diff --git a/.gitattributes b/.gitattributes
index 22e0965a8f1f74938ea0cf5083d7123caa4e55af..080a831cb0c60ad53b84bed7e7b29bb7cbdc845b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4532,3 +4532,6 @@ dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_g
 dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/mesh/spatula_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/spatula_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/7d73571e3d5c5841b2773b1956cd62d2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/wooden_tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/wooden_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/7d73571e3d5c5841b2773b1956cd62d2.urdf b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/7d73571e3d5c5841b2773b1956cd62d2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..65c2eeb88535f5ad47af0e37086860e4f3afc93d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/7d73571e3d5c5841b2773b1956cd62d2.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="1.1500" />
+         <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>0.606750</scale>
+         <version>v0.1.7</version>
+         <category>wooden tray</category>
+         <description>rectangular wooden tray with cutout handles and slightly raised edges</description>
+         <min_height>0.050</min_height>
+         <max_height>0.075</max_height>
+         <real_height>0.062</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.5</max_mass>
+         <generate_time>20260120130744</generate_time>
+         <gs_model>mesh/wooden_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.515508651733398</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/7d73571e3d5c5841b2773b1956cd62d2/7d73571e3d5c5841b2773b1956cd62d2.usd b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/7d73571e3d5c5841b2773b1956cd62d2.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9b92cb43f92fce1453b8dee9de89986d2ed05e52
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/7d73571e3d5c5841b2773b1956cd62d2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49cf5d7456808beaa5aac7fdc0318494d49e9c432a85a44c10133b8365e01fbe
+size 496390
diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/material.mtl b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/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/7d73571e3d5c5841b2773b1956cd62d2/mesh/material_0.png b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..65ccb3dea6b40960622cbd06b4b9252994d20807
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5940f3d4e49be551ca6d95f89a3d0528cfdd7eb4b94e5877283ba6f0e3b20682
+size 833129
diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/wooden_tray.glb b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/wooden_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ca4bb58bbf141136d85c8b5d6c50f0b303ec0463
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/wooden_tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:777613494e692aeb3db8dbd72317ff2ff1b53d6c6f2429b4a7331c52eacfb96d
+size 1172840
diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/wooden_tray.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/wooden_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..180b81bdc84768530d7ac3e362f7d17b071ef6c3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/wooden_tray.obj
@@ -0,0 +1,31062 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/wooden_tray_collision.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/wooden_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7664592a0241029b97f2b1b3bc144ed5327f8ef
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/wooden_tray_collision.obj
@@ -0,0 +1,7318 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/7d73571e3d5c5841b2773b1956cd62d2.xml b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/7d73571e3d5c5841b2773b1956cd62d2.xml
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray.obj
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f46e6e64b87c4183c30ed940b7c0bfc2ad55cda
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision.obj
@@ -0,0 +1,7318 @@
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_0.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dab905b080e2436421175f1b68b70fa8adab567
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_0.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_1.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ea7cdd103da56476b6d883b54fefc0dd05c1869
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_10.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..028ea10196d6eb04972d4b31e042dd490fbfbe0c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_10.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_11.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e61a5e635634bea0ea30b84a8992fbd6bdd2ed46
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_11.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_12.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4811e94c7add008e4cb9e58bea61fba979d78e66
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_12.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_13.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e49bd51c13c5a92d014ff79c9f737672ded8e737
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_13.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.13552333 0.10064337 -0.02687473
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+
diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_14.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83ee2af9b93269a96ab160a73dbdbd0695c8dcce
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_14.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.00002004 -0.09228924 -0.02340367
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_15.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb9bc0d3a68b6e1cee602c880888d2802ed86eb2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_15.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_16.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02686352e7b827cb9f55cc30b7101d951092acf1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_16.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_17.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2993fc1c6518a329879834d0a5c3a32e3ff1663
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_17.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_18.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47fe3563d67b3a1ccb9689a34d24a259fd3ddcc1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_18.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_19.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3e61e8cead0d6809ebfd0c99a34338ec7625e1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_19.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_2.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..418c4bb8f0e33c59756d643a936547bab22ed825
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_2.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_20.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f8a7691d5979863445b05bb58bcf7d826cf9b81
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_20.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_21.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00c4020e35f2f8ec5e9eebc42077b3c2fc5fdf83
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_21.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_22.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93534009f95148aff7cce2e6d6d92710202a0024
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_22.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_23.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aae2f8b97930a45eeef7a5ddefd2f81fae321f75
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_23.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_24.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b971e4a90bcc4089ccc23f73d580a95c8d7037fd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_24.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_25.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1e16527b378c895cd6076e2a24c3f51f81c79ce
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_25.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_3.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..873bf28b4d92ca45c066531364971523946f7c5d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_3.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_4.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..740e2c2a4efdc66ab335a09c3a94d23f2e5ee419
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_4.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_5.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4daff01bace964e9222d77050c3df0eb2bc2ad90
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_5.obj
@@ -0,0 +1,130 @@
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+f 32 40 41
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+f 34 42 35
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+
diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_6.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a14297ef10a98030fa1d8e1866b9a4f17f35b9aa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_6.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.00000868 -0.09223779 -0.00987612
+v -0.02748031 -0.07231324 -0.00933945
+v -0.02748031 -0.08727451 -0.00946886
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+v -0.13128048 -0.09223774 -0.02374135
+v -0.13128048 0.09015404 -0.02451044
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+v -0.02748031 -0.01248603 -0.00897671
+v -0.13128048 -0.06235098 -0.00833489
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+v -0.13128048 0.00243953 -0.00819891
+v -0.02748031 0.01241966 -0.00898460
+v 0.00000868 0.01241966 -0.00924651
+v 0.00000868 0.00995587 -0.00924013
+f 1 2 3
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+
diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_7.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b85f2d31fd3c4a854148ba608eb520659832ec2e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_7.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.11602798 0.11730892 0.01988577
+v 0.11602798 0.11481812 0.01970359
+v 0.11602798 0.12055985 0.01988578
+v 0.04742259 0.11776463 0.01987494
+v 0.11602798 0.11436979 0.01909414
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+v 0.03744012 0.11535134 0.01963202
+v 0.04243704 0.11531075 0.01963419
+v 0.04742259 0.11527385 0.01963635
+v 0.00002004 0.11329414 0.01714870
+v 0.02745765 0.11323695 0.01726582
+v 0.11602798 0.12305248 0.01922213
+v 0.10234324 0.12305248 0.01926768
+v 0.09734632 0.12305617 0.01928070
+v 0.08736385 0.12306171 0.01930238
+v 0.08236693 0.12306171 0.01931323
+v 0.07737002 0.12305063 0.01931540
+v 0.04742259 0.12058200 0.01987495
+v 0.04243704 0.11780154 0.01986842
+v 0.11602798 0.11318898 0.01735040
+v 0.03744012 0.11784213 0.01985975
+v 0.03244321 0.11788826 0.01985108
+v 0.02745765 0.11798420 0.01984457
+v 0.00002004 0.11868530 0.01980554
+v 0.02745765 0.11549340 0.01961900
+v 0.00002004 0.11475724 0.01833723
+v 0.00002004 0.11252294 0.01492781
+v 0.11602798 0.11127201 0.01266572
+v 0.11602798 0.12496579 0.01748058
+v 0.09734632 0.12568904 0.01692753
+v 0.09234940 0.12570011 0.01693837
+v 0.08736385 0.12570749 0.01695138
+v 0.08236693 0.12571302 0.01696006
+v 0.02246073 0.12574992 0.01695789
+v 0.04742259 0.12307462 0.01928503
+v 0.02246073 0.12291226 0.01931106
+v 0.04243704 0.12054878 0.01986843
+v 0.00002004 0.12022959 0.01980554
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+v 0.00002004 0.11619452 0.01950189
+v 0.00002004 0.11174802 0.01266572
+v 0.11602798 0.10777389 -0.00227101
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+v 0.00002004 0.12614661 0.01477605
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+v 0.11602798 0.12634403 0.01266577
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+
diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_8.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb1512019bbb02a5a3fc3b990c9e1cf55649a502
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_8.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.11602798 -0.10526507 -0.02953390
+v 0.11986192 -0.10526507 -0.02952949
+v 0.11602798 -0.10526515 -0.00917165
+v 0.11602798 -0.05252861 -0.02322564
+v 0.13319923 -0.05252861 -0.02501660
+v 0.12484724 -0.10526507 -0.02952288
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+v 0.11602798 -0.05252867 -0.00929718
+v 0.13319923 -0.05252867 -0.00797160
+v 0.13319923 -0.10526507 -0.02944347
+v 0.12730796 -0.10526507 -0.02950964
+v 0.13319923 -0.10526515 -0.00717116
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+f 4 9 5
+f 5 9 12
+f 5 12 10
+f 5 10 11
+f 5 11 6
+f 7 9 8
+f 7 12 9
+
diff --git a/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_9.obj b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcaec75a60bf9b0144e60321cedb9d2f2ad2df74
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mjcf/mesh/wooden_tray_collision_9.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.13230184 0.10064582 -0.00867772
+v 0.13232257 0.10064582 -0.00887357
+v 0.13232257 0.10065084 -0.00865813
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