diff --git a/.gitattributes b/.gitattributes
index 4667c60808d344dfef12f5860557f0614ab73b77..dacaeb35b4309fd0bc44e83e63f566df646e7c7e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4477,3 +4477,6 @@ dataset/kitchen_supplies/utensils/0e13775ef1515c65a7474ebe097b9022/0e13775ef1515
 dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/14bdeab2a8eb5f79944916d68841e438.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/173e053134c55545b8da2d9a4399fc34.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/173e053134c55545b8da2d9a4399fc34.urdf b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/173e053134c55545b8da2d9a4399fc34.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a4e4494c6f02409aecbaaf958a120bc8f44f02a5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/173e053134c55545b8da2d9a4399fc34.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>0.432749</scale>
+         <version>v0.1.7</version>
+         <category>wooden tray</category>
+         <description>flat rectangular wooden tray with smooth 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>20260120132023</generate_time>
+         <gs_model>mesh/wooden_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: The object appears incomplete or lacks discernible structure.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.239597797393799</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/173e053134c55545b8da2d9a4399fc34.usd b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/173e053134c55545b8da2d9a4399fc34.usd
new file mode 100644
index 0000000000000000000000000000000000000000..759bcda64b97215136a7e1c066de6089ec860c4a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/173e053134c55545b8da2d9a4399fc34.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca29e0a13d7cb72293b6487aef1c74d4e3f61b6b5650c2bc2c674162af34bed1
+size 982011
diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/material.mtl b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/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/173e053134c55545b8da2d9a4399fc34/mesh/material_0.png b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd6328e2d91b72459a52b7971cb9e230257c7ea0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:351e1832800d539c7dde0ba11c28687bab56c6ff080ea26cc5e98a85e0a9f74f
+size 1957470
diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray.glb b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b02466d9a15dac64baf77b806921290568d25613
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaecfd1add059d78f959a5e9d3b0b012145feee906015413cc494d08040a7bf6
+size 2627612
diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67bb5de09d2b76740a3ad0ade19300d503d41054
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray.obj
@@ -0,0 +1,61351 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray_collision.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a13a0e617588b0b769f5a922e13016a804660123
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray_collision.obj
@@ -0,0 +1,10401 @@
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray_gs.ply b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ad302d32ada5b2b436557835cee45f3f3ce2d4a4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e872761bbebab051e0ae3b578b57447d2c00ff4ad45812e356d1df2617fb2de
+size 1931689
diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/173e053134c55545b8da2d9a4399fc34.xml b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/173e053134c55545b8da2d9a4399fc34.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b2d4c14e161f596b0f926cc64ddb98af585b9164
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/173e053134c55545b8da2d9a4399fc34.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wooden_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/wooden_tray.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wooden_tray_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wooden_tray_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wooden_tray_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wooden_tray_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wooden_tray_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wooden_tray_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wooden_tray_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wooden_tray_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wooden_tray_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wooden_tray_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wooden_tray_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wooden_tray_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wooden_tray_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wooden_tray_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/wooden_tray_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wooden_tray_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wooden_tray_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/wooden_tray_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wooden_tray">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd6328e2d91b72459a52b7971cb9e230257c7ea0
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+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:351e1832800d539c7dde0ba11c28687bab56c6ff080ea26cc5e98a85e0a9f74f
+size 1957470
diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54b71c11be41c0de19548b1a259ba3b4fb9c8ffe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray.obj
@@ -0,0 +1,61351 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd1fb6fcc190b4b9aff365bc3b4bf87bbcde5654
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision.obj
@@ -0,0 +1,10401 @@
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_0.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6623c3f2e829881500217d503318b2e995296e3e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_1.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29334d3eedd35007108e429562c8c2da0830e3cc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_10.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27f18621e7e68f9ac29e2dab5049598bd5005805
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_10.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.17178726 0.06848738 -0.00089494
+v -0.17182301 0.06764208 -0.00089494
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_11.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d87da1470a7aaa31512e8c9071175afc7d8ba943
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_11.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_12.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee90a47c08642b84aa1148aa843345f7f3c05758
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_12.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_13.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b531dd1c4f794cc07b1386312bd95dce12777bfb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_13.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_14.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba406c9d225cc178ec810608eaab887c52fbd952
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_14.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_15.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8670ea89fa69d8383259e923e2833a86063ebf73
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_15.obj
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_16.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff0d23599ef0d1538d33332a35fedb7bbc7b0b21
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_16.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_17.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18037892600129fc43d2b49914b225954ba76c67
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_17.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_18.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65acbcef21b0ed209820e6f57a775acfd3dc367a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_18.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
+v 0.00156084 0.21740511 0.00278583
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_2.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08c55660e4c2da03f122ee5d5ce0c7d0caa2b3b9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_2.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_3.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1990b86d7207a542b608217b2faf995350688d0f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_4.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b267cb40a0da5f4155e066a7bf1f76566b29cfab
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_4.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_5.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d176861762d2adb88e66b3767063318e55fc87a4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_5.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_6.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d7bb53e0147a679ffd71060af962997024b082
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_6.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_7.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b378b896e56d73d2747f929a50e604982efc3682
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_7.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_8.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6585698c32d199bf5c9308e94561d6c06f7156a0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_8.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_9.obj b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be13579796845f336fbb3316a28ccc72a932a3cb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mjcf/mesh/wooden_tray_collision_9.obj
@@ -0,0 +1,286 @@
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