diff --git a/.gitattributes b/.gitattributes
index b2d30651e4fa4360fdab47b2b733ea44e8f7008c..8bb932cc3528eb5db7d29947c40c6093a094c7f0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4463,4 +4463,6 @@ dataset/kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71/04ebad9112ce5
 dataset/kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71/mesh/spatula.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71/mesh/spatula_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/00c0a6d13b1b5dd9b30cc5a9084f8af2.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/066afc4bcb2757b09c2daff0ae5e1700/066afc4bcb2757b09c2daff0ae5e1700.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/086f993c7ede51caa3c5933b241087f0.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/086f993c7ede51caa3c5933b241087f0.urdf b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/086f993c7ede51caa3c5933b241087f0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2c27c6244475f4bb2e0a5f18b23e9f60d1be881d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/086f993c7ede51caa3c5933b241087f0.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="0.6000" />
+         <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>0.288866</scale>
+         <version>v0.1.7</version>
+         <category>wooden tray</category>
+         <description>rectangular wooden tray with slightly raised edges</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260120131056</generate_time>
+         <gs_model>mesh/wooden_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.639181613922119</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/086f993c7ede51caa3c5933b241087f0/086f993c7ede51caa3c5933b241087f0.usd b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/086f993c7ede51caa3c5933b241087f0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..72c16a9969a269ec654ce47fb87422756fe591d7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/086f993c7ede51caa3c5933b241087f0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c40bd3e47373aed5e70475c0e7af76d394b98b03cc6ac1c8823627192b05ef4a
+size 320215
diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/material.mtl b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/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/086f993c7ede51caa3c5933b241087f0/mesh/material_0.png b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..163ab3209f901964fd47daeb2e66276c7fc90c3b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a14e91bde64207c3ddb9d95e044b967d2b937bc92c2b52ce38481578136157e6
+size 1030738
diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_tray.glb b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cdf0fb81da389db09d59ab6115771573a28abb9a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67db3a601273f487a1d62f25e9e5c6e2599e44c18aadc6f56ab8dd4d40cff8d3
+size 1241724
diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_tray.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d3d9c632941e4f5b92f7d0462b02bc5aafbe974
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_tray.obj
@@ -0,0 +1,19138 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_tray_collision.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..923fc4e73d67de23ecfd015b4ef01a4be4c1b050
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_tray_collision.obj
@@ -0,0 +1,5829 @@
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_tray_gs.ply b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_tray_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3c294cf6017513745c02c796a2823fedffc093a2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_tray_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0acea777ab53207df6173275469d3f5a46959c8aca346d2ac74c60ec98875324
+size 2231177
diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/086f993c7ede51caa3c5933b241087f0.xml b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/086f993c7ede51caa3c5933b241087f0.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7b63b7e90f0a8ef70dff3ebb8f0a26d4d905d202
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/086f993c7ede51caa3c5933b241087f0.xml
@@ -0,0 +1,46 @@
+<?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" />
+    <mesh name="collision_mesh_0_14" file="mesh/wooden_tray_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wooden_tray_collision_15.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" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..163ab3209f901964fd47daeb2e66276c7fc90c3b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a14e91bde64207c3ddb9d95e044b967d2b937bc92c2b52ce38481578136157e6
+size 1030738
diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dcfb0fb259f8469f906f41949e8ae0dd236424c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..011ef484903deb6b778df4a4195d14dae49bb1c7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision.obj
@@ -0,0 +1,5829 @@
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_0.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87a8148790edc069f06909721a73f7a2f396f051
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_1.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9300fbaaa7e50b0859dac2ad7d8feea4493e024f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_10.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19e062eeb464696c6aa146ab3ee7c32cd103a744
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_10.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_11.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f440c3030628eb446096c1cbd474027d38ddebb4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_11.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_12.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6254119a66af671e9280e919ded5ec2edef5956d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_12.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_13.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a48f2fe253128f30b58c1d156a8748a501edef18
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_13.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_14.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c79a83ea623f24ea8ade3c27bcc41c220f713dc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_14.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_15.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6db67d694d0c6a61928e5a5cadc84f7279b4958
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_15.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_2.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..386c0c60d9fe96ba8fc637553a0b1b3fd745da79
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_2.obj
@@ -0,0 +1,580 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_3.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56aca14bb66315cefcfa1c9406db69be5f272cb0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_4.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5727c3035412f721f88d006d78c7f9745656fa7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_4.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_5.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdc21008cc4ba1f84d3aeb06c65823cd364eca71
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_5.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_6.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab02c59108655dfd1d0488bc3a5bb4bd52ce284
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_6.obj
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_7.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b8c316791fe39618f928da537c878cff9965e08
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_7.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_8.obj b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c6d43295d76b1865e975ef8ccec51fe14c76b60
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mjcf/mesh/wooden_tray_collision_8.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
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