diff --git a/.gitattributes b/.gitattributes
index 4cbdcfab4bc3fb40fc4d3bc622e00dcbaafed8b6..be81a2359c0e066e357e2545a644ecbcd662a8c4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4297,5 +4297,6 @@ dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster
 dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/a1a681bbb5215f2ba1f1c9c4301fc912/mesh/tray_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/a1a681bbb5215f2ba1f1c9c4301fc912/tray_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/spoon_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/a99294d97020569a8ea2986620cd8330.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/a99294d97020569a8ea2986620cd8330.urdf b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/a99294d97020569a8ea2986620cd8330.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e7a63f49b079f9685eef2555c4d84d66f6031ee0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/a99294d97020569a8ea2986620cd8330.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="metal_tray">
+   <link name="metal_tray">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_tray.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_tray_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.383660</scale>
+         <version>v0.1.7</version>
+         <category>metal tray</category>
+         <description>flat, circular metal tray with slightly raised edges</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20260119212321</generate_time>
+         <gs_model>mesh/metal_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object appears incomplete or truncated.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.260818958282471</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/a99294d97020569a8ea2986620cd8330.usd b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/a99294d97020569a8ea2986620cd8330.usd
new file mode 100644
index 0000000000000000000000000000000000000000..da122ca19ddc9cc232401b7999615393756e2374
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/a99294d97020569a8ea2986620cd8330.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6895c56c87708606beda7d7c5e461603be30802be59e70b652f24ceebb050e3d
+size 305453
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/material.mtl b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/material_0.png b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d7fe148bd50f3e3d9fe2ffa46861a2abec98839
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4018696944a9a013bfe5904364eb02690abae5dee30cbca6d1ebe303d9f30eb1
+size 2196162
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray.glb b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..952c021e4eff0a483e073b1a165565deaea39702
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af2b0b1ac776ed713a0901f924141424fcb6c8129bb7a108715aa2d98788ca45
+size 2416412
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4cd7ea01bf36276b3c1e3470dd3f636f16c8d49
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray.obj
@@ -0,0 +1,20294 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5101253e34a15d5154f54620d3d1ac59ab2f5e7f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray_gs.ply b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..634a485021dd368733c78bb522b357992b997656
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mesh/metal_tray_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:281e81dee92cfc88d301d9bf8fda9217bce2f952f034181cfe9d4614e7c1cb5d
+size 1162697
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/a99294d97020569a8ea2986620cd8330.xml b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/a99294d97020569a8ea2986620cd8330.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c28a838f62fc03d4858a3312f830e2fe1b081bda
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/a99294d97020569a8ea2986620cd8330.xml
@@ -0,0 +1,70 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="metal_tray">
+  <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/metal_tray.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/metal_tray_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/metal_tray_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/metal_tray_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/metal_tray_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/metal_tray_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/metal_tray_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/metal_tray_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/metal_tray_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/metal_tray_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/metal_tray_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/metal_tray_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/metal_tray_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/metal_tray_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/metal_tray_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/metal_tray_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/metal_tray_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/metal_tray_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/metal_tray_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/metal_tray_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/metal_tray_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/metal_tray_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/metal_tray_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/metal_tray_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/metal_tray_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/metal_tray_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/metal_tray_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/metal_tray_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/metal_tray_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="metal_tray">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d7fe148bd50f3e3d9fe2ffa46861a2abec98839
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4018696944a9a013bfe5904364eb02690abae5dee30cbca6d1ebe303d9f30eb1
+size 2196162
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17c0477fbd3b8d10d8c1bdb0cd0777972b9869d6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray.obj
@@ -0,0 +1,20294 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc400ce2249458199c2aa1c919357a1709af07be
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision.obj
@@ -0,0 +1,6660 @@
+# https://github.com/mikedh/trimesh
+
+o metal_tray_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_0.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac2b13f2cbd08158c66be70f95e1a2806dafb816
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_1.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e78d957d93387eaf1c415f6b2f25c8f8a31d2fc2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_1.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_10.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e880c273dd3a57e322d1c7f6335f655f6dd53118
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_10.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.18170297 -0.00353961 0.00305674
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+v 0.18040133 -0.00353963 0.00754215
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+v 0.17850653 0.00607702 0.00539827
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+v 0.16891719 0.00282806 0.00982439
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_11.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cffd27e8ed13625f15d11069af1fcbe83899969a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_11.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00128480 0.15803299 0.00197725
+v -0.00258867 0.15401046 -0.00408067
+v -0.00258867 0.15781350 0.00197725
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_12.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e154f690668162d58684779520fb360925fb1c82
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_12.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.06511019 0.13933624 0.00203546
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_13.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e431562e4651fb3ea817a0386128162b13554d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_13.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.10872363 0.07143341 -0.00440010
+v 0.11996052 0.07143336 0.00688643
+v 0.12717183 0.07143341 -0.00440010
+v 0.12582224 0.02788971 -0.00440026
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+v 0.16616499 0.05150580 0.00015214
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+v 0.13080933 0.06656726 0.00985188
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+v 0.13649729 0.05231540 -0.00440017
+v 0.15043335 0.07143338 0.00305720
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_14.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d542238a0f917ac48c64b74f983abeffdf67dbc1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_14.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.15323398 -0.10552418 0.00601538
+v 0.15312112 -0.10889283 0.00584335
+v 0.15323398 -0.10552418 0.00442070
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+v 0.14351192 -0.11190130 0.00917369
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+v 0.12274065 -0.07557160 0.00816992
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_15.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38902e10991b28b56e2d9fff28b1798333003be0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_15.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.15350269 0.09843948 0.00305796
+v 0.15308673 0.09509476 0.00035994
+v 0.15317063 0.09843949 0.00028306
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+v 0.14953189 0.10431768 -0.00015027
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+v 0.15090210 0.10533303 0.00305799
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+v 0.12717166 0.07143773 -0.00440010
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+v 0.12671726 0.07256260 -0.00440009
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+v 0.11779693 0.11725364 -0.00011667
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+v 0.11779693 0.07143773 -0.00440010
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_16.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2ee95d1f5456eeca1403b80ec0c73beed4a5e2a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_16.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.11616294 0.11790168 0.00837060
+v -0.11509451 0.11790167 0.01065400
+v -0.11057377 0.11790169 0.00485903
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+v -0.09679541 0.11713144 0.00203538
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+v -0.11113578 0.11790166 0.01330472
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+v -0.13504255 0.10481714 0.01271016
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+v -0.12999687 0.09260198 0.00447017
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+v -0.11056760 0.09260195 0.01409858
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_17.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3ba7ae4394cd9d5025ea13195e1bcd1f426aef1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_17.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.11347498 -0.12738871 0.00305691
+v 0.11347498 -0.12334504 0.00000075
+v 0.11347498 -0.12447888 0.00772728
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+v 0.09904658 -0.15532958 0.00763122
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_18.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..472ea9ffe8270d0250fe79bbbe43039c4e3fe41f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_18.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.11779344 0.07143770 0.00356167
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+v 0.11779344 0.07185526 0.00397555
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_19.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77cf27bc6b3cb46437660bc9ed5b7bd33b3f3e09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_19.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.16016436 -0.02903348 0.00836735
+v -0.16274141 -0.05453501 0.00836980
+v -0.15943022 -0.02903349 0.01213830
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_2.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..185418bf42a39df2fac06cbcd58e46e3fc5aa36a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_2.obj
@@ -0,0 +1,739 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_20.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46980fe2106d3aeb8db1a6aecb370ab349d5203b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_21.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ab4834ddda003de8311cce45e5c41fe64719038
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_21.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_22.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f53e2257f0fbb43fcd3b5af67f80dec422744b12
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_22.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_23.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fd6ed9211f4e828ee896e2b14992c7bd16a6f8b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_23.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_24.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22b0375797d073b7f5bf82823960cb9bdbc413fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_24.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_25.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa8fdab9720307bcbfed2d6a9fa222bf61805e09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_25.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_26.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2d9e91df5013869bc34bc8dd51dc11b3b9ad39c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_26.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_27.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c307833308ed54ca3cf493301b524e1c65bbbdec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_27.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_3.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d191e1fe2eeadd35bee1a5b37a53d9dd1d32fcd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_3.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_4.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04baa28e8b5f45262c05ec7ce55844b6fb0e1c47
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_4.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_5.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30624bd8825eaf1390ef3b2690b4685988ee2578
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_5.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.08472796 0.09259307 -0.00408090
+v -0.09972757 0.09259305 0.00220368
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_6.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76a060e5eb00ae2accedef4c14fa3c227c6a0e67
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_6.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.04048262 0.12853676 -0.00439989
+v 0.04048262 0.13920827 0.00662384
+v 0.03914737 0.12858073 -0.00439989
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+v 0.04048262 0.16940140 0.00836935
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_7.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0819871ac2f9567e0ed34b15e8cbb0ec167f23b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_7.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.10422243 -0.07965194 -0.00314395
+v -0.11172706 -0.07965196 0.00211983
+v -0.12415995 -0.07965194 -0.00314395
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+v -0.13105004 0.00133783 0.00212012
+v -0.12757544 -0.07965196 0.00211983
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+v -0.14444414 0.00133783 0.00212012
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+v -0.14445989 -0.00279333 0.00212011
+v -0.13318127 -0.06728226 0.00211987
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+v -0.14445202 -0.00992177 0.00212008
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+v -0.13986256 -0.04815681 0.00211994
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+v -0.14189138 -0.04159929 0.00211997
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+v -0.14292351 -0.03543030 0.00211999
+v -0.13968135 -0.03661174 -0.00314379
+v -0.14154864 -0.02267205 -0.00314374
+v -0.14294321 -0.03528757 0.00211999
+v -0.14084349 -0.02904720 -0.00314377
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+f 1 23 27
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_8.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82eca4c1fe5ed644f328ada29228440f616075fc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_8.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.08430116 -0.15423549 0.00530881
+v 0.08430116 -0.15421259 0.00261667
+v 0.08430116 -0.15421261 0.00686246
+v 0.05885522 -0.17979181 0.00305742
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+v 0.05863090 -0.17960116 0.00654564
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+v 0.05458822 -0.17563537 -0.00089873
+v 0.07983423 -0.13057810 -0.00444670
+v 0.08430116 -0.12671911 -0.00444669
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+v 0.08430116 -0.15014008 0.00898537
+v 0.05458822 -0.17563540 0.00922067
+v 0.05458822 -0.18034856 0.00725755
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+
diff --git a/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_9.obj b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e891473de826a31ffe3468c5c356fee2c0e9e70
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a99294d97020569a8ea2986620cd8330/mjcf/mesh/metal_tray_collision_9.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.08529887 0.10190035 -0.00439999
+v 0.08529887 0.12264072 -0.00439991
+v 0.08529887 0.11758826 0.00776293
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+v 0.06422874 0.17184160 0.00036082
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+v 0.08529887 0.14576576 0.00078354
+v 0.06740922 0.13654548 -0.00439986
+v 0.06073240 0.14001282 -0.00439985
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+v 0.08529887 0.13668694 0.01033164
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