diff --git a/.gitattributes b/.gitattributes
index eb69a53821706704d83f765df347cf9a6a73752a..e085063454505546ab3cdb67285ce77445e80473 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4251,7 +4251,9 @@ dataset/kitchen_supplies/tableware/891295f43588512b99670541e726ddd7/mesh/fruit_b
 dataset/kitchen_supplies/tableware/8e2b7f433b7a57b1a31cfe15fefbb8e0/8e2b7f433b7a57b1a31cfe15fefbb8e0.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/8e2b7f433b7a57b1a31cfe15fefbb8e0/mesh/soup_spoon.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/8e2b7f433b7a57b1a31cfe15fefbb8e0/mesh/soup_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/87f03b224f9453c2a0bb8f8dbc8b4b4b/chopsticks_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/87f03b224f9453c2a0bb8f8dbc8b4b4b/mesh/chopsticks_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/87f03b224f9453c2a0bb8f8dbc8b4b4b/mesh/chopsticks_008.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/87f03b224f9453c2a0bb8f8dbc8b4b4b/mjcf/mesh/chopsticks_008.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8e46391e2d875ae9b302708b672b403e/8e46391e2d875ae9b302708b672b403e.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8e46391e2d875ae9b302708b672b403e/mesh/soup_spoon.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8e46391e2d875ae9b302708b672b403e/mesh/soup_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/8ec116c1679f573b833fc3f854f7c2ba.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/tray_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/8ec116c1679f573b833fc3f854f7c2ba.urdf b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/8ec116c1679f573b833fc3f854f7c2ba.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4325b5fc7112d021027feb71a84c171ecf785319
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/8ec116c1679f573b833fc3f854f7c2ba.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray">
+   <link name="tray">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/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/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>0.252637</scale>
+         <version>v0.1.7</version>
+         <category>tray</category>
+         <description>circular woven tray with textured sides and flat top surface</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>20260120013701</generate_time>
+         <gs_model>mesh/tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: visible holes and irregularities in the geometry.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.580374717712402</ImageAestheticChecker>
+         <overall>NO</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/tableware/8ec116c1679f573b833fc3f854f7c2ba/8ec116c1679f573b833fc3f854f7c2ba.usd b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/8ec116c1679f573b833fc3f854f7c2ba.usd
new file mode 100644
index 0000000000000000000000000000000000000000..418e4a8172977e0da185c602678136caba3a3e0f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/8ec116c1679f573b833fc3f854f7c2ba.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76cfd5982afcc28eaeb76544b049241c10fcb3a13a0391d1759888d2106edf5a
+size 526005
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/material.mtl b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/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/8ec116c1679f573b833fc3f854f7c2ba/mesh/material_0.png b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7cec4379414432c6c71c3041d92cd068ec1240c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a730ae53b96d45131814928560b4b8a4e2ecdf8279b24a738d36b6967ce0b45
+size 3616815
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/tray.glb b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..da3f9fc9d2116587bc94cea64d209aa2829207a5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce584ebd18a4fb71c9611851a2d737ffdef48b0876ed31c74aee90668c24a050
+size 3985940
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/tray.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ef77dbc77b73c28f8f79622cd2fc9ed9520a64f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/tray.obj
@@ -0,0 +1,33882 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/tray_collision.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04bed8325a59e5a289963f4392f2da07f61ff464
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/tray_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/tray_gs.ply b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mesh/tray_gs.ply
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/8ec116c1679f573b833fc3f854f7c2ba.xml b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/8ec116c1679f573b833fc3f854f7c2ba.xml
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7c92f8bb311e4a86523f0bc454e59a0ee18d8b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision.obj
@@ -0,0 +1,9146 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_0.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54c4b0d8fccb89b0d14ec26bd85da381ef01e2fc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_0.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_1.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe0a794723c715da6c83506443d470baddb47b62
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_1.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_10.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc80e32c54bdddae81bef32d9c8dc0658bfe3227
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_10.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_11.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..282169eec2f5c488246bdb0c07d9928a417475ad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_11.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.10923615 0.05385739 -0.01508609
+v 0.10905759 0.05385739 -0.01655521
+v 0.10866478 0.05512878 -0.01612283
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+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_12.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13b2483618a407ec7b0f591cc6b25cc9960f301c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_12.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00211376 0.12252076 -0.01513643
+v -0.00042715 0.12251319 -0.01513643
+v 0.00155394 0.12213270 -0.01640315
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+v -0.00211376 0.11926106 -0.01844970
+v -0.02295986 0.11926106 -0.01811792
+v -0.02600289 0.12154399 -0.01608318
+v -0.02728793 0.11962072 -0.01736240
+v -0.02647140 0.12159131 -0.01513643
+v 0.00155394 0.11019180 -0.01513648
+v 0.00155394 0.11571929 -0.01749429
+v -0.04381043 0.11093765 -0.01868156
+v -0.03129920 0.11509841 -0.01864962
+v -0.04402907 0.11093765 -0.01866212
+v -0.03547110 0.11509841 -0.01814779
+v -0.03129920 0.11868748 -0.01728466
+v -0.03547110 0.11779021 -0.01651527
+v -0.03779576 0.11727532 -0.01587462
+v -0.02780551 0.12135090 -0.01513643
+v -0.04402907 0.10318211 -0.01513650
+v -0.04402907 0.10666708 -0.01697133
+v 0.00155394 0.11523091 -0.01736277
+v -0.04402907 0.10728608 -0.01722398
+v -0.04402907 0.11412730 -0.01715315
+v -0.04381043 0.11415948 -0.01718716
+v -0.04402907 0.11487124 -0.01513646
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 26
+f 1 26 33
+f 1 33 27
+f 1 27 17
+f 1 17 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 8 17
+f 3 17 29
+f 3 29 18
+f 3 18 11
+f 3 11 10
+f 3 10 9
+f 3 9 4
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 14 6
+f 5 13 15
+f 5 15 14
+f 6 14 16
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 15
+f 14 15 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 16
+f 17 27 28
+f 17 28 29
+f 18 29 19
+f 19 30 21
+f 19 21 20
+f 19 29 30
+f 21 30 28
+f 21 28 27
+f 21 27 33
+f 21 33 31
+f 21 31 32
+f 21 32 23
+f 21 23 22
+f 23 32 31
+f 23 31 24
+f 24 31 25
+f 25 31 33
+f 25 33 26
+f 28 30 29
+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_13.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a442ac273a73fcae768c0f94b3af1ad8f347ddbf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_13.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.10499497 0.04477126 -0.01513707
+v -0.11054029 0.04477127 -0.01812416
+v -0.11765368 0.04477126 -0.01513707
+v -0.11447738 0.00225543 -0.01513722
+v -0.11878641 0.00043240 -0.01725113
+v -0.11470985 0.03600333 -0.01855052
+v -0.11470985 0.04016593 -0.01863307
+v -0.11470985 0.04432853 -0.01831411
+v -0.11473098 0.04477127 -0.01819788
+v -0.11887728 0.01102772 -0.01819693
+v -0.11887728 0.01519032 -0.01852082
+v -0.11887728 0.01935293 -0.01868772
+v -0.12272985 0.02978329 -0.01513712
+v -0.11741911 0.04477126 -0.01654362
+v -0.12111106 0.03428446 -0.01592880
+v -0.11490638 0.00043240 -0.01513723
+v -0.12084055 0.00043241 -0.01793827
+v -0.11887728 0.02351119 -0.01875716
+v -0.11887728 0.02767379 -0.01868734
+v -0.11748673 0.04432852 -0.01662796
+v -0.11887728 0.03183639 -0.01817807
+v -0.12238115 0.02767378 -0.01712416
+v -0.12304896 0.00043241 -0.01865873
+v -0.12163093 0.03183638 -0.01649582
+v -0.12324550 0.02767378 -0.01513713
+v -0.12658241 0.00043240 -0.01513723
+v -0.12304896 0.00270252 -0.01860131
+v -0.12304896 0.00686512 -0.01842056
+v -0.12278480 0.02351118 -0.01735026
+v -0.12585755 0.00686511 -0.01674575
+v -0.12515804 0.01753856 -0.01574459
+v -0.12610268 0.00043240 -0.01698463
+v -0.12371254 0.02522570 -0.01513714
+v -0.12650210 0.00270251 -0.01513722
+v -0.12606042 0.00270251 -0.01694209
+v -0.12638587 0.00463406 -0.01513721
+v -0.12515804 0.01753856 -0.01532110
+v -0.12513268 0.01774257 -0.01513716
+f 1 2 9
+f 1 9 14
+f 1 14 3
+f 1 3 13
+f 1 13 25
+f 1 25 33
+f 1 33 38
+f 1 38 36
+f 1 36 34
+f 1 34 26
+f 1 26 16
+f 1 16 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 5 10
+f 2 10 11
+f 2 11 12
+f 2 12 6
+f 3 14 15
+f 3 15 13
+f 4 16 5
+f 5 16 26
+f 5 26 32
+f 5 32 23
+f 5 23 17
+f 5 17 10
+f 6 12 7
+f 7 12 18
+f 7 18 19
+f 7 19 8
+f 8 20 9
+f 8 19 21
+f 8 21 22
+f 8 22 20
+f 9 20 14
+f 10 17 23
+f 10 23 11
+f 11 23 12
+f 12 23 18
+f 13 15 24
+f 13 24 22
+f 13 22 25
+f 14 20 24
+f 14 24 15
+f 18 23 19
+f 19 23 27
+f 19 27 28
+f 19 28 29
+f 19 29 22
+f 19 22 21
+f 20 22 24
+f 22 29 30
+f 22 30 31
+f 22 31 25
+f 23 32 27
+f 25 31 33
+f 26 34 35
+f 26 35 32
+f 27 32 35
+f 27 35 28
+f 28 35 29
+f 29 35 30
+f 30 35 36
+f 30 36 31
+f 31 36 37
+f 31 37 38
+f 31 38 33
+f 34 36 35
+f 36 38 37
+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_14.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df4048e8a7eda12b3e78bcae2c317f598e66316a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_14.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.07354956 -0.07937926 -0.01511752
+v 0.09508180 -0.07937926 -0.01511752
+v 0.08939105 -0.07937925 -0.01881452
+v 0.08745116 -0.08252862 -0.01962905
+v 0.03708425 -0.10311393 -0.01511761
+v 0.09217488 -0.08328016 -0.01511754
+v 0.09209870 -0.08315700 -0.01633546
+v 0.09475359 -0.07937926 -0.01636184
+v 0.09365764 -0.07937926 -0.01725377
+v 0.08926798 -0.08090995 -0.01900666
+v 0.08763283 -0.08252862 -0.01962905
+v 0.06763025 -0.09973331 -0.01976890
+v 0.06461784 -0.09888375 -0.01973383
+v 0.05769635 -0.10318681 -0.01970061
+v 0.06251385 -0.09927837 -0.01961682
+v 0.05210524 -0.10505683 -0.01916929
+v 0.03520882 -0.10505684 -0.01511762
+v 0.08951412 -0.08643959 -0.01511755
+v 0.08825407 -0.08747263 -0.01663141
+v 0.08933244 -0.08434586 -0.01778603
+v 0.09361661 -0.08018106 -0.01690956
+v 0.08763283 -0.08275986 -0.01962905
+v 0.06257246 -0.10347334 -0.01962093
+v 0.06044502 -0.10373475 -0.01968559
+v 0.05694618 -0.10505683 -0.01970335
+v 0.05636011 -0.10505683 -0.01970654
+v 0.08347760 -0.08686184 -0.01962588
+v 0.07041409 -0.09853438 -0.01946976
+v 0.05491838 -0.10413439 -0.01945839
+v 0.05583851 -0.10505683 -0.01964553
+v 0.06392628 -0.10505684 -0.01511762
+v 0.08842403 -0.08761338 -0.01511755
+v 0.08625557 -0.08553473 -0.01923705
+v 0.08378235 -0.09126042 -0.01619617
+v 0.07205508 -0.10008269 -0.01686366
+v 0.06703832 -0.10364678 -0.01611516
+v 0.06422518 -0.10415953 -0.01751292
+v 0.06228528 -0.10505684 -0.01759852
+v 0.06042744 -0.10505683 -0.01847360
+v 0.06353362 -0.10505684 -0.01571269
+v 0.06717311 -0.10371465 -0.01511761
+v 0.08472006 -0.09062702 -0.01511756
+v 0.07357886 -0.09951967 -0.01511760
+v 0.07241258 -0.10035414 -0.01511760
+v 0.06805222 -0.10322703 -0.01511761
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 17
+f 1 17 31
+f 1 31 41
+f 1 41 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 32
+f 1 32 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 9
+f 9 21 20
+f 9 20 22
+f 9 22 10
+f 10 22 11
+f 11 22 12
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 12 22 27
+f 12 27 28
+f 12 28 23
+f 13 26 14
+f 14 26 29
+f 14 29 15
+f 15 29 16
+f 16 29 30
+f 16 30 26
+f 16 26 25
+f 16 25 39
+f 16 39 38
+f 16 38 40
+f 16 40 31
+f 16 31 17
+f 18 32 19
+f 19 33 20
+f 19 32 34
+f 19 34 35
+f 19 35 28
+f 19 28 33
+f 20 33 22
+f 22 33 27
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 25
+f 23 25 24
+f 23 28 35
+f 23 35 36
+f 26 30 29
+f 27 33 28
+f 31 40 36
+f 31 36 41
+f 32 42 34
+f 34 42 43
+f 34 43 35
+f 35 43 44
+f 35 44 36
+f 36 45 41
+f 36 40 38
+f 36 38 37
+f 36 44 45
+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_15.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64455ae92cdaa951f17863ae983d92dad4f9fbdd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_15.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.08366200 0.07512725 -0.01513660
+v -0.08366200 0.08180476 -0.01766696
+v -0.08366200 0.09058105 -0.01513655
+v -0.10499254 0.04477126 -0.01513672
+v -0.08551886 0.08179580 -0.01838329
+v -0.08366200 0.08595748 -0.01838192
+v -0.11053649 0.04477127 -0.01812399
+v -0.08366200 0.08971105 -0.01712739
+v -0.08551886 0.08904285 -0.01667049
+v -0.08551886 0.08962583 -0.01513655
+v -0.11765445 0.04477126 -0.01513672
+v -0.09385807 0.07346797 -0.01854386
+v -0.11053649 0.04849346 -0.01859679
+v -0.08551886 0.08595748 -0.01831621
+v -0.09802767 0.06930630 -0.01858317
+v -0.11472607 0.04477127 -0.01819817
+v -0.08934904 0.08558077 -0.01655062
+v -0.08773510 0.08815490 -0.01588033
+v -0.08781497 0.08822665 -0.01513656
+v -0.11743481 0.04593276 -0.01513671
+v -0.11706544 0.04705390 -0.01610808
+v -0.11741817 0.04477126 -0.01654365
+v -0.10636688 0.05682129 -0.01850193
+v -0.08968846 0.08179580 -0.01819972
+v -0.09815745 0.07348590 -0.01738079
+v -0.11053649 0.05265962 -0.01809382
+v -0.10219728 0.06514464 -0.01811037
+v -0.11489911 0.04846206 -0.01722813
+v -0.09269005 0.08179579 -0.01656858
+v -0.09183482 0.08394390 -0.01579465
+v -0.08854373 0.08746876 -0.01513656
+v -0.11709871 0.04714359 -0.01513671
+v -0.11341828 0.05265961 -0.01648977
+v -0.11267288 0.05481668 -0.01577038
+v -0.10906565 0.06000083 -0.01644503
+v -0.10059999 0.07210914 -0.01639927
+v -0.09685300 0.07665200 -0.01663532
+v -0.10666971 0.06122511 -0.01742284
+v -0.09186810 0.08399323 -0.01513657
+v -0.10081961 0.07235131 -0.01513661
+v -0.11300897 0.05430544 -0.01513668
+v -0.11267288 0.05481668 -0.01513668
+v -0.10488273 0.06662453 -0.01513664
+v -0.10428707 0.06723891 -0.01571072
+v -0.10181127 0.07097455 -0.01513662
+v -0.10437026 0.06736000 -0.01513663
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 10
+f 1 10 19
+f 1 19 31
+f 1 31 39
+f 1 39 40
+f 1 40 45
+f 1 45 46
+f 1 46 43
+f 1 43 42
+f 1 42 41
+f 1 41 32
+f 1 32 20
+f 1 20 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 4 11 22
+f 4 22 16
+f 4 16 7
+f 5 12 6
+f 5 7 13
+f 5 13 12
+f 6 14 8
+f 6 12 15
+f 6 15 14
+f 7 16 13
+f 8 14 9
+f 9 14 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 11 20 21
+f 11 21 22
+f 12 13 15
+f 13 16 23
+f 13 23 15
+f 14 24 17
+f 14 15 24
+f 15 25 24
+f 15 23 26
+f 15 26 27
+f 15 27 25
+f 16 22 28
+f 16 28 26
+f 16 26 23
+f 17 24 29
+f 17 29 30
+f 17 30 18
+f 18 30 19
+f 19 30 31
+f 20 32 21
+f 21 33 28
+f 21 28 22
+f 21 32 34
+f 21 34 35
+f 21 35 33
+f 24 25 29
+f 25 36 37
+f 25 37 29
+f 25 27 38
+f 25 38 35
+f 25 35 36
+f 26 28 38
+f 26 38 27
+f 28 33 35
+f 28 35 38
+f 29 37 30
+f 30 39 31
+f 30 37 36
+f 30 36 40
+f 30 40 39
+f 32 41 34
+f 34 41 42
+f 34 42 43
+f 34 43 35
+f 35 43 44
+f 35 44 36
+f 36 44 45
+f 36 45 40
+f 43 46 44
+f 44 46 45
+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_16.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc59ac4545999d60a6451941a0645d2bb37d4449
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_16.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.00628440 0.12573297 0.01096730
+v -0.00628440 0.12573296 0.01270597
+v -0.00211245 0.12567115 0.01114531
+v 0.00064834 0.12308164 0.00321309
+v -0.00211245 0.12315059 0.00321309
+v -0.01045195 0.12570681 0.01103942
+v -0.00628440 0.12524311 0.01466101
+v -0.00211245 0.12520744 0.01444464
+v -0.00211245 0.12567114 0.01248959
+v -0.01045195 0.12570680 0.01258934
+v 0.00129457 0.12558555 0.01140465
+v 0.00155394 0.12305072 0.00321309
+v -0.01879146 0.12458682 0.00971355
+v -0.01499318 0.12494350 0.00990230
+v -0.01385458 0.12560932 0.01133099
+v -0.02393056 0.12108419 0.00321308
+v -0.00628440 0.12316244 0.01697514
+v -0.00211245 0.12312676 0.01693064
+v 0.00155394 0.12301263 0.01686465
+v -0.01045195 0.12521696 0.01454438
+v -0.01045195 0.12313390 0.01695672
+v 0.00155394 0.12516940 0.01367735
+v 0.00155394 0.12549042 0.01241440
+v 0.00129457 0.12558555 0.01210288
+v -0.01385458 0.12560932 0.01217347
+v 0.00155394 0.12545951 0.01107779
+v 0.00155394 0.11357714 0.00321306
+v -0.02295901 0.12413026 0.00971355
+v -0.02695072 0.12072513 0.00321308
+v -0.00628440 0.11926028 0.01854346
+v -0.00211245 0.11926028 0.01848822
+v -0.01045195 0.11926028 0.01854039
+v 0.00155394 0.11926028 0.01840995
+v -0.01499318 0.12512659 0.01353464
+v -0.01879146 0.12463199 0.01362211
+v -0.02713096 0.12191165 0.01610043
+v -0.02295901 0.12230163 0.01640274
+v -0.01879146 0.12265356 0.01666362
+v -0.01462390 0.12295555 0.01685084
+v -0.01879146 0.11926028 0.01829486
+v -0.01462390 0.11926028 0.01846673
+v -0.02713096 0.12344542 0.00971354
+v -0.02295901 0.12404464 0.01362211
+v 0.00155394 0.11067846 0.00932065
+v -0.04335277 0.10295738 0.00997435
+v -0.04335277 0.10624368 0.00321303
+v -0.02872237 0.12039223 0.00321308
+v -0.03375597 0.12142421 0.00766028
+v -0.03964242 0.11093761 0.01889024
+v -0.03129852 0.11509894 0.01867695
+v 0.00155394 0.11509895 0.01763651
+v -0.04335277 0.10723045 0.01869533
+v -0.03034895 0.12159301 0.01582267
+v -0.03156229 0.11963362 0.01686004
+v -0.02713096 0.11926029 0.01763499
+v -0.02295901 0.11926028 0.01799869
+v -0.03547047 0.11509894 0.01848666
+v -0.02713096 0.12329560 0.01362210
+v -0.03129852 0.12257987 0.00971354
+v -0.03776526 0.12140518 0.01137241
+v -0.03776526 0.12140518 0.01184506
+v 0.00155394 0.11049296 0.00971350
+v -0.04335277 0.10144502 0.01362202
+v -0.04335277 0.11511327 0.00321306
+v -0.04335277 0.11786211 0.00713544
+v -0.03527704 0.12168578 0.00992838
+v -0.03653873 0.12102948 0.00876670
+v -0.04335277 0.11093761 0.01885495
+v 0.00155394 0.11244045 0.01609118
+v -0.04335277 0.10677389 0.01857871
+v -0.04335277 0.10335447 0.01684463
+v -0.03312732 0.12127200 0.01544517
+v -0.03964242 0.11812840 0.01636896
+v -0.03547047 0.11881562 0.01676643
+v -0.03964242 0.11509894 0.01801555
+v -0.04335277 0.11139178 0.01875827
+v -0.03547047 0.12170954 0.01267987
+v -0.03156229 0.12221366 0.01393361
+v -0.03935227 0.12048731 0.00992837
+v -0.04335277 0.11912239 0.00973501
+v -0.04335277 0.11866106 0.01385227
+v -0.03935227 0.12022573 0.01333819
+v -0.03547047 0.12089630 0.01463490
+v 0.00155394 0.11083775 0.01314634
+v -0.04335277 0.10144978 0.01363736
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_17.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e53eaa9f9982e1ed4d7bba1b9c6c60880078a0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_17.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.04279395 -0.10105477 -0.00344991
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+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_18.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30cbe5bebe9d596fc4cdb728987f1ee03290ceab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_18.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_19.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6a5abf042a37447017e420eaa8852b7a1cc6ff6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_19.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_2.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cd3a9754b4f1eed843c7c88198bb7a938a2e4bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_2.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_20.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a947972325fb2ded0461952275061f6a6882ba6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_20.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_21.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1a6204288a3fa3f6b66ba8b340e5656a2d0c385
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_21.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_22.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fb1f27cb977331c283d816ba827c0c47e50b5d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_22.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_23.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3f9eb1bb2d5147e2923f1cb0da99a6ba6be55d0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_23.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_24.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3323eb6253cc1665fc19c7357e3620124299225a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_24.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_25.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ea274d42f06aa1eefc35e177fd5c18d9f609045
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_25.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_26.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c26ba3f094c30a2c631158ddbbb2502430ed1d10
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_26.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v -0.08437408 0.07203069 0.01362205
+v -0.08437408 0.07206710 0.01337631
+v -0.08437408 0.07424547 0.01622628
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+v -0.09803038 0.06514357 0.01803420
+v -0.11470502 0.03184282 0.01820163
+v -0.11558570 0.03096298 0.01809630
+v -0.12400450 0.03096301 0.00967090
+v -0.12378336 0.03184285 0.00971240
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+v -0.09279287 0.08082309 0.01605078
+v -0.09811572 0.07349912 0.01653425
+v -0.10211174 0.06905132 0.01629647
+v -0.10220097 0.06514358 0.01728102
+v -0.10636770 0.05681840 0.01741982
+v -0.09678502 0.07653914 0.01601565
+v -0.11470502 0.04016802 0.01751390
+v -0.11887563 0.03184283 0.01715324
+v -0.11952740 0.03096299 0.01697291
+v -0.12320917 0.03096300 0.01358839
+v -0.12294924 0.03184284 0.01362191
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+v -0.11739361 0.04849322 0.01263103
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+v -0.08437408 0.08916648 0.01608272
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+v -0.10066076 0.07213989 0.01592627
+v -0.10447832 0.06749794 0.01571244
+v -0.10522709 0.06514358 0.01607944
+v -0.10658884 0.06107808 0.01650867
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+v -0.08437408 0.08943954 0.01595507
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+v -0.10888170 0.05974920 0.01584645
+v -0.10343858 0.07027705 0.01464810
+v -0.10530856 0.06905133 0.01345609
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+v -0.11305618 0.05161212 0.01585120
+v -0.11383987 0.04849321 0.01622300
+v -0.11719575 0.04326873 0.01586554
+v -0.11176814 0.05681841 0.01462252
+v -0.10915716 0.06424555 0.01268854
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+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_27.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b99ec0f4abdb499f5179f4306a1530b9ec6e29
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_27.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.07824795 -0.09331847 -0.00344988
+v 0.07824795 -0.09264211 0.00190423
+v 0.07579758 -0.09609994 -0.00344989
+v 0.07824795 -0.07750501 -0.00344982
+v 0.07547480 -0.09569847 0.00190422
+v 0.07824795 -0.08473900 0.00190426
+v 0.07509649 -0.09686312 -0.00344990
+v 0.04367553 -0.09989415 -0.00344991
+v 0.04279396 -0.10512071 0.00190418
+v 0.07356240 -0.09777823 0.00190421
+v 0.07380882 -0.09818331 -0.00344990
+v 0.04279396 -0.10105159 -0.00344991
+v 0.04279396 -0.11367850 0.00190415
+v 0.07147646 -0.09969886 0.00190420
+v 0.07172289 -0.09986160 -0.00344991
+v 0.04279396 -0.11445613 -0.00344996
+v 0.04376578 -0.11444166 -0.00344996
+v 0.04376578 -0.11357723 0.00190415
+v 0.05025266 -0.11192426 0.00190416
+v 0.05122795 -0.11244509 -0.00344995
+v 0.04793418 -0.11379422 -0.00344996
+v 0.04793418 -0.11270915 0.00190416
+v 0.04973204 -0.11311423 -0.00344996
+f 1 2 3
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+f 1 17 16
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+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_28.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31b1520cd3ed9df36fe080401291296964568162
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_28.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.04335717 0.10160204 -0.00321761
+v -0.04335717 0.11472705 -0.00321756
+v -0.04335717 0.10641183 0.00199812
+v -0.08436625 0.07347414 -0.00321771
+v -0.04381483 0.11467455 -0.00321756
+v -0.04381483 0.11457760 0.00199815
+v -0.04337323 0.11462606 0.00199815
+v -0.04335717 0.11462606 0.00199815
+v -0.08436625 0.07881701 0.00199802
+v -0.08436625 0.09025396 -0.00321765
+v -0.04824695 0.11374974 -0.00321756
+v -0.04766483 0.11364472 0.00199815
+v -0.08436625 0.08947855 0.00199806
+v -0.07089729 0.10041471 0.00199810
+v -0.07091735 0.10052376 -0.00045353
+v -0.07094145 0.10054396 -0.00321761
+v -0.05017796 0.11307128 -0.00321756
+v -0.05004950 0.11301069 -0.00028347
+v -0.04982468 0.11287741 0.00199814
+v -0.05225351 0.11156087 0.00199814
+v -0.05132212 0.11243724 -0.00321757
+f 1 2 8
+f 1 8 3
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+f 1 17 11
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+f 1 5 2
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+f 12 18 19
+f 14 20 21
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+f 15 21 16
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+f 18 21 20
+f 18 20 19
+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_29.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e310131657d150c32a548d64bc2dc4581dc7de52
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_29.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.04090020 -0.10027098 -0.00394082
+v -0.04090020 -0.11436339 -0.00394087
+v -0.04090020 -0.10640468 0.00366268
+v -0.00201161 -0.11202141 0.00366266
+v -0.00001274 -0.11232035 0.00366266
+v 0.00026153 -0.11236305 0.00366266
+v -0.00615895 -0.10596189 -0.00394084
+v -0.04090020 -0.11410493 0.00366265
+v -0.02842493 -0.11987673 -0.00394089
+v 0.00155394 -0.11261928 0.00366266
+v 0.00155394 -0.10755094 -0.00394085
+v -0.03130064 -0.11758646 0.00366264
+v -0.02647593 -0.12046560 -0.00394089
+v -0.02697045 -0.11912831 0.00366263
+v 0.00155394 -0.12235135 0.00366262
+v 0.00155394 -0.12308180 -0.00394090
+v -0.02521261 -0.12014645 0.00008415
+v -0.02296025 -0.12119832 -0.00394090
+v -0.02493003 -0.11956209 0.00366263
+v -0.00022468 -0.12239406 0.00366262
+v -0.00211134 -0.12323014 -0.00394090
+v -0.01880875 -0.12058250 0.00366263
+v -0.01879213 -0.12170403 -0.00394090
+v -0.00628362 -0.12218953 0.00366262
+v -0.00211134 -0.12239856 0.00366262
+v -0.00439280 -0.12228617 0.00366262
+v -0.00628362 -0.12301887 -0.00394090
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+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_3.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9513d0fdf01d80319d622001b594197b3e945d9e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_3.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.00211827 0.12349710 -0.00592658
+v -0.00211827 0.12338868 -0.00321753
+v 0.00154138 0.12324411 -0.00321753
+v 0.00154138 0.12330435 -0.00592658
+v 0.00154138 0.12315980 -0.00936015
+v -0.00211827 0.12332847 -0.00983499
+v -0.02296947 0.12224428 -0.01374457
+v -0.02296947 0.12238882 -0.00983499
+v -0.02296947 0.12203945 -0.00592658
+v -0.02296947 0.12176237 -0.00321753
+v 0.00154138 0.10886035 -0.00321758
+v 0.00154138 0.12313572 -0.00983499
+v 0.00154138 0.12288275 -0.01326973
+v 0.00154138 0.12283456 -0.01374457
+v -0.00211827 0.12291889 -0.01374457
+v -0.02296947 0.12195516 -0.01513643
+v -0.02647820 0.12158172 -0.01513643
+v -0.02729565 0.12166604 -0.01348790
+v -0.02613865 0.12161781 -0.00592658
+v -0.02559787 0.12147324 -0.00321753
+v -0.02461694 0.12160576 -0.00321753
+v -0.02739626 0.12172626 -0.01005316
+v 0.00154138 0.00042802 -0.00420733
+v -0.11347974 0.00042801 -0.00321798
+v 0.00154138 0.12246112 -0.01513643
+v -0.00019413 0.12250931 -0.01513643
+v -0.00211827 0.12250931 -0.01513643
+v -0.02781127 0.12134078 -0.01513643
+v -0.02879221 0.12124440 -0.01462075
+v -0.02927010 0.12135281 -0.01201437
+v -0.02896827 0.12126847 -0.00889698
+v -0.02767293 0.12090706 -0.00321754
+v -0.02927010 0.12135281 -0.01150219
+v 0.00154138 0.00042805 -0.01454420
+v -0.12488628 0.00042801 -0.00321798
+v 0.00154138 0.11018554 -0.01513648
+v -0.05047342 0.11319721 -0.01513646
+v -0.05072495 0.11331767 -0.01374460
+v -0.05087586 0.11342608 -0.00983502
+v -0.05048600 0.11323332 -0.00592661
+v -0.05018417 0.11306465 -0.00321756
+v -0.11490085 0.00042806 -0.01513688
+v -0.12481082 0.00270483 -0.00321797
+v -0.12616905 0.00042804 -0.00983544
+v -0.05122799 0.11281171 -0.01513647
+v -0.05280000 0.11226961 -0.01374461
+v -0.06663373 0.10464405 -0.01374464
+v -0.06883454 0.10339119 -0.01374464
+v -0.06883454 0.10299364 -0.00983506
+v -0.05132860 0.11243822 -0.00321757
+v -0.12657147 0.00042806 -0.01513688
+v -0.12317593 0.02352153 -0.00321789
+v -0.12609358 0.00270486 -0.00983543
+v -0.12692361 0.00042805 -0.01374502
+v -0.06531324 0.10495727 -0.01513649
+v -0.07185281 0.10118665 -0.01513651
+v -0.07206661 0.10135529 -0.01374465
+v -0.07186539 0.10121072 -0.00983507
+v -0.07093476 0.10053608 -0.00321761
+v -0.12657147 0.00052443 -0.01513688
+v -0.12683557 0.00270487 -0.01374501
+v -0.12281122 0.02767764 -0.00321788
+v -0.12649603 0.00270488 -0.01513687
+v -0.07285890 0.10041567 -0.01513651
+v -0.07415424 0.09974104 -0.01374465
+v -0.08781190 0.08822436 -0.00321766
+v -0.12638283 0.00463235 -0.01513686
+v -0.12640798 0.00687303 -0.01374499
+v -0.12512522 0.01775121 -0.01513681
+v -0.11698848 0.04692830 -0.01096930
+v -0.11715197 0.04727766 -0.01374485
+v -0.12384246 0.02767768 -0.01374492
+v -0.12463476 0.02352157 -0.01374493
+v -0.11344201 0.05231314 -0.00321779
+v -0.08781190 0.08822441 -0.01513656
+v -0.08796281 0.08835691 -0.01374470
+v -0.08806342 0.08842918 -0.00983512
+v -0.09015106 0.08618849 -0.00983512
+v -0.09193686 0.08411646 -0.00983513
+v -0.09183625 0.08395984 -0.00749475
+v -0.08974862 0.08585116 -0.00321766
+v -0.12370412 0.02523221 -0.01513679
+v -0.11618360 0.04936174 -0.01374484
+v -0.11710166 0.04714516 -0.01513671
+v -0.12323881 0.02767769 -0.01513678
+v -0.12272319 0.02978586 -0.01513677
+v -0.11239820 0.05439722 -0.00321778
+v -0.09186141 0.08399602 -0.01513657
+v -0.09005045 0.08617645 -0.01374470
+v -0.09193686 0.08409238 -0.01374471
+v -0.10106712 0.07261187 -0.01374475
+v -0.10319248 0.06990135 -0.00983518
+v -0.10394705 0.06811841 -0.00321773
+v -0.10443752 0.06747994 -0.00321773
+v -0.10467646 0.06781728 -0.00983519
+v -0.10810974 0.06240832 -0.01374479
+v -0.11300185 0.05431294 -0.01513668
+v -0.10081560 0.07234685 -0.01513661
+v -0.10180911 0.07097353 -0.01513662
+v -0.10314218 0.06973271 -0.01374476
+v -0.10631136 0.06514292 -0.01374478
+v -0.10487768 0.06661263 -0.01513664
+v -0.10436207 0.06734747 -0.01513663
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 21
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+f 2 32 41
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+f 3 36 25
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+f 3 5 4
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+f 16 85 86
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+f 16 84 97
+f 16 97 102
+f 16 102 103
+f 16 103 99
+f 16 99 98
+f 16 98 88
+f 16 88 75
+f 16 75 64
+f 16 64 56
+f 16 56 55
+f 16 55 45
+f 16 45 37
+f 16 37 28
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 22
+f 19 22 31
+f 19 31 20
+f 20 31 32
+f 22 30 33
+f 22 33 31
+f 23 24 35
+f 23 35 44
+f 23 44 54
+f 23 54 51
+f 23 51 42
+f 23 42 34
+f 28 37 29
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 33
+f 31 33 39
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 34 42 36
+f 35 43 53
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+f 37 45 46
+f 37 46 38
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+f 39 48 49
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+f 95 100 101
+f 95 101 96
+f 96 101 97
+f 97 101 102
+f 99 103 100
+f 100 103 102
+f 100 102 101
+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_30.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..348383f8b163e44fdd2595973c41dfe6639f8315
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_30.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00211245 0.12340047 -0.00321753
+v -0.00211245 0.12335566 -0.00201588
+v 0.00064834 0.12308039 0.00321309
+v 0.00155394 0.12305052 0.00321309
+v 0.00155394 0.12323191 -0.00201588
+v 0.00155394 0.12325325 -0.00321753
+v -0.02295901 0.12176818 -0.00321753
+v -0.00211245 0.12315081 0.00321309
+v 0.00031423 0.12308893 0.00321309
+v 0.00155394 0.11357469 0.00321306
+v 0.00155394 0.10886986 -0.00321758
+v -0.02461197 0.12161029 -0.00321753
+v -0.02512192 0.12136276 0.00006261
+v -0.02393056 0.12108323 0.00321308
+v -0.04335277 0.10624323 0.00321303
+v -0.04335277 0.10160455 -0.00321761
+v -0.02558352 0.12148226 -0.00321753
+v -0.02872237 0.12039191 0.00321308
+v -0.02695072 0.12072477 0.00321308
+v -0.04335277 0.11511523 0.00321306
+v -0.04335277 0.11472691 -0.00321756
+v -0.02767169 0.12090829 -0.00321754
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 16
+f 1 16 21
+f 1 21 22
+f 1 22 17
+f 1 17 12
+f 1 12 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 8
+f 3 9 8
+f 3 8 14
+f 3 14 19
+f 3 19 18
+f 3 18 20
+f 3 20 15
+f 3 15 10
+f 3 10 4
+f 4 10 11
+f 4 11 6
+f 4 6 5
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 10 15 11
+f 11 15 16
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 15 20 21
+f 15 21 16
+f 17 22 18
+f 18 22 20
+f 20 22 21
+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_31.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54b5764b43e8abe6a41b204d57e25be5f8fb084b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_31.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.03831355 -0.10345720 -0.01485252
+v -0.03831355 -0.11053448 -0.01769985
+v -0.03831355 -0.11740634 -0.01485257
+v 0.00155394 -0.10742610 -0.01485253
+v -0.03130083 -0.11386258 -0.01860842
+v -0.03546866 -0.11386258 -0.01873046
+v -0.03831355 -0.11386258 -0.01839597
+v -0.03831355 -0.11727003 -0.01567442
+v -0.03044620 -0.12058796 -0.01647861
+v -0.03076620 -0.12071410 -0.01485258
+v 0.00155394 -0.12419681 -0.01485260
+v 0.00155394 -0.11802474 -0.01869760
+v -0.02296129 -0.11802474 -0.01905017
+v -0.02712911 -0.11802474 -0.01891334
+v -0.03831355 -0.11500585 -0.01793861
+v -0.03831355 -0.11713577 -0.01602741
+v -0.02712911 -0.12110264 -0.01715089
+v -0.02847155 -0.12145052 -0.01485259
+v -0.03831355 -0.11683673 -0.01680570
+v -0.03546866 -0.11744905 -0.01729511
+v 0.00134711 -0.12420901 -0.01485260
+v 0.00155394 -0.12212589 -0.01748868
+v -0.01878956 -0.12173327 -0.01751087
+v -0.00211046 -0.12214216 -0.01748416
+v -0.00628219 -0.12209944 -0.01749690
+v -0.01045391 -0.12204452 -0.01751169
+v -0.01462174 -0.12193060 -0.01751703
+v -0.02296129 -0.12149932 -0.01746937
+v -0.02002664 -0.12281959 -0.01485259
+v -0.02431544 -0.12229068 -0.01485259
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+v -0.00211046 -0.12423953 -0.01485260
+v -0.00211046 -0.12422528 -0.01504943
+v -0.01584711 -0.12316338 -0.01485259
+v -0.00273876 -0.12421715 -0.01485260
+f 1 2 7
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+f 1 16 8
+f 1 8 3
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+f 1 31 30
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+f 23 33 28
+f 24 33 25
+f 25 33 26
+f 26 33 27
+f 28 33 29
+f 29 33 34
+f 32 35 33
+f 33 35 34
+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_32.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2808a3cd9b06ace5b656907607c31565b37d310
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_32.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.12412840 -0.00210324 -0.01511771
+v 0.12410787 -0.00292450 -0.01511771
+v 0.12289178 -0.00563032 -0.01765507
+v 0.12297901 -0.00210324 -0.01765506
+v 0.10935317 -0.00210324 -0.01511771
+v 0.12400268 -0.00563032 -0.01511772
+v 0.12098812 -0.00886780 -0.01965313
+v 0.12106508 -0.00563031 -0.01969443
+v 0.12219907 -0.01811776 -0.01741997
+v 0.12239662 -0.01395528 -0.01757061
+v 0.12229400 -0.01006943 -0.01803902
+v 0.12269679 -0.00210323 -0.01796906
+v 0.09936021 -0.04027011 -0.01511785
+v 0.11825063 -0.00210323 -0.01925838
+v 0.12362297 -0.01128403 -0.01511774
+v 0.12199125 -0.02228024 -0.01723036
+v 0.11964375 -0.02643839 -0.01883746
+v 0.11738346 -0.03060087 -0.01991183
+v 0.12108560 -0.00210323 -0.01970521
+v 0.09849817 -0.04377558 -0.01511786
+v 0.12001575 -0.00210323 -0.01964373
+v 0.10889650 -0.04579846 -0.01948618
+v 0.09792091 -0.04626097 -0.01511787
+v 0.12329201 -0.01550703 -0.01511776
+v 0.12165773 -0.02643840 -0.01688305
+v 0.12292513 -0.01975595 -0.01511777
+v 0.11696271 -0.03326779 -0.01973630
+v 0.11286803 -0.04623934 -0.01976639
+v 0.11311945 -0.04309263 -0.01985696
+v 0.11535152 -0.03060087 -0.01991183
+v 0.11755792 -0.02643839 -0.01989915
+v 0.12033645 -0.00210323 -0.01970521
+v 0.11207013 -0.03892583 -0.01980391
+v 0.11152879 -0.04309263 -0.01985696
+v 0.11078734 -0.04626096 -0.01977155
+v 0.10936087 -0.04626096 -0.01955846
+v 0.10814991 -0.04626096 -0.01912853
+v 0.11615712 -0.04626097 -0.01511787
+v 0.12265574 -0.02228024 -0.01511778
+v 0.12246076 -0.02409998 -0.01511779
+v 0.12206310 -0.02643840 -0.01511780
+v 0.12125750 -0.02945112 -0.01632735
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+v 0.11675233 -0.04521062 -0.01572287
+v 0.11667023 -0.04547429 -0.01511787
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+v 0.12132677 -0.02961969 -0.01511781
+v 0.11675233 -0.04521062 -0.01534504
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+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 23 37 36
+f 23 36 35
+f 23 35 45
+f 23 45 44
+f 23 44 43
+f 23 43 47
+f 23 47 38
+f 25 26 39
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 44 45
+f 28 45 29
+f 29 45 35
+f 29 35 34
+f 30 34 46
+f 32 46 33
+f 33 46 34
+f 38 47 48
+f 38 48 49
+f 41 50 42
+f 42 51 48
+f 42 48 47
+f 42 47 43
+f 42 50 51
+f 48 52 49
+f 48 51 52
+f 49 52 51
+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_33.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..296e7b48bed89372125fbb428ba03f44245ebbec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_33.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.10160171 -0.04556240 -0.01485231
+v -0.11697758 -0.04556240 -0.01485231
+v -0.11054026 -0.04556238 -0.01861241
+v -0.11243951 0.00042804 -0.01485214
+v -0.11697512 -0.04556240 -0.01495388
+v -0.12170975 -0.03060290 -0.01485225
+v -0.12100213 -0.03277726 -0.01577695
+v -0.11223558 -0.04556238 -0.01863468
+v -0.11470731 -0.03892672 -0.01874443
+v -0.11887683 -0.02227904 -0.01884281
+v -0.12304881 0.00042806 -0.01865873
+v -0.12083997 0.00042806 -0.01793835
+v -0.11878592 0.00042805 -0.01725118
+v -0.12665076 0.00042804 -0.01485214
+v -0.11694318 -0.04556239 -0.01598132
+v -0.12299475 -0.02643873 -0.01485224
+v -0.12143947 -0.03060289 -0.01639614
+v -0.11483754 -0.04556239 -0.01767170
+v -0.11470731 -0.04309089 -0.01831706
+v -0.11887683 -0.02643871 -0.01879517
+v -0.12304881 -0.00562686 -0.01873727
+v -0.12304881 -0.00146720 -0.01870679
+v -0.12613970 -0.00146721 -0.01702071
+v -0.12610285 0.00042805 -0.01698475
+v -0.12666550 -0.00002214 -0.01485214
+v -0.12656723 0.00042805 -0.01519787
+v -0.11727487 -0.04309090 -0.01651339
+v -0.11582525 -0.04556239 -0.01697789
+v -0.12216674 -0.02643872 -0.01718761
+v -0.12527484 -0.01678236 -0.01485220
+v -0.12527484 -0.01678235 -0.01596050
+v -0.12266797 -0.02227905 -0.01744659
+v -0.12304881 -0.01395520 -0.01819311
+v -0.12304881 -0.00979103 -0.01860291
+v -0.12608319 -0.00562687 -0.01700079
+v -0.12669991 -0.00146722 -0.01485215
+v -0.12668516 -0.00081896 -0.01485214
+v -0.12554511 -0.01395521 -0.01638045
+v -0.12588173 -0.00979104 -0.01681369
+v -0.12621342 -0.00979105 -0.01485218
+v -0.12658197 -0.00562688 -0.01485216
+f 1 2 5
+f 1 5 15
+f 1 15 28
+f 1 28 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 14
+f 1 14 25
+f 1 25 37
+f 1 37 36
+f 1 36 41
+f 1 41 40
+f 1 40 30
+f 1 30 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 12
+f 4 12 11
+f 4 11 24
+f 4 24 26
+f 4 26 14
+f 5 7 15
+f 6 16 7
+f 7 16 17
+f 7 17 15
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 14 26 25
+f 15 27 28
+f 15 17 29
+f 15 29 27
+f 16 30 31
+f 16 31 17
+f 17 31 29
+f 18 28 29
+f 18 29 19
+f 19 29 20
+f 20 29 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 23
+f 21 23 22
+f 23 36 37
+f 23 37 26
+f 23 26 24
+f 23 35 36
+f 25 26 37
+f 27 29 28
+f 29 31 38
+f 29 38 39
+f 29 39 32
+f 30 40 31
+f 31 40 38
+f 32 39 33
+f 33 39 34
+f 34 39 35
+f 35 39 41
+f 35 41 36
+f 38 40 39
+f 39 40 41
+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_34.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..694b2ce2113f146b15adf69c70172e1ae410c826
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_34.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.09791636 -0.04626097 -0.01511786
+v 0.09515956 -0.04860804 -0.01511787
+v 0.11615883 -0.04626097 -0.01511786
+v 0.10814700 -0.04626096 -0.01912879
+v 0.07403516 -0.07746660 -0.01511797
+v 0.11338951 -0.05283859 -0.01511788
+v 0.11277226 -0.05378520 -0.01603543
+v 0.11346876 -0.05141868 -0.01687779
+v 0.11557077 -0.04626097 -0.01677481
+v 0.10935648 -0.04626096 -0.01955840
+v 0.08939570 -0.07937601 -0.01881410
+v 0.07355554 -0.07937602 -0.01511798
+v 0.10816368 -0.04857885 -0.01971422
+v 0.10489388 -0.06709606 -0.01511794
+v 0.10478544 -0.06692424 -0.01657716
+v 0.11213831 -0.04901649 -0.01954156
+v 0.11460735 -0.04711681 -0.01763175
+v 0.11473246 -0.04626096 -0.01772241
+v 0.11078702 -0.04626096 -0.01977116
+v 0.09380826 -0.07639355 -0.01853573
+v 0.09366229 -0.07937602 -0.01725374
+v 0.09994330 -0.06575719 -0.01964868
+v 0.09994330 -0.06662923 -0.01964868
+v 0.10026862 -0.06662923 -0.01964868
+v 0.09508031 -0.07937602 -0.01511798
+v 0.10789258 -0.05141867 -0.01975614
+v 0.10260002 -0.07027627 -0.01511795
+v 0.10116114 -0.07151464 -0.01693708
+v 0.10304627 -0.06487541 -0.01918307
+v 0.10434335 -0.06210367 -0.01966461
+v 0.11282648 -0.04626096 -0.01976569
+v 0.11290989 -0.04626096 -0.01971649
+v 0.10928976 -0.05141867 -0.01975614
+v 0.09475500 -0.07937602 -0.01636171
+v 0.09594364 -0.07853963 -0.01578814
+v 0.09550989 -0.07901294 -0.01511798
+v 0.10141138 -0.07177723 -0.01511795
+v 0.09594364 -0.07853963 -0.01555215
+f 1 2 5
+f 1 5 12
+f 1 12 25
+f 1 25 36
+f 1 36 37
+f 1 37 27
+f 1 27 14
+f 1 14 6
+f 1 6 3
+f 1 3 9
+f 1 9 18
+f 1 18 32
+f 1 32 31
+f 1 31 19
+f 1 19 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 11 12
+f 5 10 13
+f 5 13 11
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 16 17
+f 8 17 9
+f 8 15 16
+f 9 17 18
+f 10 19 13
+f 11 20 21
+f 11 21 34
+f 11 34 25
+f 11 25 12
+f 11 13 22
+f 11 22 23
+f 11 23 24
+f 11 24 20
+f 13 19 26
+f 13 26 22
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 16 31 32
+f 16 32 17
+f 16 30 31
+f 17 32 18
+f 19 33 26
+f 19 31 33
+f 20 24 29
+f 20 29 21
+f 21 29 28
+f 21 28 34
+f 22 26 23
+f 23 26 33
+f 23 33 24
+f 24 33 30
+f 24 30 29
+f 25 34 35
+f 25 35 36
+f 27 37 35
+f 27 35 28
+f 28 35 34
+f 30 33 31
+f 35 38 36
+f 35 37 38
+f 36 38 37
+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_35.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da0588f8a3a11a11e4febc84d3de3e81cfc599eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_35.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.07991142 -0.09374792 -0.01485287
+v -0.08250577 -0.09200746 -0.01485287
+v -0.08366326 -0.09113487 -0.01595470
+v -0.07991142 -0.09372434 -0.01493314
+v -0.07991142 -0.07868759 -0.01485282
+v -0.08837664 -0.08747003 -0.01485285
+v -0.08134829 -0.09207821 -0.01670102
+v -0.08819884 -0.08732852 -0.01637796
+v -0.07991142 -0.09258289 -0.01704637
+v -0.07991142 -0.08578617 -0.01765366
+v -0.09994420 -0.04732643 -0.01485270
+v -0.09129756 -0.08450324 -0.01485284
+v -0.08523801 -0.08878126 -0.01694182
+v -0.09221556 -0.08317785 -0.01628946
+v -0.08962846 -0.08462586 -0.01715598
+v -0.07991142 -0.09059244 -0.01801821
+v -0.07991142 -0.08888501 -0.01821790
+v -0.11053570 -0.04556238 -0.01861243
+v -0.10159878 -0.04556240 -0.01485270
+v -0.09232804 -0.08332879 -0.01485284
+v -0.08134829 -0.08888501 -0.01826175
+v -0.09607625 -0.07863569 -0.01590063
+v -0.10130488 -0.07150880 -0.01678591
+v -0.10249502 -0.06830146 -0.01752985
+v -0.09385926 -0.07639526 -0.01831535
+v -0.08969014 -0.08055537 -0.01853268
+v -0.08551740 -0.08472019 -0.01855188
+v -0.11053570 -0.04726038 -0.01885245
+v -0.11223383 -0.04556238 -0.01863436
+v -0.11697624 -0.04556240 -0.01485270
+v -0.10166046 -0.07186728 -0.01485279
+v -0.10431651 -0.06860334 -0.01485278
+v -0.10486078 -0.06706569 -0.01650241
+v -0.10569169 -0.06391024 -0.01716882
+v -0.11362716 -0.05142050 -0.01685240
+v -0.11053570 -0.05142049 -0.01856351
+v -0.10219748 -0.06391023 -0.01872017
+v -0.11483906 -0.04556239 -0.01767152
+v -0.11695446 -0.04572748 -0.01485270
+v -0.11697624 -0.04556240 -0.01495372
+v -0.11296678 -0.05400996 -0.01485273
+v -0.11291235 -0.05394863 -0.01612568
+v -0.11693633 -0.04561899 -0.01596981
+v -0.11491889 -0.04710946 -0.01726822
+v -0.11582601 -0.04556239 -0.01697807
+v -0.11663879 -0.04676986 -0.01485270
+v -0.11694358 -0.04556239 -0.01598156
+v -0.11428754 -0.05142051 -0.01485272
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 17
+f 1 17 10
+f 1 10 5
+f 1 5 11
+f 1 11 19
+f 1 19 30
+f 1 30 39
+f 1 39 46
+f 1 46 48
+f 1 48 41
+f 1 41 32
+f 1 32 31
+f 1 31 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 7
+f 4 7 9
+f 5 10 11
+f 6 12 8
+f 7 8 13
+f 7 13 9
+f 8 12 14
+f 8 14 15
+f 8 15 13
+f 9 13 16
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 12 20 14
+f 13 15 21
+f 13 21 16
+f 14 20 22
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 21
+f 16 21 17
+f 17 21 27
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 38
+f 18 38 45
+f 18 45 47
+f 18 47 40
+f 18 40 30
+f 18 30 19
+f 20 31 22
+f 22 31 32
+f 22 32 23
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 25 37 26
+f 26 37 27
+f 27 37 28
+f 28 37 36
+f 28 36 29
+f 29 36 38
+f 30 40 39
+f 32 41 42
+f 32 42 33
+f 33 42 35
+f 33 35 34
+f 35 43 44
+f 35 44 36
+f 35 42 43
+f 36 44 38
+f 38 44 45
+f 39 43 46
+f 39 40 43
+f 40 47 43
+f 41 48 42
+f 42 48 46
+f 42 46 43
+f 43 47 45
+f 43 45 44
+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_36.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46b8c82a2ac212bf9890d1cfd418bc65a75b142e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_36.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.07991141 -0.07869037 -0.01485243
+v -0.07991141 -0.08578859 -0.01765372
+v -0.07991141 -0.09375091 -0.01485248
+v -0.03831355 -0.10345651 -0.01485252
+v -0.03831355 -0.11053199 -0.01769997
+v -0.07717514 -0.08888862 -0.01813428
+v -0.07991141 -0.08888862 -0.01821793
+v -0.07991141 -0.09372817 -0.01493297
+v -0.07526137 -0.09791208 -0.01485250
+v -0.03831355 -0.11740665 -0.01485257
+v -0.03831355 -0.11385940 -0.01839596
+v -0.04381460 -0.10969824 -0.01847564
+v -0.07300151 -0.09304978 -0.01850556
+v -0.07991141 -0.09059780 -0.01801829
+v -0.06883195 -0.09721474 -0.01875651
+v -0.07991141 -0.09258744 -0.01704614
+v -0.07639742 -0.09625593 -0.01676326
+v -0.07198355 -0.10004570 -0.01666938
+v -0.07231744 -0.10028447 -0.01485251
+v -0.04952331 -0.11401480 -0.01485256
+v -0.04224287 -0.11606506 -0.01593875
+v -0.03831355 -0.11727020 -0.01567440
+v -0.03831355 -0.11500391 -0.01793868
+v -0.05215372 -0.10969824 -0.01851351
+v -0.04798415 -0.10969824 -0.01888280
+v -0.07322546 -0.09747246 -0.01761431
+v -0.06466239 -0.10137212 -0.01838407
+v -0.06700777 -0.10360051 -0.01595724
+v -0.06857135 -0.10141002 -0.01715941
+v -0.05215372 -0.11255194 -0.01674873
+v -0.05452352 -0.11199484 -0.01605946
+v -0.05466196 -0.11210855 -0.01485255
+v -0.05328568 -0.11276797 -0.01485255
+v -0.03964504 -0.11655015 -0.01657673
+v -0.03831355 -0.11683438 -0.01680596
+v -0.04798415 -0.11327958 -0.01735752
+f 1 2 7
+f 1 7 14
+f 1 14 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 32
+f 1 32 33
+f 1 33 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 6
+f 3 8 9
+f 4 10 22
+f 4 22 35
+f 4 35 23
+f 4 23 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 13 7
+f 6 12 13
+f 7 13 15
+f 7 15 14
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 10 20 21
+f 10 21 22
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 12 25 13
+f 13 25 15
+f 14 15 26
+f 14 26 16
+f 15 27 26
+f 15 25 24
+f 15 24 27
+f 16 26 17
+f 17 26 18
+f 18 28 19
+f 18 26 29
+f 18 29 24
+f 18 24 30
+f 18 30 31
+f 18 31 28
+f 19 28 31
+f 19 31 32
+f 20 33 31
+f 20 31 21
+f 21 34 22
+f 21 31 30
+f 21 30 34
+f 22 34 35
+f 23 35 36
+f 23 36 24
+f 24 36 30
+f 24 29 26
+f 24 26 27
+f 30 36 35
+f 30 35 34
+f 31 33 32
+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_37.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88000a7a8f64c6eb2678acdd801b7aeaac709680
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_37.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.09391164 -0.07790858 -0.00394074
+v -0.09131711 -0.08195534 -0.00394075
+v -0.09340311 -0.07790860 0.00341546
+v -0.07612354 -0.07790858 -0.00394074
+v -0.09241200 -0.07934317 0.00341546
+v -0.09298280 -0.07852240 0.00341546
+v -0.08928819 -0.08434272 -0.00394076
+v -0.09080339 -0.08142364 0.00341545
+v -0.08197161 -0.07790860 0.00341546
+v -0.04433017 -0.09706112 -0.00394081
+v -0.08705170 -0.08642320 -0.00394077
+v -0.08872258 -0.08371824 0.00341544
+v -0.04537835 -0.10306348 0.00341537
+v -0.04090019 -0.10646790 0.00341536
+v -0.04090019 -0.10026570 -0.00394082
+v -0.07192559 -0.10005872 -0.00394082
+v -0.07183218 -0.10000163 -0.00201680
+v -0.07146896 -0.09973042 0.00106796
+v -0.07085145 -0.09924511 0.00341539
+v -0.04090019 -0.11405469 0.00341533
+v -0.04090019 -0.11436514 -0.00394087
+v -0.05285060 -0.11164588 -0.00394086
+v -0.05165712 -0.11235960 -0.00394086
+v -0.06893669 -0.10047983 0.00341538
+v -0.05057261 -0.11203131 0.00076982
+v -0.04219227 -0.11388697 0.00341533
+v -0.04381645 -0.11416887 -0.00394087
+v -0.04798846 -0.11354080 -0.00394087
+v -0.05111227 -0.11227039 -0.00201684
+v -0.04958150 -0.11157811 0.00341534
+v -0.04798846 -0.11326602 -0.00201685
+v -0.04650957 -0.11283781 0.00341534
+v -0.04790024 -0.11240958 0.00341534
+v -0.04586613 -0.11386910 -0.00394087
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 21
+f 1 21 27
+f 1 27 34
+f 1 34 28
+f 1 28 23
+f 1 23 22
+f 1 22 16
+f 1 16 11
+f 1 11 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 5
+f 3 6 5
+f 3 5 8
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_38.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87a8410dbbb7919205217291dc0baa45baf9b5b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_38.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_39.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dee4e9e0c9de23e252a13992ca704a2f02103fa6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_39.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_4.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a48041cce623fac1a155b4ab9efe98501793240a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_4.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_40.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a392cce012ca57e701e5084eda8a03458b83a12
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_40.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.12385862 -0.00210329 -0.00344955
+v 0.12380530 -0.00210331 0.00189439
+v 0.12379261 -0.00299196 -0.00344955
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+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_41.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..287663b3468c59dfc037e55842d69a50c3ee703c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_41.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.11597488 -0.04054076 -0.00394060
+v -0.11538981 -0.04725643 -0.00394062
+v -0.11488664 -0.04309390 0.00190553
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+v -0.10196042 -0.04054076 -0.00394060
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+v -0.07715330 -0.07611627 -0.00394073
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+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_42.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9798c7c4ce4c08428d10d706c967482e7119eb58
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_42.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.04335717 0.10144227 0.01362078
+v -0.04540060 0.10026236 0.01136876
+v -0.04335717 0.10295405 0.00997332
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+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_43.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f933fd9492f5f2bf47f81ced61a7ab793bc93727
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_43.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.10196547 -0.04054075 -0.00394060
+v -0.10659564 -0.04054077 0.00366292
+v -0.11597324 -0.04054075 -0.00394060
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_44.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14cf5503f00d7a7fc7994c031553bb198e410ec3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_44.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_5.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a843b685a1b1757ddfeb106c4ac97f77180da84
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_5.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_6.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..929cced6957b24bc0229045359ecb7a21c4fe17e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_6.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_7.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a0116c7f5d62b1c36a30202f8f1a547f2740a23
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_7.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_8.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c31089f3eb23f4e652aa0e5d3666b6f96bf3f6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_8.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_9.obj b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/mjcf/mesh/tray_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/textures/material_0.png b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/textures/material_0.png
new file mode 100644
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/video.mp4 b/dataset/kitchen_supplies/tableware/8ec116c1679f573b833fc3f854f7c2ba/video.mp4
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