 0.03293874 -0.16353066 0.01830811
+v -0.04409097 -0.16139709 0.01867117
+v 0.02692483 -0.16812866 0.01830809
+v -0.06922004 -0.17638754 0.01840591
+v -0.06922004 -0.16294943 0.01846127
+v -0.03820640 -0.16445888 0.02790338
+v -0.03820640 -0.16287076 0.02399918
+v -0.02055268 -0.16414233 0.02871173
+v -0.01466811 -0.16413697 0.02871315
+v -0.02055268 -0.16593433 0.03137502
+v -0.00878354 -0.16593433 0.03137502
+v 0.00298561 -0.16593612 0.03137077
+v 0.00887018 -0.16593791 0.03136793
+v 0.01475476 -0.16888879 0.03277757
+v 0.02065226 -0.16890131 0.03276906
+v 0.02652390 -0.16896211 0.03273644
+v 0.02652390 -0.16601124 0.03131972
+v 0.03240848 -0.16643330 0.03110132
+v 0.04419056 -0.16485591 0.02713756
+v 0.06290479 -0.16295122 0.01830811
+v 0.03059784 -0.17386767 0.01830807
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_2.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a42c924cfc84ef344625b534dd6cbd61249d384
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_2.obj
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+f 125 132 133
+f 125 133 126
+f 129 132 130
+
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_20.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e227cb4a1b42c3be09cce54444bb6987b6194b3f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_20.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.06190071 0.17018259 0.00627166
+v 0.06185454 0.17018259 0.00627166
+v 0.06748113 0.17005652 0.00627165
+v 0.03830595 0.16593119 -0.00333640
+v 0.03830595 0.16641786 -0.00232443
+v 0.03242211 0.16598919 -0.00333640
+v 0.03242211 0.16639265 -0.00243353
+v 0.05596409 0.17015738 0.00627166
+v 0.00009392 0.16632961 -0.00235547
+v 0.06748113 0.15686346 0.00627161
+v 0.06748113 0.16477883 -0.00333640
+v 0.06185454 0.16511672 -0.00333640
+v 0.05596409 0.16534618 -0.00333640
+v 0.00009392 0.16590094 -0.00333640
+v 0.05008025 0.17012713 0.00627165
+v 0.00009392 0.16632959 0.00210527
+v 0.04418980 0.17004643 0.00627165
+v 0.06748113 0.14467655 -0.00333648
+v 0.04226370 0.15723414 0.00627161
+v 0.00009392 0.14472950 -0.00333648
+v 0.03242211 0.14442439 -0.00333648
+v 0.00009392 0.16394413 0.00476873
+v 0.03820701 0.16824600 0.00627165
+v 0.00009392 0.16099386 0.00566594
+v 0.03654476 0.15761742 0.00627161
+v 0.00009392 0.15890092 0.00566593
+v 0.03355006 0.16614550 0.00627164
+v 0.02899866 0.16166460 0.00627162
+v 0.03247488 0.16548989 0.00627164
+v 0.03262659 0.15861850 0.00627161
+v 0.02899866 0.16045676 0.00627162
+v 0.03248807 0.15868658 0.00627161
+f 1 2 8
+f 1 8 15
+f 1 15 17
+f 1 17 23
+f 1 23 27
+f 1 27 29
+f 1 29 28
+f 1 28 31
+f 1 31 32
+f 1 32 30
+f 1 30 25
+f 1 25 19
+f 1 19 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 18
+f 3 18 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 6 5
+f 4 13 12
+f 4 12 11
+f 4 11 18
+f 4 18 21
+f 4 21 20
+f 4 20 14
+f 4 14 6
+f 6 14 7
+f 7 14 9
+f 8 9 15
+f 9 14 20
+f 9 20 26
+f 9 26 24
+f 9 24 22
+f 9 22 16
+f 9 16 17
+f 9 17 15
+f 10 19 20
+f 10 20 21
+f 10 21 18
+f 16 22 17
+f 17 22 24
+f 17 24 23
+f 19 25 26
+f 19 26 20
+f 23 24 27
+f 24 26 31
+f 24 31 28
+f 24 28 29
+f 24 29 27
+f 25 30 26
+f 26 30 32
+f 26 32 31
+
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_21.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a461df959afe98682cc69d3a4814b4944dfc2402
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_21.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.07354558 0.16991175 0.00653421
+v -0.07354558 0.15620887 0.00653416
+v -0.07354558 0.16464394 -0.00201641
+v -0.07938140 0.16947737 0.00653421
+v -0.07354558 0.15614404 0.00653333
+v -0.10460166 0.13680698 0.00653409
+v -0.07354558 0.14883716 -0.00201646
+v -0.07402064 0.16456938 -0.00201641
+v -0.08570626 0.16841406 0.00653421
+v -0.07441187 0.16450454 -0.00201641
+v -0.10472742 0.13679726 0.00653409
+v -0.09555218 0.13679729 -0.00201651
+v -0.08598571 0.16835247 0.00653421
+v -0.07942798 0.16335697 -0.00201641
+v -0.12112175 0.13679726 0.00653409
+v -0.11425196 0.13679729 -0.00201651
+v -0.08976759 0.16689693 0.00653420
+v -0.08015920 0.16314625 -0.00201641
+v -0.08547339 0.16142813 -0.00201642
+v -0.12045108 0.13880715 0.00653410
+v -0.11863000 0.14245412 0.00653411
+v -0.11332047 0.13856080 -0.00201650
+v -0.08920403 0.15986884 -0.00201642
+v -0.09149086 0.15872450 -0.00201643
+v -0.09203112 0.15844895 -0.00201643
+v -0.10122965 0.16068898 0.00653418
+v -0.11414485 0.14948872 0.00653414
+v -0.11156926 0.14133898 -0.00201649
+v -0.11291527 0.13920916 -0.00201650
+v -0.11309691 0.13892064 -0.00201650
+v -0.09706586 0.15542116 -0.00201644
+v -0.09993487 0.15344369 -0.00201645
+v -0.10784327 0.15589118 0.00653416
+v -0.11362320 0.15007548 0.00653414
+v -0.10620384 0.14789380 -0.00201647
+v -0.10895175 0.14468772 -0.00201648
+v -0.10312990 0.15074006 -0.00201646
+v -0.10840217 0.15535629 0.00653416
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 26
+f 1 26 33
+f 1 33 38
+f 1 38 34
+f 1 34 27
+f 1 27 21
+f 1 21 20
+f 1 20 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 12
+f 3 12 16
+f 3 16 22
+f 3 22 30
+f 3 30 29
+f 3 29 28
+f 3 28 36
+f 3 36 35
+f 3 35 37
+f 3 37 32
+f 3 32 31
+f 3 31 25
+f 3 25 24
+f 3 24 23
+f 3 23 19
+f 3 19 18
+f 3 18 14
+f 3 14 10
+f 3 10 8
+f 3 8 4
+f 4 8 10
+f 4 10 9
+f 5 6 7
+f 6 11 12
+f 6 12 7
+f 9 10 13
+f 10 14 13
+f 11 15 16
+f 11 16 12
+f 13 14 18
+f 13 18 19
+f 13 19 17
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 17 19 23
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 25 31 26
+f 26 32 33
+f 26 31 32
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 32 37 33
+f 33 37 35
+f 33 35 38
+f 34 38 35
+
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_22.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed0e9a669bd76fbb0d99317c005bee7545c4c158
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_22.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.12102391 -0.13663532 0.00632945
+v 0.12047642 -0.13839021 0.00632944
+v 0.11351072 -0.13663529 -0.00331877
+v 0.10452617 -0.13663532 0.00632945
+v 0.12029556 -0.13875608 0.00632944
+v 0.11294857 -0.13785594 -0.00331878
+v 0.08765693 -0.13663529 -0.00331877
+v 0.07951805 -0.13959465 -0.00331878
+v 0.07108587 -0.15622726 0.00632938
+v 0.11838916 -0.14197770 0.00632943
+v 0.11194648 -0.13946837 -0.00331878
+v 0.11417063 -0.14905230 0.00632940
+v 0.07108587 -0.14455819 -0.00331880
+v 0.07108587 -0.16970947 0.00632933
+v 0.11124747 -0.14059189 -0.00331879
+v 0.11336896 -0.14994593 0.00632940
+v 0.10580200 -0.14726824 -0.00331881
+v 0.10739067 -0.14541621 -0.00331880
+v 0.10849540 -0.14409195 -0.00331880
+v 0.11004986 -0.14211689 -0.00331879
+v 0.07108587 -0.16407243 -0.00331887
+v 0.07108587 -0.16426993 -0.00302138
+v 0.07334422 -0.16958320 0.00632933
+v 0.10849052 -0.15486739 0.00632938
+v 0.10761064 -0.15569950 0.00632938
+v 0.10394447 -0.14897132 -0.00331882
+v 0.07390148 -0.16364828 -0.00331887
+v 0.07920520 -0.16920437 0.00632933
+v 0.10089423 -0.16017091 0.00632936
+v 0.09667081 -0.15476375 -0.00331884
+v 0.09808350 -0.15380212 -0.00331883
+v 0.09944243 -0.15287287 -0.00331883
+v 0.10113375 -0.15143205 -0.00331883
+v 0.10271265 -0.15006246 -0.00331882
+v 0.07951805 -0.16244058 -0.00331887
+v 0.08559899 -0.16792221 0.00632933
+v 0.08942158 -0.16637777 0.00632934
+v 0.09055076 -0.15830914 -0.00331885
+v 0.09149418 -0.15778462 -0.00331885
+v 0.08522260 -0.16063388 -0.00331886
+v 0.08577008 -0.16787687 0.00632933
+v 0.08844393 -0.15936143 -0.00331886
+v 0.08602427 -0.16033600 -0.00331886
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 14
+f 1 14 23
+f 1 23 28
+f 1 28 36
+f 1 36 41
+f 1 41 37
+f 1 37 29
+f 1 29 25
+f 1 25 24
+f 1 24 16
+f 1 16 12
+f 1 12 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 15
+f 3 15 20
+f 3 20 19
+f 3 19 18
+f 3 18 17
+f 3 17 26
+f 3 26 34
+f 3 34 33
+f 3 33 32
+f 3 32 31
+f 3 31 30
+f 3 30 39
+f 3 39 38
+f 3 38 42
+f 3 42 43
+f 3 43 40
+f 3 40 35
+f 3 35 27
+f 3 27 21
+f 3 21 13
+f 3 13 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 10 6
+f 6 10 12
+f 6 12 11
+f 8 13 9
+f 9 13 21
+f 9 21 22
+f 9 22 14
+f 11 12 15
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 15
+f 14 22 23
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 21 27 22
+f 22 27 28
+f 22 28 23
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 27 35 36
+f 27 36 28
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 35 40 41
+f 35 41 36
+f 37 41 42
+f 37 42 38
+f 40 43 41
+f 41 43 42
+
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_23.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cc184053b3be1c9894fc8f4aeb91421e76f10d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_23.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.06246254 0.17066927 0.00653422
+v -0.06765215 0.17046623 0.00653422
+v -0.05635033 0.17053462 0.00653422
+v 0.00009392 0.16633064 -0.00201640
+v -0.03281688 0.16653155 -0.00201640
+v -0.03857590 0.16654222 -0.00201640
+v -0.05587462 0.16598012 -0.00201640
+v -0.06066059 0.16580914 -0.00201640
+v -0.06815670 0.17043845 0.00653422
+v -0.06176338 0.16575785 -0.00201640
+v -0.04410429 0.17015420 0.00653422
+v 0.00009392 0.16633062 0.00210614
+v 0.00009392 0.15053405 -0.00201646
+v -0.04343396 0.17011358 0.00653421
+v -0.06585741 0.16550565 -0.00201640
+v -0.06765215 0.16538811 -0.00201640
+v -0.07354092 0.16991054 0.00653421
+v 0.00009392 0.16515939 0.00341447
+v 0.00009392 0.15890359 0.00566614
+v -0.03842454 0.15766610 0.00653417
+v -0.04410429 0.15737971 0.00653417
+v -0.07353372 0.15614650 0.00653416
+v -0.07354092 0.14883492 -0.00201646
+v -0.03581532 0.16772411 0.00653421
+v 0.00009392 0.16099384 0.00566615
+v 0.00009392 0.16394541 0.00476799
+v -0.07021092 0.16510171 -0.00201640
+v -0.07354092 0.16464433 -0.00201641
+v -0.07354092 0.15621061 0.00653416
+v -0.02999142 0.16191714 0.00653418
+v -0.03345116 0.15858726 0.00653417
+v -0.07354092 0.15614650 0.00653333
+v -0.03358090 0.16612329 0.00653420
+f 1 2 9
+f 1 9 17
+f 1 17 29
+f 1 29 22
+f 1 22 21
+f 1 21 20
+f 1 20 31
+f 1 31 30
+f 1 30 33
+f 1 33 24
+f 1 24 14
+f 1 14 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 9
+f 3 11 4
+f 4 12 18
+f 4 18 26
+f 4 26 25
+f 4 25 19
+f 4 19 13
+f 4 13 23
+f 4 23 28
+f 4 28 27
+f 4 27 16
+f 4 16 15
+f 4 15 10
+f 4 10 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 4 11 14
+f 4 14 12
+f 9 10 15
+f 9 15 16
+f 9 16 17
+f 12 14 18
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 14 24 25
+f 14 25 26
+f 14 26 18
+f 16 27 17
+f 17 27 28
+f 17 28 23
+f 17 23 32
+f 17 32 29
+f 19 25 30
+f 19 30 31
+f 19 31 20
+f 22 29 32
+f 22 32 23
+f 24 33 25
+f 25 33 30
+
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_24.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb1a4ceb359786d97a93b53445e9d61ce50124d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_24.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.06227717 0.17923787 0.01334400
+v 0.06227717 0.17859158 0.01740240
+v 0.06227717 0.17913445 0.01309431
+v 0.06185211 0.17922278 0.01334400
+v 0.05048176 0.17919260 0.01824761
+v 0.06227717 0.17852908 0.01770016
+v 0.06227717 0.17781173 0.01002529
+v 0.06185211 0.17779881 0.01003819
+v 0.05558590 0.17842570 0.01288447
+v 0.05008069 0.17823612 0.01418568
+v 0.04386248 0.17859157 0.01824761
+v 0.05008069 0.17915813 0.01824761
+v 0.05914750 0.17848816 0.01824761
+v 0.06227717 0.17752302 0.01824760
+v 0.06115625 0.17795821 0.01824760
+v 0.06227717 0.17017264 0.00627166
+v 0.06185211 0.17018340 0.00627166
+v 0.05008069 0.17012739 0.00627165
+v 0.04419499 0.17004769 0.00627165
+v 0.05729643 0.17746273 0.01035353
+v 0.05337148 0.17697157 0.01080368
+v 0.04553530 0.17771262 0.01523252
+v 0.03967701 0.17769754 0.01824760
+v 0.06227717 0.16314744 0.01824755
+v 0.06227717 0.15722965 0.00627161
+v 0.03821330 0.16824670 0.00627165
+v 0.03628682 0.17659453 0.01824760
+v 0.06227717 0.16034688 0.01366396
+v 0.05008069 0.16186564 0.01824754
+v 0.04419499 0.16145201 0.01824754
+v 0.04226508 0.15723611 0.00627161
+v 0.03354450 0.16614842 0.00627164
+v 0.03089815 0.17398568 0.01824759
+v 0.03829214 0.16206384 0.01824755
+v 0.03655076 0.15761958 0.00627161
+v 0.03247499 0.16549136 0.00627164
+v 0.02899910 0.16166749 0.00627162
+v 0.02871458 0.17144147 0.01824758
+v 0.03282121 0.16388206 0.01824755
+v 0.03262239 0.15862133 0.00627161
+v 0.02899910 0.16045893 0.00627162
+v 0.02726115 0.16825096 0.01824757
+f 1 2 6
+f 1 6 14
+f 1 14 24
+f 1 24 28
+f 1 28 25
+f 1 25 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 11
+f 5 11 23
+f 5 23 27
+f 5 27 33
+f 5 33 38
+f 5 38 42
+f 5 42 39
+f 5 39 34
+f 5 34 30
+f 5 30 29
+f 5 29 24
+f 5 24 14
+f 5 14 15
+f 5 15 13
+f 5 13 6
+f 6 13 15
+f 6 15 14
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 20 9
+f 8 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 16 25 31
+f 16 31 35
+f 16 35 40
+f 16 40 41
+f 16 41 37
+f 16 37 36
+f 16 36 32
+f 16 32 26
+f 16 26 19
+f 16 19 18
+f 16 18 17
+f 19 26 21
+f 19 21 20
+f 21 26 22
+f 22 26 27
+f 22 27 23
+f 24 29 28
+f 25 28 30
+f 25 30 31
+f 26 32 27
+f 27 32 33
+f 28 29 30
+f 30 34 35
+f 30 35 31
+f 32 36 33
+f 33 36 37
+f 33 37 38
+f 34 39 40
+f 34 40 35
+f 37 41 42
+f 37 42 38
+f 39 42 41
+f 39 41 40
+
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_25.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..480a5c3ce4e7a2d4bc77e1174118564cebdf9fa0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_25.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.06922004 -0.15650392 0.00643426
+v -0.06922004 -0.16989917 0.00643421
+v -0.06922004 -0.15999971 0.01429705
+v -0.04410932 -0.16130675 0.01840305
+v -0.04235702 -0.15709842 0.00643425
+v -0.06922004 -0.16994593 0.00645413
+v -0.06765352 -0.17003499 0.00643421
+v -0.06922004 -0.16291213 0.01840304
+v -0.03821060 -0.16186118 0.01840305
+v -0.03660186 -0.15750143 0.00643425
+v -0.06922004 -0.17784594 0.00986991
+v -0.06176325 -0.17022648 0.00643420
+v -0.06922004 -0.17638978 0.01840299
+v -0.03263279 -0.16368699 0.01840304
+v -0.03300436 -0.15845219 0.00643425
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+
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_26.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fee3cdd9a18c776ac1cc0641ef692a8e9c7246dc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_26.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v -0.03821168 0.17970811 0.02399986
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+
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_27.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e0ad372f89219763f5b872c2221cf0aea95ed63
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_27.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.06290127 -0.15701990 0.00632937
+v 0.06290127 -0.16017719 0.01377094
+v 0.06290127 -0.16238140 0.00632935
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+
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_28.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c563c46ac300e54ac83c7cae9b8a7c5d99bd390
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_28.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.08560289 -0.13663206 -0.00331745
+v -0.07451936 -0.13960114 -0.00331746
+v -0.11345878 -0.13663206 -0.00331745
+v -0.10450791 -0.13663209 0.00643220
+v -0.06728617 -0.15674859 0.00643212
+v -0.06728617 -0.14457795 -0.00331748
+v -0.11283370 -0.13782884 -0.00331746
+v -0.12032428 -0.13859404 0.00643219
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+v -0.06728617 -0.17003750 0.00643208
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+v -0.11181464 -0.13947034 -0.00331746
+v -0.11361637 -0.14929318 0.00643215
+v -0.06765388 -0.17003423 0.00643208
+v -0.06765388 -0.16453421 -0.00331755
+v -0.10997089 -0.14204376 -0.00331747
+v -0.10778570 -0.15524769 0.00643213
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_3.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f84156acc9ab0384dbf59229fd8613d3c90fe36
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_3.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_4.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a2b3dbb417d15bbdb2ea812b349d84f0eae99cd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_4.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_5.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..338be886ed32ed9183c7af1f56d071775ec1065c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_6.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7fe9214d15248f144d75fb4810ed0a2402c41f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_7.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a33f99ea0bca4f7a54487369b674d94f65d837b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_7.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_8.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ba0cf1ed83fd7917a303e344dda2da625e4522
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_8.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_9.obj b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d524df70d966c9108b5e7ca547427600839d9f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/mesh/tray_012_collision_9.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/tray_012.xml b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/tray_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c2cc1e1430f1677eac0176fd4836bcdd2e7d6a47
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/mjcf/tray_012.xml
@@ -0,0 +1,72 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_012">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/tray_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_012_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_012_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_012_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/tray_012_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_012_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_012_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_012_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tray_012_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tray_012_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tray_012_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tray_012_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/tray_012_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_012">
+      <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" />
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+      <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_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/textures/material_0.png b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1f6b3e12071509fac231fdfbcb52f39182d8ad138798c720ffde9251eba91e7e
+size 15223593
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/tray_012.urdf b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/tray_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ccb31cee556f553aa61f22bd4c663a67b7a1e733
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+++ b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/tray_012.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_012">
+   <link name="tray_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_012.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>ef3e3fce70a354f5971b882202f45d56</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>floral serving tray</name>
+         <color>brown,pink</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>rectangular tray with side handles and colorful floral pattern</description>
+         <min_height>0.0449</min_height>
+         <max_height>0.0449</max_height>
+         <real_height>0.0449</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195019</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.136586 -0.178672 -0.010494</min>
+            <max>0.136675 0.178800 0.034388</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/tray_012.usd b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/tray_012.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4291937
diff --git a/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/video.mp4 b/dataset/kitchen_supplies/tableware/ef3e3fce70a354f5971b882202f45d56/video.mp4
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