diff --git a/.gitattributes b/.gitattributes
index cb77686a14cfd094134ab7abcdbccc29ce550b75..06080492682c0789da98d8c6031a8941d9e1ae73 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4065,3 +4065,6 @@ dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/metal_c
 dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/0c98fc3ed471550b95714cd5089ed701/fork_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/0c98fc3ed471550b95714cd5089ed701/mesh/fork_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/0b53d2e60953566db785b78cd6062171.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/0b53d2e60953566db785b78cd6062171.urdf b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/0b53d2e60953566db785b78cd6062171.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ffa1513e4e2af6c7f446cf7b99cca3aeb4a8061c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/0b53d2e60953566db785b78cd6062171.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="metal_tray">
+   <link name="metal_tray">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_tray.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_tray_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>0.238956</scale>
+         <version>v0.1.7</version>
+         <category>metal tray</category>
+         <description>rectangular metal tray with shallow depth and smooth edges</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260119210311</generate_time>
+         <gs_model>mesh/metal_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.496220111846924</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/0b53d2e60953566db785b78cd6062171.usd b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/0b53d2e60953566db785b78cd6062171.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d84b2aa38415d26dd4414b80d5d3087909245ccf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/0b53d2e60953566db785b78cd6062171.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45464d40ad1e98a418a62cf92958437e6d5fa7d112fb368cf3b03f1a10ee3e44
+size 516365
diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/material.mtl b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/material_0.png b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d67cbe1468df728031e98f98f08c35d2edd91518
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea7b6f3c67a9bd3db28db1a1a1083dc790124da96657c7025f740a7113feca2
+size 2119631
diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray.glb b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6b486b274f5952bbdd00ad3fbfe55672a1ab5d76
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35a619cf0cde4df34d8b5d4c0a044509027df91e0a226023d4f6e8fe9a85449b
+size 2469016
diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7e7b63b694ad9cb390b45dea64991841413ab8f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray.obj
@@ -0,0 +1,31872 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb1664e1dd51045899d0516c3e24b22cb09093bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray_gs.ply b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..74607b13fe0eb28fbc062efde9b93ca9885e4316
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mesh/metal_tray_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57fb93bfc1c700219092e99d3af4fd90e5a175a428209682bb93305b693612a3
+size 2103273
diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/0b53d2e60953566db785b78cd6062171.xml b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/0b53d2e60953566db785b78cd6062171.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e77862e4accc0d84cb2812b03ab7240b647458d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/0b53d2e60953566db785b78cd6062171.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="metal_tray">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/metal_tray.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/metal_tray_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/metal_tray_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/metal_tray_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/metal_tray_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/metal_tray_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/metal_tray_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/metal_tray_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/metal_tray_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/metal_tray_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/metal_tray_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/metal_tray_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/metal_tray_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/metal_tray_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/metal_tray_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/metal_tray_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/metal_tray_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/metal_tray_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/metal_tray_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/metal_tray_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/metal_tray_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="metal_tray">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d67cbe1468df728031e98f98f08c35d2edd91518
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea7b6f3c67a9bd3db28db1a1a1083dc790124da96657c7025f740a7113feca2
+size 2119631
diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce222aee75b95b0c996463767f53c7ce6221d030
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray.obj
@@ -0,0 +1,31872 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9febf592dccb9ba7a11e45a66a532cb50032ad4d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision.obj
@@ -0,0 +1,6040 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_0.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05b823edeead7e073d9f24a7261dbee0cb6f7788
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_1.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0fb2821df87c0b4ec70ca53eb5d84c5d2f83e15
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_10.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac9d68486162903358a6bcec39e95094f3e65eff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_11.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d5817c43bfee7b98c31ba33238951d7b5ae28e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_11.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_12.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f282416c0ab1c7cd6106f7e3828e5f88589bd483
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_12.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_13.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6af91aff6508e60a0424735f6500520d6dc277f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_13.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_14.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3505ed6aeeaa218c48347ce639395dd4fd3d4f93
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_14.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_15.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58597c8f32104df23fa9c51db6c28a334b1e4f76
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_15.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_16.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c48ba3cd65111e9d94dc7c15875034aab107e0a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_16.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_17.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8a3c3abaacab94206648d70c3e3474a693e7433
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_17.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_18.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b94721f7278b03bef2ae2f6a703d65cb1a37e46
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_18.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_19.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f593ee164906655f773195aa0cccc5773b0d209
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_19.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_2.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddfc41a35313352a55d474f6368de9641ba24f02
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_2.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_3.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9910d2bbba8cf994308087c894ab7089374d488
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_3.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_4.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8899b03af73be4c541ecbac815b24247980b101
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_4.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_5.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c8bd2bebca94cb60e7f0b8e457bd56ac950301b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_5.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_6.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4de23e741f90c4df65cf199c0e867a14aa3c178
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_6.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_7.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0ac8ef1d40bac77a11a8ef5430898d6648af9c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_7.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_8.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee01ac7ea7873aed79e8a747352bba8cb242c081
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_8.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_9.obj b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b46fb10f1311dbb2ea91f98abc54de7413b66348
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/mjcf/mesh/metal_tray_collision_9.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/textures/material_0.png b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d67cbe1468df728031e98f98f08c35d2edd91518
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/video.mp4 b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb47297a506de1fb347a938b46a677a72d6a834b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/video.mp4
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+version https://git-lfs.github.com/spec/v1
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