diff --git a/.gitattributes b/.gitattributes
index 11531305719674be22f49efbc2597bf155531c01..2f8292452c709990d8427fb99588262c317bf181 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4302,3 +4302,5 @@ dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_t
 dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/aaa2bca962955e90bf0140812ff0e8a0/mesh/spoon_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/aaa2bca962955e90bf0140812ff0e8a0/spoon_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/tray_080.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/material.mtl b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aa65a711f5871acbd4b91d17151ee7fd56b115cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_080_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_080_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/material_0.png b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..23fcb6973bd43ca952713fbed512a07be9bdbd6b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91b934a2224682b30fefc0fcacfbb936b4b3c2c141baa7c8fe9bf50b9000da57
+size 13877336
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080.glb b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ea5dd7637b5c0f52c4f5f18dd86771149677b4b0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9deb6a56ceef80706a8058ed7699d3d38840d14f06eb8d7a28901469bd1a87a5
+size 17257112
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080.mtl b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..60d6ee9d6766f778ad6f762f7ed2057f2961156e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080.mtl
@@ -0,0 +1,6 @@
+newmtl tray_080_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/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080.obj
new file mode 100644
index 0000000000000000000000000000000000000000..466c008fc63f22cc108661b3f48e3521cdde0d60
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080.obj
@@ -0,0 +1,117356 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_080_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080_collision.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fc16da11cca20989954eaed423127e20d13985a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mesh/tray_080_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080.obj
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+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080.obj
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..373c1108e7a300d73dfb03231485446d7fa96ee4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_0.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25fbacee3e4005ba6fbd645f3579beee26d4413e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_0.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_1.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60184de40155909807571117725ac958fe55065c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_1.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_10.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b20b206b0d7a5bf49d5dbab63997217dacf480b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_10.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_11.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d44c9539e1ac7a43a5b5e83f6372153d335f865f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_11.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_12.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..137e3c77d5703d86d218967f73d309d9be792b15
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_12.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.03791748 0.15777235 -0.00981216
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_13.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..283afa1ac63b736463d2f1d175ab551281e41e06
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_13.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_14.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0395eb037e06b7f124d9f0fd8e7260fa4a8c9d1e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_14.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_15.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7070738494daeb422a63280bb983631c97a2cfb7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_15.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_16.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a96425bb1b4f0a77a53bbbf01cb801d9c3b635c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_16.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_17.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22eca40a7b3ef09008a85cccf1dc8f61007402ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_17.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_18.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6855bb50ce4c51b9f734007c5d443d9e34a8df6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_18.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_19.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..966b34ffcb69a1a1a0463cbecd9c7e71798acdb1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_19.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_2.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19947d970cda2c616900cab0c21445f31aa37603
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_2.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_20.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e37d3e847ae79bf23fab1954d4e86cfd257cdbf5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_20.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_21.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96500f49e3d9bfe450997fb6579212e790eb07da
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_21.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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+v -0.05019431 0.15777028 0.00962514
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+
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_22.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73f14935d9e8385a51a793de0f60ad81f8da4079
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_22.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.03224029 0.16733111 0.01127587
+v 0.03398319 0.17125466 0.01127589
+v 0.03285911 0.16442921 0.01127586
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+v 0.01470347 0.17207779 0.03556511
+v 0.01470347 0.17501113 0.03369751
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+v 0.03791748 0.17367121 0.02689642
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+v -0.02008064 0.16738604 0.03443073
+v -0.02008064 0.16905998 0.03438730
+v -0.01854780 0.16738604 0.03506689
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+
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_23.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a719cc965600e4a3a86eaed6f803fd45f69f3569
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_23.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.03789932 -0.17342398 0.01028885
+v 0.03789932 -0.15861259 0.01028891
+v 0.03787243 -0.17340534 0.01028885
+v 0.02645351 -0.16545753 -0.00057563
+v 0.02645351 -0.16531617 -0.00466259
+v 0.03789932 -0.17140478 0.00485159
+v 0.03646397 -0.15974487 0.01028890
+v 0.03789932 -0.15755794 0.00846380
+v 0.02645351 -0.15755792 0.00395612
+v 0.03752283 -0.17315061 0.01028885
+v 0.02645351 -0.16438583 0.00226923
+v 0.02645351 -0.16243341 -0.00737921
+v 0.03789932 -0.16588154 -0.00459247
+v 0.03789819 -0.16883731 -0.00082006
+v 0.03789932 -0.16883421 -0.00082406
+v 0.03403923 -0.16267578 0.01028889
+v 0.03789932 -0.15755787 -0.00990950
+v 0.02961105 -0.15755787 -0.01012186
+v 0.02645351 -0.15755943 -0.01017796
+v 0.02645351 -0.16130892 0.00348731
+v 0.03319886 -0.16718163 0.01028888
+v 0.03360223 -0.16804522 0.01028887
+v 0.03232039 -0.16231071 -0.00733313
+v 0.03789932 -0.16572466 -0.00472871
+v 0.02645351 -0.15949940 -0.00936458
+v 0.03789932 -0.15901945 -0.00929646
+v 0.03562248 -0.15755787 -0.00998162
+v 0.03232039 -0.15755787 -0.01008179
+v 0.03789932 -0.16214917 -0.00730709
+v 0.03232039 -0.15937514 -0.00931450
+v 0.03789932 -0.15921517 -0.00921432
+v 0.03789932 -0.16200317 -0.00740525
+f 1 2 7
+f 1 7 16
+f 1 16 21
+f 1 21 22
+f 1 22 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 13
+f 1 13 24
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+f 1 29 32
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+f 1 17 8
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+f 4 20 9
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+f 8 28 18
+f 8 18 9
+f 9 18 19
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+f 9 21 16
+f 10 22 11
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+f 12 24 13
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+f 13 15 14
+f 17 26 27
+f 18 28 19
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+f 23 29 24
+f 23 25 30
+f 23 30 29
+f 25 28 30
+f 26 31 27
+f 27 31 28
+f 28 31 30
+f 29 30 32
+f 30 31 32
+
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_24.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e3c5b091bbc82ad6614ec253b337adca2f73b00
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_24.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.02614674 0.15777196 -0.01009273
+v 0.02614674 0.15786993 -0.01005299
+v 0.02644979 0.15777196 -0.01009064
+v 0.02614674 0.15777191 0.00385175
+v 0.02614674 0.15963649 -0.00931454
+v 0.02644979 0.15963489 -0.00931245
+v 0.02919457 0.15777196 -0.01004253
+v 0.02614674 0.16204540 0.00319283
+v 0.03791748 0.15777189 0.00875512
+v 0.03791748 0.15913053 0.01127375
+v 0.03365166 0.16284515 0.01127377
+v 0.03286349 0.16443024 0.01127377
+v 0.03224355 0.16732902 0.01127378
+v 0.02614674 0.16257060 -0.00732515
+v 0.02644979 0.16256900 -0.00732933
+v 0.03231961 0.16242606 -0.00728750
+v 0.03791748 0.16226386 -0.00725821
+v 0.03231961 0.15949034 -0.00925178
+v 0.03231961 0.15777196 -0.00997559
+v 0.02614674 0.16449933 0.00217827
+v 0.03791748 0.15777196 -0.00981033
+v 0.03791748 0.17417528 0.01127381
+v 0.03398583 0.17125562 0.01127380
+v 0.02614674 0.16546776 -0.00461197
+v 0.03791748 0.16604752 -0.00454503
+v 0.03791748 0.15932975 -0.00915765
+v 0.03791748 0.15785227 -0.00977686
+v 0.02614674 0.16536175 -0.00007677
+v 0.03791748 0.17395847 0.01073410
+v 0.03776422 0.17413032 0.01127381
+v 0.03447325 0.17169887 0.01127380
+v 0.02614674 0.16536818 -0.00010606
+v 0.02614674 0.16546776 -0.00441743
+v 0.03669143 0.17362604 0.01127381
+v 0.03723762 0.17388299 0.01127381
+v 0.03791748 0.17157845 0.00485172
+v 0.03791748 0.16899446 -0.00079637
+v 0.03791748 0.16897679 -0.00082147
+v 0.03457120 0.17178720 0.01127380
+v 0.02614674 0.16537299 -0.00029224
+v 0.03659579 0.17354413 0.01127381
+f 1 2 3
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+f 1 21 9
+f 1 9 4
+f 1 4 8
+f 1 8 20
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+f 22 24 30
+f 23 31 32
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+f 24 35 30
+f 24 29 36
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 31 39 32
+f 32 39 41
+f 32 41 34
+f 32 34 40
+f 33 40 34
+
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_25.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf491dc4582d2a0db637b7d49136bdcdcb0c5841
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_25.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00883163 -0.15755864 -0.01023377
+v 0.01188296 -0.15755864 -0.01023099
+v 0.02057422 -0.15954029 -0.00938924
+v 0.00883163 -0.15951013 -0.00940452
+v 0.00296721 -0.15950395 -0.00940591
+v 0.00296721 -0.15755864 -0.01023099
+v 0.01773822 -0.15755864 -0.01022544
+v 0.02057422 -0.15755864 -0.01021710
+v 0.02644780 -0.15755864 -0.01017821
+v 0.02644780 -0.15949777 -0.00936563
+v 0.02645239 -0.16243195 -0.00737930
+v 0.02644780 -0.16243195 -0.00737930
+v -0.02035303 -0.15951091 -0.00938229
+v -0.02035303 -0.15755864 -0.01020321
+v 0.02645239 -0.15755869 0.00395531
+v 0.02645239 -0.15755942 -0.01017682
+v 0.02645239 -0.15949931 -0.00936424
+v 0.02645239 -0.16531513 -0.00466373
+v 0.02644780 -0.16531435 -0.00466512
+v -0.02035303 -0.16244433 -0.00729040
+v -0.02035303 -0.15755869 0.00377335
+v 0.02644780 -0.15755869 0.00395531
+v 0.02645239 -0.16130858 0.00348858
+v 0.02645239 -0.16545663 -0.00057578
+v -0.02035303 -0.16518678 -0.00457622
+v -0.02035303 -0.16177248 0.00308159
+v -0.01464897 -0.16114930 0.00327745
+v -0.01464897 -0.15755869 0.00380946
+v 0.02645239 -0.16438503 0.00227038
+v -0.02035303 -0.16418477 0.00206897
+v -0.02035303 -0.16501129 -0.00016323
+v -0.01464897 -0.16509556 -0.00077024
+v -0.02035303 -0.16518678 -0.00447066
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 21
+f 1 21 28
+f 1 28 22
+f 1 22 15
+f 1 15 9
+f 1 9 8
+f 1 8 7
+f 1 7 2
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+f 6 13 14
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+f 11 17 16
+f 11 16 15
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+f 11 24 18
+f 12 19 20
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+f 13 31 30
+f 13 30 26
+f 13 26 21
+f 13 21 14
+f 15 22 23
+f 18 24 25
+f 18 25 19
+f 19 25 20
+f 21 26 27
+f 21 27 28
+f 22 28 23
+f 23 28 27
+f 23 27 26
+f 23 26 29
+f 24 29 30
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 26 30 29
+f 31 33 32
+
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_26.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7675bbb0d64453a8c3ad89997e4bcea482998f5a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_26.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.02057545 0.15777036 -0.01013920
+v 0.00883338 0.15777036 -0.01013783
+v 0.02057545 0.15967107 -0.00934201
+v 0.02614559 0.15963567 -0.00931462
+v 0.02614559 0.15786906 -0.01005290
+v 0.02614559 0.15777036 -0.01009400
+v -0.01775485 0.15777036 -0.01012961
+v 0.02614559 0.16256999 -0.00732579
+v -0.02008064 0.15935919 -0.00945981
+v -0.02008064 0.15965827 -0.00933380
+v 0.02614559 0.15777031 0.00385379
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+v -0.02008064 0.15777031 0.00379078
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+v -0.02008064 0.16127946 0.00326756
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+v 0.02614559 0.16546590 -0.00441788
+v -0.02008064 0.16513517 -0.00472469
+v -0.02008064 0.16533556 -0.00452060
+v 0.02614559 0.16449855 0.00217728
+v -0.02008064 0.16421303 0.00185951
+v 0.02614559 0.16536719 -0.00010739
+v -0.02008064 0.16533554 -0.00085388
+v 0.02614559 0.16536041 -0.00007863
+v 0.02612749 0.16536643 -0.00009780
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+f 1 4 5
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+f 1 6 11
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+f 1 16 12
+f 1 12 7
+f 1 7 2
+f 2 7 3
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+f 3 9 10
+f 3 10 8
+f 4 8 13
+f 4 13 20
+f 4 20 25
+f 4 25 27
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+f 4 23 17
+f 4 17 11
+f 4 11 6
+f 4 6 5
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+f 8 10 14
+f 8 14 15
+f 8 15 13
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+f 9 26 22
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+f 13 26 20
+f 17 23 18
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+f 23 26 24
+f 25 28 27
+f 25 26 28
+f 26 27 28
+
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_27.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df71e4339db72982113c63057bdd2473ef737a82
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_27.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.02008064 0.15777036 -0.01012484
+v -0.02008064 0.15935998 -0.00946108
+v -0.02008064 0.15777031 0.00378962
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+v -0.02052269 0.15966108 -0.00933320
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+v -0.02639314 0.16254510 -0.00729930
+v -0.02052269 0.16259593 -0.00724247
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+v -0.02008064 0.16127999 0.00326796
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+v -0.04517737 0.15777028 0.01061186
+v -0.03226358 0.15777036 -0.00997869
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+v -0.03226358 0.16241996 -0.00726276
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+v -0.02008064 0.16421485 0.00185927
+v -0.03615658 0.17270064 0.01061191
+v -0.05018729 0.15823172 0.01061186
+v -0.05018729 0.15777028 0.00962740
+v -0.03567327 0.15777036 -0.00986705
+v -0.02008064 0.16513580 -0.00472344
+v -0.04400447 0.17221578 0.00027198
+v -0.03813402 0.16223811 -0.00724450
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+v -0.05018729 0.15803235 -0.00838731
+v -0.04860770 0.16536847 -0.00385874
+v -0.05018729 0.17179930 0.00123615
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+v -0.05018729 0.17479671 0.00374502
+v -0.03813402 0.15930327 -0.00914036
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+v -0.04610568 0.15777035 -0.00913631
+v -0.04987491 0.15777035 -0.00856593
+v -0.05018729 0.16722792 -0.00200145
+v -0.04168811 0.17604611 0.00843799
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+v -0.05017845 0.17767873 0.01061193
+v -0.05018729 0.17769242 0.01051856
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+v -0.05018729 0.17692011 0.00652995
+v -0.04560174 0.17646061 0.00684864
+v -0.05018729 0.17774521 0.01028107
+v -0.04378933 0.17668743 0.01026077
+v -0.04318814 0.17661507 0.01061193
+v -0.04987491 0.17765919 0.01061193
+v -0.04987491 0.17770806 0.01028107
+f 1 2 5
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+f 1 13 21
+f 1 21 30
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+f 1 46 41
+f 1 41 25
+f 1 25 17
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+f 1 7 3
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+
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_28.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..507c60ff7650b658e6f3fcb003b1fd5e4379261e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_28.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.05018729 0.15823021 0.01061186
+v -0.05018729 0.15889284 0.01202946
+v -0.05018729 0.17765103 0.01061193
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+v -0.04324119 0.15777028 0.01179631
+v -0.02957001 0.15852056 0.02401613
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+v -0.02008064 0.15842700 0.02641067
+v -0.02166908 0.15899997 0.02804044
+v -0.02639314 0.15956321 0.02711714
+v -0.03182153 0.16037979 0.02612156
+v -0.03794836 0.16258206 0.02685835
+v -0.03813402 0.15970355 0.02113897
+v -0.05018729 0.16162908 0.01605612
+v -0.04241013 0.16314140 0.02524723
+v -0.05018729 0.17459318 0.01739216
+v -0.04028534 0.17589893 0.02286440
+v -0.03637171 0.17646409 0.02450117
+v -0.02052269 0.17761199 0.02656462
+v -0.02008064 0.17764901 0.02656462
+v -0.04987491 0.17766079 0.01061193
+v -0.03963700 0.15777028 0.01128336
+v -0.03612711 0.16011481 0.01061187
+v -0.02008064 0.16283156 0.01722658
+v -0.02008064 0.16261133 0.01744575
+v -0.02008064 0.15989649 0.02063535
+v -0.02008064 0.15973278 0.02084052
+v -0.02008064 0.15838608 0.02334697
+v -0.02008064 0.15837049 0.02358246
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+v -0.02008064 0.16127044 0.03124871
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+v -0.03359268 0.16929609 0.01061190
+v -0.03615658 0.17270082 0.01061191
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+
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_3.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e70cc46602c8c4d6d86f8737eabc63586c52df54
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_3.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.07887914 -0.02621810 -0.01291321
+v -0.07345163 -0.02621810 -0.01292115
+v -0.07887914 -0.02621814 -0.00336619
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+v -0.07335884 -0.02621810 -0.01292115
+v -0.06748290 0.03825783 -0.01293283
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+v -0.05574647 -0.02621814 -0.00247000
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+v -0.07887914 0.03239496 -0.01292093
+v -0.07335884 0.03825783 -0.01292886
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+v -0.07335884 0.05586196 -0.01291687
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+v 0.04405185 0.06760324 -0.01292345
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+v -0.07887914 0.13265452 -0.00063069
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+v -0.07887914 0.06172482 -0.01290626
+v 0.07909106 -0.02621810 -0.01291586
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_4.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ace9a57c5c2f51bdf32c01ce8af5175200ebb64a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_4.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_5.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33e4a873450ea77fc4ab5e84f372b47f22229e9e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_5.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_6.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7af74f75aeac185daa69cbe78c94aeb1aa427f76
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_6.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.06268598 -0.15755789 -0.00661329
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+v 0.08516639 -0.17817967 0.01028002
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_7.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae4abfc05bd58bec2edf8cc66f93708bb136e90a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_7.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_8.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f89a2b429f24714aef15d035792c44cba3266ed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_8.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_9.obj b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_9.obj
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/mesh/tray_080_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/tray_080.xml b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/tray_080.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b2f9cd5aecf15d2536c5df84a7f872e08dc45788
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/mjcf/tray_080.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_080">
+  <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_080.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_080_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_080_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_080_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_080_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_080_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_080_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_080_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_080_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_080_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_080_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_080_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_080_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_080_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_080_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_080_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_080_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_080_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_080_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_080_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_080_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_080_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_080_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_080_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_080_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tray_080_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tray_080_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tray_080_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tray_080_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/tray_080_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_080">
+      <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" />
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+      <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" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/textures/material_0.png b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..23fcb6973bd43ca952713fbed512a07be9bdbd6b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91b934a2224682b30fefc0fcacfbb936b4b3c2c141baa7c8fe9bf50b9000da57
+size 13877336
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/tray_080.urdf b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/tray_080.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..efa58f2beb8a7b105bf676cde8b3b5bdd37b6eae
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+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/tray_080.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_080">
+   <link name="tray_080">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_080.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_080_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>a7e1fca7dd8252a195b8bab1ffdf21cc</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>decorative serving tray</name>
+         <color>beige,blue</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>rectangular shallow tray with side handles and ornate floral pattern</description>
+         <min_height>0.0501</min_height>
+         <max_height>0.0501</max_height>
+         <real_height>0.0501</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201604</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.131100 -0.177456 -0.010860</min>
+            <max>0.131158 0.177666 0.039200</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/a7e1fca7dd8252a195b8bab1ffdf21cc/tray_080.usd b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/tray_080.usd
new file mode 100644
index 0000000000000000000000000000000000000000..450f21d0dcd9660175dc137bc4b5bc956962afe6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/tray_080.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb62a2f4400397d631d396eaaa16276f10dc9ca9c86002d0dd0c5158582cf85b
+size 4962065
diff --git a/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/video.mp4 b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0b8bab2bcc1fb7f38a63744cd6c061e4d4a0984
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a7e1fca7dd8252a195b8bab1ffdf21cc/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4223818a8af1f570ca3893c59573cc0b8bed9468df69d9f389a2ef8d7a3491d
+size 597316