diff --git a/.gitattributes b/.gitattributes
index 4324e65616079d33dd26a75175831e0efa4d6917..bd91f41b9f80277b794d86d58c8715e89faafca2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4591,6 +4591,6 @@ dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/bottle_opener
 dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/bottle_opener_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/bottle_opener_009.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/c58b059579835beba6def1bac0bc5872.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/c60975914c445948b77260f483bbbf6c.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/wooden_tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/wooden_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/c60975914c445948b77260f483bbbf6c.urdf b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/c60975914c445948b77260f483bbbf6c.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..912da3054dc54e3dcb2276b89c8b87d877f2c4b9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/c60975914c445948b77260f483bbbf6c.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_tray">
+   <link name="wooden_tray">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_tray.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_tray_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.352509</scale>
+         <version>v0.1.7</version>
+         <category>wooden tray</category>
+         <description>rectangular wooden tray with shallow depth and flat base</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20260120131400</generate_time>
+         <gs_model>mesh/wooden_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.5537261962890625</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/c60975914c445948b77260f483bbbf6c.usd b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/c60975914c445948b77260f483bbbf6c.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c232a9e6fa5cbbeee8f6fed4323e22f79e13fd4b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/c60975914c445948b77260f483bbbf6c.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a110a3ede3962ba8f7d8d0bedcdb5fd9f82010bf5ac0b65a02feb4e6b91c58d5
+size 371568
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/material.mtl b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/material_0.png b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..684052a85af332cc94a3405b7985688a5831d783
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9535b85dd73d01b09fdfabedfa9e738428c0fef3b676a033a7a474a276990c80
+size 2874150
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/wooden_tray.glb b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/wooden_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..86d4c828311e17754d5a33d1f8d00bd5c19f9073
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/wooden_tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18abfad4b2c2fc4cb6bc3fdc5ab5a0520c115ef9748be27a4b9b75829c0b89be
+size 3131988
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/wooden_tray.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/wooden_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4250af2a374722a81bf696c08d5f20ce1c0c48ac
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/wooden_tray.obj
@@ -0,0 +1,23606 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/wooden_tray_collision.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/wooden_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1b4c4cfc551e6d20e2fe1e478ba2e8baf5bebe8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mesh/wooden_tray_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/c60975914c445948b77260f483bbbf6c.xml b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/c60975914c445948b77260f483bbbf6c.xml
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+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..684052a85af332cc94a3405b7985688a5831d783
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:9535b85dd73d01b09fdfabedfa9e738428c0fef3b676a033a7a474a276990c80
+size 2874150
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dada3017d22805bd980b77337e4871edf41b2648
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..231cebf55bfd803c0c14be812e6aa484ba817d23
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision.obj
@@ -0,0 +1,6673 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_0.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7251a2517d0583ac59871a4905cd97fde948f26b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_1.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fea92535f3412e08a9a53efd7108c2272413724e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_1.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_10.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a869c63564208990ca3bfca3809d7a868cb2e130
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_10.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_11.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d774c4da1faf4d8bb9dfa91bd458e77cb5aeabe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_11.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_12.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a3ac4003f7ef88488de2ab5cbc94608b85eebce
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_12.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_13.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8122b43ceae2fa34b52ac8a4f456a1fbdc5f9e2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_13.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_14.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cacf0981e1f88464e55153cad8327e7fd3eb11cd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_14.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_15.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7919003cb394ccd083d154fb447dc1aee85bb50d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_15.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+v -0.04362464 -0.15444946 0.00322896
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+v -0.04263759 -0.15444948 0.00748277
+v -0.04256018 -0.15444948 0.00732656
+f 1 2 10
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+f 1 25 29
+f 1 29 14
+f 1 14 3
+f 1 3 18
+f 1 18 34
+f 1 34 49
+f 1 49 63
+f 1 63 71
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+f 38 55 39
+f 39 55 56
+f 39 56 57
+f 40 57 41
+f 41 57 43
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+f 42 58 44
+f 43 57 56
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+f 49 59 60
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+f 62 71 63
+
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_16.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f93a2082981b29253d0f1e970066063a6fa870a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_16.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.03378941 -0.14911174 0.00728471
+v 0.04389144 -0.14911175 0.01138606
+v 0.03802009 -0.14911172 0.00397645
+v 0.00310542 -0.15717762 0.00346203
+v 0.00310542 -0.15717763 0.00536819
+v 0.00310542 -0.16374989 0.01499534
+v 0.05274914 -0.14911176 0.01493517
+v 0.03819522 -0.14911172 0.00393516
+v 0.00310542 -0.16073204 0.00103974
+v 0.00310542 -0.16643300 0.01658322
+v 0.06097087 -0.14911177 0.01683274
+v 0.05566177 -0.14911177 0.01570590
+v 0.05277680 -0.14911176 0.01494550
+v 0.04347666 -0.14911172 0.00323325
+v 0.00846982 -0.16073204 0.00110856
+v 0.00846982 -0.16601527 0.00244870
+v 0.00310542 -0.16603186 0.00239193
+v 0.04347666 -0.15488731 0.00227155
+v 0.00310542 -0.16667088 0.01672085
+v 0.06680534 -0.14911177 0.01733164
+v 0.08430876 -0.14911172 0.00393000
+v 0.01430429 -0.16073204 0.00124103
+v 0.01430429 -0.16596271 0.00256397
+v 0.04931114 -0.17558871 0.00981356
+v 0.04347666 -0.17567446 0.00975333
+v 0.03764219 -0.17571043 0.00971893
+v 0.03180772 -0.17572703 0.00970172
+v 0.02597324 -0.17574362 0.00968624
+v 0.02013877 -0.17575746 0.00967248
+v 0.01430429 -0.17577127 0.00966043
+v 0.00846982 -0.17577681 0.00965527
+v 0.00310542 -0.17577405 0.00965699
+v 0.03764219 -0.16073205 0.00190681
+v 0.00310542 -0.17241604 0.01828120
+v 0.06680534 -0.15488737 0.01822277
+v 0.09007871 -0.14911178 0.01814193
+v 0.08698175 -0.14911173 0.00423106
+v 0.04347666 -0.16073205 0.00242120
+v 0.02013877 -0.16588527 0.00272224
+v 0.05283210 -0.17546701 0.00988925
+v 0.04931114 -0.17699390 0.01255581
+v 0.04347666 -0.17724284 0.01255581
+v 0.02597324 -0.16578845 0.00288740
+v 0.03180772 -0.16565291 0.00303191
+v 0.03764219 -0.17727327 0.01255581
+v 0.01430429 -0.17736179 0.01255581
+v 0.00846982 -0.17736733 0.01255581
+v 0.00310542 -0.17590405 0.00989268
+v 0.03764219 -0.16530715 0.00332953
+v 0.00310542 -0.17692199 0.01669845
+v 0.03180772 -0.17241604 0.01860291
+v 0.09591319 -0.14911178 0.01832085
+v 0.09014323 -0.14911173 0.00478846
+v 0.09726812 -0.15758981 0.01009404
+v 0.05672175 -0.17439100 0.01072019
+v 0.05875874 -0.17561915 0.01416263
+v 0.05492440 -0.17607833 0.01248699
+v 0.05513639 -0.17616685 0.01605331
+v 0.04931114 -0.17674219 0.01657802
+v 0.04347666 -0.17690816 0.01674146
+v 0.00846982 -0.17692753 0.01670189
+v 0.00310542 -0.17735625 0.01255581
+v 0.01430429 -0.17692753 0.01671221
+v 0.03764219 -0.17689986 0.01676382
+v 0.03764219 -0.17241604 0.01861323
+v 0.09726812 -0.14911178 0.01833289
+v 0.09726812 -0.14911173 0.00676860
+v 0.09726812 -0.14952665 0.00693031
+v 0.09726812 -0.15791620 0.01099723
+v 0.05875874 -0.17561916 0.01548903
+v 0.09726812 -0.15840304 0.01250599
+v 0.09726812 -0.15847497 0.01587790
+v 0.06080496 -0.17265669 0.01668126
+v 0.05513639 -0.17241604 0.01785111
+v 0.04931114 -0.17241604 0.01839475
+v 0.04347666 -0.17241604 0.01857539
+v 0.06097087 -0.16657131 0.01851347
+v 0.09726812 -0.15359838 0.01778925
+v 0.09726812 -0.15775855 0.01624090
+v 0.09726812 -0.15488736 0.01752086
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+f 1 13 12
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+f 1 20 36
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+f 1 52 66
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+f 1 14 8
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+f 3 8 4
+f 4 9 17
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+f 4 32 48
+f 4 48 62
+f 4 62 50
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+f 4 19 10
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+f 8 14 9
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+f 14 21 18
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+f 18 33 22
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+f 19 34 20
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+f 22 33 23
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+f 23 39 24
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+f 51 66 52
+f 53 67 68
+f 53 68 54
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+f 54 78 80
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+f 56 70 58
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+f 56 72 70
+f 58 70 73
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+f 65 77 66
+f 66 77 78
+f 70 72 73
+f 72 79 73
+f 73 79 80
+f 73 80 74
+f 74 80 78
+f 74 78 77
+f 74 77 75
+f 75 77 76
+
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_17.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..905f4bf38f573b6f20e6bd45ce5facac5b594abb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_17.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.03769172 0.14606424 0.00206408
+v 0.04346936 0.14576250 0.00206408
+v 0.04587671 0.13792765 -0.01311426
+v 0.00310960 0.13916553 -0.00855204
+v 0.00310960 0.13938732 -0.00813710
+v 0.00310960 0.14473091 0.00206407
+v 0.04587671 0.14424865 0.00206407
+v 0.04587671 0.13982833 -0.00934362
+v 0.04587671 0.13924291 -0.01051397
+v 0.04587671 0.13526100 -0.01651678
+v 0.00846439 0.13460337 -0.01600610
+v 0.00846439 0.13671037 -0.01325684
+v 0.00310960 0.13620748 -0.01368880
+v 0.00310960 0.13039441 0.00206402
+v 0.04587671 0.13193406 0.00206402
+v 0.04587671 0.13147767 -0.01824678
+v 0.00846439 0.13147766 -0.01744244
+v 0.00373761 0.13450795 -0.01592736
+v 0.00310960 0.13588252 -0.01411438
+v 0.01410805 0.13046147 0.00206402
+v 0.00310960 0.11971753 -0.00970756
+v 0.04587671 0.11971753 -0.00980545
+v 0.04346936 0.13138474 0.00206402
+v 0.04587671 0.12563372 -0.01945971
+v 0.03180104 0.12563372 -0.01931501
+v 0.02596478 0.12563372 -0.01924266
+v 0.01430064 0.12563372 -0.01907243
+v 0.00846439 0.12563372 -0.01898518
+v 0.00310960 0.12563372 -0.01888943
+v 0.00310960 0.13196508 -0.01705303
+v 0.00310960 0.13354598 -0.01634017
+v 0.00310960 0.13448989 -0.01591247
+v 0.00310960 0.13513721 -0.01508258
+v 0.01994431 0.13050016 0.00206402
+v 0.00310960 0.11971756 -0.01927885
+v 0.04587671 0.11971756 -0.01967464
+v 0.03763310 0.13094631 0.00206402
+v 0.03180104 0.13074258 0.00206402
+v 0.02596478 0.13059558 0.00206402
+v 0.02013271 0.13050273 0.00206402
+v 0.04587671 0.11978977 -0.01967251
+v 0.04346936 0.11978977 -0.01966188
+v 0.03180104 0.11978977 -0.01960229
+v 0.02596478 0.11978977 -0.01955548
+v 0.00310960 0.11978977 -0.01927885
+v 0.00317240 0.11971756 -0.01928098
+v 0.03180104 0.11971756 -0.01960442
+v 0.02596478 0.11971756 -0.01955761
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 14
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+f 1 37 23
+f 1 23 15
+f 1 15 7
+f 1 7 2
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+f 2 8 9
+f 2 9 3
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+f 3 8 7
+f 3 7 15
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+f 3 24 16
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+f 3 10 11
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+f 4 19 33
+f 4 33 32
+f 4 32 31
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+f 4 30 29
+f 4 29 45
+f 4 45 35
+f 4 35 21
+f 4 21 14
+f 4 14 6
+f 4 6 5
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+f 10 17 11
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+f 11 18 19
+f 11 19 12
+f 12 19 13
+f 14 21 22
+f 14 22 20
+f 15 23 22
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 20 22 34
+f 21 35 46
+f 21 46 48
+f 21 48 47
+f 21 47 36
+f 21 36 22
+f 22 23 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 34
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+f 28 45 29
+f 35 45 46
+f 36 47 42
+f 36 42 41
+f 42 47 43
+f 43 47 48
+f 43 48 44
+f 44 48 45
+f 45 48 46
+
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_18.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ee72ccf9bd41f228a82746e76f05c5a2981fa71
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_18.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.07668437 0.15722757 0.01791964
+v -0.08235755 0.15722758 0.01689172
+v -0.08235755 0.15508639 0.01731670
+v -0.08235755 0.15154811 0.01790639
+v -0.07321905 0.15722757 0.01791082
+v -0.08235755 0.15722760 0.00978452
+v -0.08235755 0.14900917 0.01770050
+v -0.07321905 0.15485270 0.01788875
+v -0.07085035 0.15722757 0.01785347
+v -0.07734234 0.14876229 0.00569781
+v -0.08235755 0.14876229 0.00676544
+v -0.05011693 0.15722763 0.00324348
+v -0.08235755 0.14876225 0.01763138
+v -0.06155101 0.14876225 0.01596671
+v -0.06155101 0.14900918 0.01603436
+v -0.06738503 0.15485271 0.01754464
+v -0.06738503 0.15722758 0.01764906
+v -0.07321905 0.14876229 0.00539194
+v -0.04390762 0.15722763 0.00289643
+v -0.05030213 0.15442602 0.00346112
+v -0.05717916 0.14876225 0.01547996
+v -0.06155101 0.15485271 0.01684759
+v -0.06501633 0.15722758 0.01740053
+v -0.04397585 0.14876229 0.00419931
+v -0.03256613 0.15722762 0.00419493
+v -0.04360057 0.14876229 0.00423902
+v -0.05427920 0.14876226 0.01471233
+v -0.05420610 0.14900919 0.01474468
+v -0.05712554 0.14900918 0.01550202
+v -0.06155101 0.15722758 0.01698584
+v -0.05922131 0.15722758 0.01656673
+v -0.03256613 0.15722762 0.00524050
+v -0.03544172 0.14876228 0.00739631
+v -0.03990618 0.14876229 0.00525812
+v -0.04344460 0.14876227 0.01132122
+v -0.05657480 0.15722758 0.01591821
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 17
+f 1 17 23
+f 1 23 30
+f 1 30 31
+f 1 31 36
+f 1 36 32
+f 1 32 25
+f 1 25 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 13
+f 2 13 7
+f 2 7 4
+f 2 4 3
+f 4 7 8
+f 4 8 5
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+f 6 12 10
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 9
+f 9 16 17
+f 10 12 18
+f 10 18 24
+f 10 24 26
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+f 10 34 33
+f 10 33 35
+f 10 35 27
+f 10 27 21
+f 10 21 14
+f 10 14 13
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+f 14 21 15
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+f 16 22 23
+f 16 23 17
+f 18 20 24
+f 19 25 26
+f 19 26 24
+f 19 24 20
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 22 30 23
+f 22 29 31
+f 22 31 30
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 27 35 28
+f 28 36 29
+f 28 35 36
+f 29 36 31
+f 32 35 33
+f 32 36 35
+
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_19.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ca953e152d109bd5608ddd6dbc7d94821c1a8a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_19.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.10178799 0.13667595 0.00206404
+v 0.10178799 0.14334455 0.01229786
+v 0.06881553 0.14909795 0.01355264
+v 0.06881553 0.14844136 0.01245634
+v 0.06881553 0.14572551 0.00720927
+v 0.06881553 0.14361982 0.00214492
+v 0.06881553 0.14358665 0.00206407
+v 0.10178799 0.14934669 0.00206409
+v 0.10178799 0.14341086 0.01239487
+v 0.06881553 0.15104115 0.01583904
+v 0.10178799 0.14360651 0.01264227
+v 0.06881553 0.15318670 0.00206410
+v 0.10141033 0.14959539 0.00206409
+v 0.10178799 0.16500850 0.00956041
+v 0.10178799 0.14858063 0.01666854
+v 0.06881553 0.15223826 0.01640013
+v 0.10178799 0.14578186 0.01513403
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_2.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2399307eaac51210ac4a3dc3cece0a442bc39762
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_2.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_20.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea235d00ac1a9abec92efb96e7320d37728a3b4a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_20.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_21.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06e4ec8c457392f49e781cefcbc123aeb16cda0e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_21.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_22.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..442b6ed4a8a517abb866daf70b8f4c12db8003dc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_22.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_23.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf4671fce4170a32d97c44948f996e705a31a442
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_23.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.03740601 0.15535123 0.00345286
+v 0.03740601 0.15535122 0.00628751
+v 0.03763112 0.15535123 0.00336789
+v 0.00310542 0.14709803 0.00402748
+v 0.00310542 0.14844910 0.00712013
+v 0.00310542 0.14856883 0.00739509
+v 0.04409504 0.15535120 0.01213602
+v 0.04296948 0.15535123 0.00256616
+v 0.00310542 0.14473053 0.00206561
+v 0.00310542 0.14755732 0.01141767
+v 0.04721445 0.15535119 0.01466790
+v 0.06881231 0.15535122 0.00553366
+v 0.06881231 0.15516798 0.00518764
+v 0.06881231 0.15318409 0.00206564
+v 0.00310542 0.13039369 0.00206556
+v 0.00310542 0.14352355 0.01336871
+v 0.05513838 0.15535118 0.01747630
+v 0.05014733 0.15535118 0.01614625
+v 0.06881231 0.15535118 0.01757980
+v 0.06881231 0.14358222 0.00206561
+v 0.00310542 0.13041324 0.00223240
+v 0.01411016 0.13045966 0.00206556
+v 0.01430312 0.13047922 0.00223240
+v 0.00310542 0.14316439 0.01354172
+v 0.06097199 0.15535117 0.01784550
+v 0.00310542 0.13779907 0.01347064
+v 0.00310542 0.13732265 0.01346291
+v 0.06881231 0.15485277 0.01747630
+v 0.06730727 0.15535118 0.01764313
+v 0.05279722 0.13405853 0.00206557
+v 0.06881231 0.14572247 0.00720971
+v 0.05223765 0.13438836 0.00484153
+v 0.00310542 0.13102891 0.00739502
+v 0.00846307 0.13105579 0.00739502
+v 0.02013672 0.13050120 0.00206556
+v 0.02013672 0.13051585 0.00223240
+v 0.01430312 0.13109244 0.00739502
+v 0.06097199 0.15485276 0.01778062
+v 0.06147366 0.15535117 0.01784241
+v 0.00310542 0.13335486 0.01151340
+v 0.02013672 0.13732265 0.01350616
+v 0.06881231 0.15223363 0.01640113
+v 0.06680560 0.15485277 0.01755972
+v 0.03763112 0.13732265 0.01322656
+v 0.04930477 0.13273675 0.00223241
+v 0.04930477 0.13270498 0.00206557
+v 0.06881231 0.14843686 0.01245731
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+v 0.04895102 0.13381663 0.00689607
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+v 0.00846307 0.13301280 0.01133111
+v 0.02597033 0.13059649 0.00206556
+v 0.02013672 0.13114863 0.00739502
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+v 0.02597033 0.13310321 0.01131103
+v 0.02597033 0.13732265 0.01351698
+v 0.03180394 0.13732265 0.01344283
+v 0.00310542 0.13300059 0.01133884
+v 0.06881231 0.15103889 0.01583882
+v 0.04346473 0.13732265 0.01262410
+v 0.03180394 0.13320826 0.01123379
+v 0.03763112 0.13339883 0.01105769
+v 0.04346473 0.13246064 0.00739503
+v 0.04346473 0.13140763 0.00223240
+v 0.04346473 0.13138565 0.00206556
+v 0.06881231 0.14909409 0.01355256
+v 0.04346473 0.13383129 0.01060816
+v 0.03161742 0.13073819 0.00206556
+v 0.02597033 0.13126102 0.00739502
+v 0.03180394 0.13075773 0.00223240
+v 0.03180394 0.13144671 0.00739502
+v 0.03763112 0.13175944 0.00739502
+v 0.03763112 0.13096542 0.00223240
+v 0.03763112 0.13094586 0.00206556
+v 0.03180394 0.13074308 0.00206556
+f 1 2 7
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+
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_24.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50118481eaf87b359e13c2e4a28d6db138a99ce8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_24.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.10178799 0.12963684 -0.00514820
+v 0.10178799 0.13667333 0.00206404
+v 0.07851945 0.14595590 0.00206408
+v 0.07851945 0.14172021 -0.00513333
+v 0.08031898 0.14154024 -0.00514816
+v 0.10178799 0.14566008 -0.00514814
+v 0.10178799 0.14934596 0.00206409
+v 0.07851945 0.15482181 0.00206411
+v 0.07851945 0.15213446 -0.00514812
+v 0.10037799 0.14685091 -0.00514814
+v 0.10178799 0.14727497 -0.00255722
+v 0.10178799 0.14730208 -0.00250286
+v 0.10174926 0.14731688 -0.00252757
+v 0.10141214 0.14959004 0.00206409
+v 0.08431893 0.15476511 0.00206411
+v 0.07851945 0.15481196 0.00202881
+v 0.07851945 0.15235882 -0.00514812
+v 0.09845090 0.14787656 -0.00514814
+v 0.09756935 0.15138493 0.00101432
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+v 0.07851945 0.15320940 -0.00295819
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+v 0.09572200 0.14901561 -0.00514813
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+v 0.09368102 0.15215663 -0.00085439
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+v 0.09123458 0.15059845 -0.00514813
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+v 0.09547827 0.15258808 0.00206410
+v 0.08704556 0.15174738 -0.00514812
+v 0.09015031 0.15095595 -0.00514813
+f 1 2 3
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+f 1 5 9
+f 1 9 17
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+f 1 24 32
+f 1 32 31
+f 1 31 36
+f 1 36 37
+f 1 37 33
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+f 1 18 10
+f 1 10 6
+f 1 6 11
+f 1 11 12
+f 1 12 7
+f 1 7 2
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+f 27 34 30
+f 27 29 35
+f 27 35 28
+f 30 34 36
+f 30 36 31
+f 33 37 34
+f 34 37 36
+
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_25.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e145a18def7b4a1be293943f5a13384d0ce99377
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_25.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.07847884 0.15482557 0.00206411
+v 0.07847884 0.15321985 -0.00293136
+v 0.07283321 0.15426476 0.00206411
+v 0.07851398 0.15482318 0.00206411
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+
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_3.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..177e70f972fb6737c1ef75c30b18a91dfc149401
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_3.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.09727181 -0.11224146 -0.02050663
+v 0.10181801 -0.11224147 -0.02012857
+v 0.09727181 -0.11397942 -0.02047609
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+v 0.10765519 -0.11224147 -0.01826501
+v 0.10181801 -0.11397943 -0.02005221
+v 0.09727181 -0.11982239 -0.02006368
+v 0.11596338 -0.11224160 0.01561140
+v 0.09727181 -0.14090430 0.01582132
+v 0.11118414 -0.11224148 -0.01634798
+v 0.10765519 -0.11397943 -0.01810081
+v 0.10181801 -0.11982239 -0.01934575
+v 0.09727181 -0.12575137 -0.01896771
+v 0.11691405 -0.11224160 0.01609638
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+v 0.10776986 -0.11940150 -0.01700484
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+v 0.10224711 -0.12607724 -0.01748221
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_4.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50d49fecbcded617e33f126e77d3f13a76854257
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_4.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_5.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..332ad68de83db13ab1346dfcd4cb004eab0910a0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_5.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_6.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a48d125a98eefa5dde7613ae63446d7d79cdfc1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_6.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.08236216 0.10882923 -0.00919014
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_7.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79adf04f438a9f683cca070e7362eb86c4503517
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_7.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_8.obj b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6ccbbbdd60710bac22de2c9401d450b761f2c3c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c60975914c445948b77260f483bbbf6c/mjcf/mesh/wooden_tray_collision_8.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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