diff --git a/.gitattributes b/.gitattributes
index fdae716da65a1bd27fdff0cb45951b841eff6a12..5aabfe0eb00055e0fed5b6ee3dac1e5fc7cc0308 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4239,5 +4239,6 @@ dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_c
 dataset/kitchen_supplies/tableware/85aa0ecaa5e75c9c80f4b6226505ae04/85aa0ecaa5e75c9c80f4b6226505ae04.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/86ee5efb6e0c5a9ebf98d5f1bb1eee82/chopsticks_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/86ee5efb6e0c5a9ebf98d5f1bb1eee82/mesh/chopsticks_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/spoon_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/87cdeb01ea5454f18332e68458aa99be.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/87cdeb01ea5454f18332e68458aa99be.urdf b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/87cdeb01ea5454f18332e68458aa99be.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8f754a109438cc972a0a798bf3caff3ecf734184
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/87cdeb01ea5454f18332e68458aa99be.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>0.80</mu1>
+            <mu2>0.60</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>0.310873</scale>
+         <version>v0.1.7</version>
+         <category>metal tray</category>
+         <description>rectangular black metal tray with shallow depth</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20260119213630</generate_time>
+         <gs_model>mesh/metal_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.455677032470703</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/87cdeb01ea5454f18332e68458aa99be/87cdeb01ea5454f18332e68458aa99be.usd b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/87cdeb01ea5454f18332e68458aa99be.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e4faa5ec6bfcd6773e041a8dee23febda212629b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/87cdeb01ea5454f18332e68458aa99be.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7e92116777c94663d71afd7bf806f2416058495b6e5fab11827e722282ae051
+size 397506
diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/material.mtl b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/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/87cdeb01ea5454f18332e68458aa99be/mesh/material_0.png b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f7c90f5ffebff348f2ab79c03350f168ea9ea54
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bf93b96fef9132d2d20b56dae40de8c5204f2a146c7d1eae95617d253252a8d
+size 1295202
diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray.glb b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ff339441fb03169cbdde6a81cf8d243724548f92
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5824715145924e1e3a2b76a1b430175e0278d9c5dd11ec54091fff084ea02a7
+size 1562988
diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8ad80c527f7284f7530cea8c8776b2484f22db8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray.obj
@@ -0,0 +1,24404 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29070390085d6e1997532985020b853d6e3d92b1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray_collision.obj
@@ -0,0 +1,4632 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray_gs.ply b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b08620897a135364badce7a1f906a8c143f69289
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bf5ae94d6f41271b5d24695c8d40161cfaf805894c9285727ebc916f7968a62
+size 1655721
diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/87cdeb01ea5454f18332e68458aa99be.xml b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/87cdeb01ea5454f18332e68458aa99be.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f4af653aecb7a1fc1f13691ed0960bcbac60d2b6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/87cdeb01ea5454f18332e68458aa99be.xml
@@ -0,0 +1,52 @@
+<?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" />
+  </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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f7c90f5ffebff348f2ab79c03350f168ea9ea54
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bf93b96fef9132d2d20b56dae40de8c5204f2a146c7d1eae95617d253252a8d
+size 1295202
diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe41114a9f42633ce136beb75f07034bf63f6284
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray.obj
@@ -0,0 +1,24404 @@
+# https://github.com/mikedh/trimesh
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+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b5039e7c975604189aee5ea7193d03fb119a7f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision.obj
@@ -0,0 +1,4632 @@
+# https://github.com/mikedh/trimesh
+
+o metal_tray_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_0.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..992610237b9b54356154f392f8f5ddf55857df26
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_0.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_1.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c5c3b6b0dd724747e9ebcbaa0ed303a2f6f491
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_10.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9deeaee42ce581a1ad507ff0d98141b1c3347f52
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_10.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.09970046 -0.14194352 0.02014888
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+
diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_11.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2309f9553796456db473a4e65f29648866a10c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_11.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.07264387 -0.15226377 0.01975085
+v 0.07264387 -0.15320122 0.01951997
+v 0.07264387 -0.14858593 0.01955713
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+
diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_12.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fafde9fa3ca2b23582041f4e6d85fa25f14aa9aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_12.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.10993631 -0.12129708 0.02006269
+v 0.10958137 -0.12681701 0.01998483
+v 0.10993631 -0.12646016 0.01997947
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+
diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_13.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8a2ec454c6d7c865da28d042fa7d9c69f98bafd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_13.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.10500313 -0.13678479 0.01924885
+v -0.11011955 -0.12817299 0.01922914
+v -0.11011955 -0.13162369 0.01919952
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_14.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2bb624556c26d200a60b9f1702224df9cdacd59
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_14.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.07202302 0.14147029 -0.00930052
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+
diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_15.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad3c9993e58278a2361f857fb8bca2cde882bb34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_15.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.07918508 0.14619430 0.00646512
+v -0.07918508 0.13960319 -0.01018581
+v -0.07939505 0.14615910 0.00646512
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+
diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_16.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4119b24e5f1982db5984546b7b4bf4b9c6b53599
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_16.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.07918508 0.13802941 0.00646509
+v -0.07918508 0.14619401 0.00646512
+v -0.07918508 0.13827658 0.00706656
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_17.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95cfefdc683bf2a73695bc29e7ffadf6e68bd881
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_17.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_18.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34d862e96b45ecd9364742de923311aeb7a35460
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_18.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_2.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0eb9647690a73e911ecac6c97c24737e81e1e69
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_2.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.09442276 0.10595786 -0.01847451
+v 0.09205952 0.10834470 -0.01846714
+v 0.09205952 0.11350469 -0.01845240
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_3.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e95229eedb06216e362543d3d7ac5a0d425c84c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_3.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_4.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..262476629508151cefac80ee8946d13ba8c87afa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_4.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_5.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7816666a63f9cacdf490393ac542805915f6de6d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_5.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_6.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01f85222cf0fe867508cdbf57625e08cd600e4eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_6.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_7.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755d0d31fa889f6f6c00d7f72eff17587d2afcfe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_7.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_8.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7211c2805c89c663e77fc82b2dcabcacf324beb5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_8.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_9.obj b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63e22cb670e31a1b993a540f167255705b53c084
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mjcf/mesh/metal_tray_collision_9.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/textures/material_0.png b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f7c90f5ffebff348f2ab79c03350f168ea9ea54
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/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/87cdeb01ea5454f18332e68458aa99be/video.mp4 b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90efdc322c009c72c474358f7431e9bdd9b729b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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