diff --git a/.gitattributes b/.gitattributes
index 291bb03b97e4a57737ce316312a4f8ba7758405e..21d94428e79d6fea122e0f28af03c1de7ea7bbcf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4202,3 +4202,5 @@ dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/plate_030.us
 dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/4b290484be7c5f7e96e0a8e764feb8a2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/tray_071.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/material.mtl b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a86216c37c8d6f3945fa67b0103ffd5e9a6e6cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_071_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd tray_071_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/material_0.png b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..56ff3fa342bbc2e36741093416bc42a7a05269ad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deec1c732d16dd1fceefde2369b0275ead553ff296555e238b37eda644bb7d72
+size 19223064
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071.glb b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071.glb
new file mode 100644
index 0000000000000000000000000000000000000000..65c2b166032b0a411fce4f9ed9828770bd9d7956
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d718a1742462bedea84d7aad799745f1f53608399b3a751d314ff31f078efaff
+size 22380644
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071.mtl b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9f6e96cbd48ed9e041f54f194d6684796e61af2e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071.mtl
@@ -0,0 +1,6 @@
+newmtl tray_071_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56edd09be0b621cdab81eae013e48a9b7dc73c53
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071.obj
@@ -0,0 +1,114766 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_071_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071_collision.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58c519e2b7facbcb73005367273a9ec057ab93bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mesh/tray_071_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071.obj
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index 0000000000000000000000000000000000000000..0bf67efb5e9e7405b7fa1ac34ff22e5b9d01fc51
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+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071.obj
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..255f8e770231b3a8ba69d75fe9062f2d43209ff9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision.obj
@@ -0,0 +1,7145 @@
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_0.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..833079320c812bd86fa4f8732d5dbbdff1203263
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_1.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11add05ae039ad8fd6fd68ffdfaf0175c59d0119
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_10.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ba35f58be3c2eac50bdee2930164fa26437bb1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_10.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_11.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50a039321edd34075cf54fa64e250081c7d44663
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_11.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_12.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..512533cb561639393c049e47affd32b0b664cb6f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_12.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_13.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b37b87c6e92894d60f5613990433c4e7dac7ab4d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_13.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.01418417 0.14977524 0.00155635
+v 0.01418417 0.14829767 -0.00719746
+v -0.01828061 0.14828907 -0.00719746
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+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_14.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cb5ce6de93cfc969bd62e8c30df1cc95a3cabc1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_14.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_15.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..576b72691f2c9c4fd4476f1adb97ab9f9e4f3bc3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_15.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_16.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae71fe73bd683d6b005266e855fcfc81dd648e1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_16.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_17.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edd93ca1d277ac9d8eee88003c10ec220df07e01
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_17.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_18.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac6bb158b63fc8e6a4035ad9a56add20f95c36ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_18.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+f 8 45 44
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+f 8 27 17
+f 10 12 19
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+f 11 20 21
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+f 14 24 15
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+f 18 30 31
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+f 20 26 27
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+f 20 32 21
+f 21 33 22
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+f 22 29 23
+f 22 33 29
+f 24 36 37
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+f 28 41 42
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+f 36 48 49
+f 36 49 37
+f 39 42 47
+f 40 43 50
+f 40 50 41
+f 42 51 47
+f 47 51 48
+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_19.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aec29c798ba56245bbd2433fee9a0459242bb88
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_19.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.07152092 0.13761586 -0.00147248
+v -0.07152092 0.14793989 -0.00147245
+v -0.05301688 0.13764009 -0.00147248
+v -0.07152092 0.14154896 0.01801465
+v -0.06999930 0.14794870 -0.00147245
+v -0.07152092 0.16010931 0.01801472
+v -0.05301688 0.14795531 -0.00147245
+v -0.05301688 0.14164806 0.01816626
+v -0.06438740 0.14156217 0.01801465
+v -0.06438740 0.14382384 0.02302050
+v -0.07152092 0.14319841 0.02166165
+v -0.06594526 0.14795531 -0.00147245
+v -0.06999930 0.16011371 0.01801472
+v -0.07152092 0.16002342 0.01943533
+v -0.05301688 0.15991770 0.02325078
+v -0.06438740 0.16010710 0.01801472
+v -0.05877732 0.16009610 0.01801472
+v -0.05301688 0.16007627 0.01801472
+v -0.05301688 0.14422464 0.02364939
+v -0.07152092 0.14381724 0.02302050
+v -0.07152092 0.15978996 0.02325078
+v -0.05301688 0.15757451 0.02629694
+v -0.05301688 0.14425988 0.02368308
+v -0.05473957 0.14626390 0.02566240
+v -0.07152092 0.14577721 0.02492682
+v -0.07152092 0.15914912 0.02401722
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+v -0.05301688 0.15420071 0.02720938
+v -0.05301688 0.14828553 0.02662538
+v -0.07152092 0.14650834 0.02563713
+v -0.07152092 0.15655048 0.02621552
+v -0.07152092 0.15420071 0.02659734
+v -0.07152092 0.14930737 0.02639237
+v -0.05301688 0.14830976 0.02663661
+v -0.07152092 0.14854980 0.02619023
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+f 1 11 20
+f 1 20 25
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+f 24 30 25
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+f 27 31 28
+f 28 31 32
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+f 28 33 34
+f 29 34 30
+f 30 34 35
+f 33 35 34
+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_2.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fede99f429b8d1c102ba0637d046bac68ab19ae3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_2.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.01828061 0.14852119 -0.00147244
+v -0.01950164 0.14851572 -0.00147244
+v -0.01828061 0.13674165 -0.00147249
+v -0.01828061 0.14836546 -0.00816350
+v -0.02510686 0.14836819 -0.00816350
+v -0.04755658 0.14837639 -0.00816349
+v -0.06439147 0.14837365 -0.00816349
+v -0.07561152 0.14836000 -0.00816350
+v -0.03072170 0.14841189 -0.00147244
+v -0.01828061 0.12060663 -0.00752381
+v -0.10395489 0.12060661 -0.00147255
+v -0.01828061 0.14832993 -0.00929344
+v -0.04755658 0.14818787 -0.01339786
+v -0.01828061 0.14819061 -0.01339786
+v -0.01950164 0.14819061 -0.01339786
+v -0.06439147 0.14818513 -0.01339786
+v -0.06999669 0.14818241 -0.01339786
+v -0.07561152 0.14817693 -0.01339786
+v -0.08121674 0.14812776 -0.01339786
+v -0.08121674 0.14830534 -0.00816350
+v -0.07561152 0.14792278 -0.00147245
+v -0.01828061 0.12060666 -0.01603040
+v -0.11567489 0.12060661 -0.00147255
+v -0.05317142 0.14652656 -0.01660749
+v -0.01828061 0.14652656 -0.01660901
+v -0.03072170 0.14652656 -0.01660901
+v -0.06999669 0.14652383 -0.01660596
+v -0.07561152 0.14651836 -0.01660291
+v -0.08121674 0.14648830 -0.01658000
+v -0.08683157 0.14632162 -0.01645632
+v -0.08683157 0.14784358 -0.01339786
+v -0.08683157 0.14795286 -0.00816350
+v -0.08121674 0.14781895 -0.00147245
+v -0.01828061 0.14298805 -0.01692816
+v -0.10928129 0.12060666 -0.01697253
+v -0.11508841 0.12215317 -0.00147254
+v -0.11650173 0.12060663 -0.00840791
+v -0.05877663 0.14652383 -0.01660749
+v -0.02510686 0.14298805 -0.01692968
+v -0.06999669 0.14298805 -0.01693426
+v -0.08683157 0.14298805 -0.01692663
+v -0.09236949 0.14320664 -0.01673576
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+v -0.08683157 0.14729432 -0.00147245
+v -0.09581146 0.14609754 -0.01006149
+v -0.10366645 0.13177960 -0.01707021
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+v -0.11352126 0.12060666 -0.01681830
+v -0.11336743 0.12653600 -0.00147253
+v -0.11632867 0.12060665 -0.01320709
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+v -0.11276172 0.13001716 -0.01242525
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+v -0.10115708 0.14042229 -0.01618607
+v -0.09418661 0.14522045 -0.01515080
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+v -0.10208969 0.14116277 -0.01339788
+v -0.09107154 0.14632431 -0.00147245
+v -0.10208969 0.14116275 -0.00816352
+v -0.10153205 0.14070095 -0.00147247
+v -0.09805162 0.14292243 -0.00147247
+v -0.09387896 0.14521221 -0.00147246
+v -0.10807949 0.13177960 -0.01663045
+v -0.10328188 0.13707233 -0.01658615
+v -0.11282902 0.12511245 -0.01650526
+v -0.11294439 0.12739672 -0.00147252
+v -0.11386738 0.12665899 -0.01386059
+v -0.11198294 0.12885042 -0.01591585
+v -0.11212716 0.12903618 -0.00147252
+v -0.11041580 0.13148991 -0.00147251
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+v -0.10489711 0.13877187 -0.00816353
+v -0.10433947 0.13830733 -0.00147248
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+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_20.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48692cb18fc5a2622a2b079eed96336109061f7a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_20.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.09305212 0.12052423 -0.00719842
+v 0.09425643 0.11644753 -0.00719843
+v 0.09305212 0.13644946 0.00967221
+v 0.09305212 0.14625231 -0.00719832
+v 0.09776039 0.10931891 -0.00719846
+v 0.09305212 0.14752387 0.00967225
+v 0.10969721 0.10933381 0.00967211
+v 0.09727503 0.14423266 -0.00719833
+v 0.11748897 0.10931891 -0.00719846
+v 0.10934681 0.10931885 0.00754512
+v 0.09868959 0.14452432 0.00967224
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+v 0.09816011 0.14375393 -0.00719833
+v 0.11748897 0.10935632 -0.00719846
+v 0.11956799 0.10931884 0.00967211
+v 0.10323435 0.14204090 0.00967223
+v 0.10224546 0.14104236 -0.00719834
+v 0.11747600 0.10972659 -0.00719846
+v 0.11728912 0.11496271 -0.00719844
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+v 0.11574997 0.12617170 0.00967217
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+v 0.11259382 0.12927978 -0.00719839
+v 0.11102352 0.13176694 -0.00719838
+v 0.10845395 0.13514050 -0.00719836
+f 1 2 3
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+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_21.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d2e964564ea3e294523ea073725ddc565627a3d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_21.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.09305579 0.13644949 0.00967221
+v 0.09305579 0.13804797 0.01801854
+v 0.09305579 0.14752720 0.00967225
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+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_22.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579b4b05f3e4442d36918fade1d6af3ac43c7c56
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_22.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.04046901 0.16054848 0.01921625
+v 0.03418796 0.16029389 0.01921625
+v 0.04653930 0.16034018 0.01921625
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+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_23.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da39e4af06043a2f171a9755233c795d7c57610f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_23.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.10320275 -0.12060720 -0.00291948
+v -0.11551216 -0.12060720 -0.00291948
+v -0.10726170 -0.12060725 0.00969730
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+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_24.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58b8895fc57451f9ceabf85db912176bf801a0c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_24.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+f 88 93 90
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+f 94 96 95
+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_25.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54e68e388b0c1808882ba3e9b6a68bde37e41fed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_25.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.05241327 0.15976431 0.01759391
+v -0.05301507 0.15975689 0.01759391
+v -0.04755126 0.15974204 0.01759391
+v -0.01828400 0.14852062 -0.00147244
+v -0.01949441 0.14851568 -0.00147244
+v -0.03071443 0.14841178 -0.00147244
+v -0.05301507 0.14795412 -0.00147245
+v -0.05301507 0.14155908 0.01759384
+v -0.04682026 0.15973709 0.01759391
+v -0.01828400 0.15163768 0.00458004
+v -0.01828400 0.13674252 -0.00147249
+v -0.04193785 0.15951939 0.01759391
+v -0.05301507 0.13764054 -0.00147248
+v -0.04193785 0.13743761 0.01759382
+v -0.01828400 0.15208792 0.00690361
+v -0.03675624 0.15887866 0.01759390
+v -0.01949441 0.13673263 -0.00147249
+v -0.01828400 0.13473865 0.00759968
+v -0.02510782 0.13478071 0.00661241
+v -0.02916062 0.13453330 0.01029464
+v -0.03632784 0.13564407 0.01278059
+v -0.03477403 0.13705918 -0.00147249
+v -0.02916062 0.13453330 0.00974594
+v -0.03632784 0.13719022 0.01759382
+v -0.01828400 0.15219923 0.00754563
+v -0.03626664 0.15860159 0.01759390
+v -0.01828400 0.15196173 0.01111589
+v -0.02510782 0.13683406 -0.00147249
+v -0.01828400 0.13593103 0.01234760
+v -0.02078981 0.13451104 0.01031517
+v -0.02078981 0.13451105 0.00933349
+v -0.01914761 0.13472876 0.00757168
+v -0.02916062 0.13690827 -0.00147249
+v -0.02510782 0.13449126 0.00922711
+v -0.02510782 0.13449125 0.01037676
+v -0.01828400 0.13906295 0.01613064
+v -0.02956183 0.13862507 0.01759383
+v -0.03005143 0.15394329 0.01759389
+v -0.01828400 0.14697686 0.01611201
+v -0.01828400 0.14977977 0.01373246
+v -0.01828400 0.15025723 0.01316697
+v -0.01828400 0.14299145 0.01684359
+v -0.02514182 0.14299145 0.01759385
+v -0.02748782 0.14851561 0.01759387
+v -0.01828400 0.14383752 0.01669616
+f 1 2 8
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+f 1 14 24
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+f 1 38 26
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+f 1 16 12
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+f 19 34 23
+f 20 23 34
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+f 20 24 21
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+f 24 30 29
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+f 26 40 41
+f 26 41 27
+f 30 35 34
+f 30 34 31
+f 36 42 37
+f 37 42 43
+f 38 44 42
+f 38 42 45
+f 38 45 39
+f 42 44 43
+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_26.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d3250d4cf30e414fb02516af65cadd696d9cbdb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_26.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.05303656 -0.16007658 0.01813422
+v -0.05303656 -0.16006198 0.01801435
+v -0.05303656 -0.15992862 0.02325108
+v -0.06999846 -0.16005365 0.01801435
+v -0.06438731 -0.16006198 0.01801435
+v -0.05877788 -0.16006407 0.01801435
+v -0.05316502 -0.14804018 0.00168489
+v -0.05303656 -0.14804227 0.00169987
+v -0.07053456 -0.16005157 0.01801435
+v -0.05303656 -0.15987652 0.02335596
+v -0.07053456 -0.15973687 0.02325108
+v -0.07053456 -0.14804435 0.00168489
+v -0.06999846 -0.14804435 0.00168489
+v -0.05303656 -0.14627277 0.00168489
+v -0.05303656 -0.15755471 0.02631022
+v -0.07053456 -0.15735879 0.02607797
+v -0.07053456 -0.13878418 0.00168492
+v -0.05303656 -0.13880711 0.00168492
+v -0.05303656 -0.15744842 0.02635017
+v -0.05303656 -0.15412618 0.02719675
+v -0.07053456 -0.15443256 0.02653248
+v -0.07053456 -0.14135825 0.01801442
+v -0.06438731 -0.14136242 0.01801442
+v -0.05303656 -0.14141452 0.01801442
+v -0.05303656 -0.15399487 0.02718676
+v -0.07053456 -0.14923661 0.02637018
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+v -0.07053456 -0.14369675 0.02303138
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+v -0.05303656 -0.14410318 0.02365819
+v -0.05303656 -0.14824453 0.02661742
+v -0.07053456 -0.14643333 0.02565098
+v -0.05303656 -0.14591645 0.02581081
+v -0.05303656 -0.14820076 0.02660244
+f 1 2 8
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+f 26 32 33
+f 29 33 34
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+f 29 31 30
+f 32 35 33
+f 33 35 34
+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_27.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2153c20e214e1becaab059e932aaaa76f61a79b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_27.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.09343489 -0.12060435 -0.00704952
+v -0.07053903 -0.12934908 -0.00704956
+v -0.11623681 -0.12060435 -0.00704952
+v -0.10320522 -0.12060437 -0.00291948
+v -0.07053903 -0.13686688 -0.00291954
+v -0.07053903 -0.14809240 -0.00704962
+v -0.11383000 -0.12659651 -0.00704955
+v -0.11321712 -0.12658845 -0.00291950
+v -0.11551208 -0.12060437 -0.00291948
+v -0.07053903 -0.14765384 -0.00291958
+v -0.07053903 -0.14769688 -0.00332021
+v -0.07442211 -0.14808971 -0.00704962
+v -0.11232241 -0.12924952 -0.00704955
+v -0.11315450 -0.12671761 -0.00291951
+v -0.07561209 -0.14764307 -0.00291958
+v -0.07561209 -0.14808702 -0.00704962
+v -0.11077007 -0.13168998 -0.00704956
+v -0.11051954 -0.13110074 -0.00291952
+v -0.08122645 -0.14755159 -0.00291958
+v -0.08122645 -0.14802782 -0.00704962
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+v -0.10832749 -0.13488920 -0.00704958
+v -0.11043007 -0.13122451 -0.00291952
+v -0.08683634 -0.14707803 -0.00291958
+v -0.08683634 -0.14765920 -0.00704962
+v -0.08564636 -0.14775875 -0.00704962
+v -0.10764303 -0.13578251 -0.00704958
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+v -0.09787717 -0.14369581 -0.00704961
+v -0.09689745 -0.14422857 -0.00704961
+f 1 2 6
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+f 1 16 21
+f 1 21 20
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+f 1 25 31
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+f 1 35 40
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+f 19 24 25
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+f 19 26 20
+f 22 27 23
+f 23 27 28
+f 24 29 30
+f 24 30 25
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+f 27 32 28
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+f 29 31 30
+f 29 34 31
+f 31 34 35
+f 32 36 37
+f 32 37 33
+f 34 38 39
+f 34 39 40
+f 34 40 35
+f 36 39 37
+f 37 39 38
+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_28.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c69243dd97607f8f71626d0d795a0bb7b602abdd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_28.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00296019 -0.13418697 0.01073648
+v 0.01978671 -0.13419717 0.01076587
+v 0.00296019 -0.13418696 0.00867236
+v -0.00265559 -0.13419973 0.01070191
+v 0.03662017 -0.13669367 0.01801450
+v 0.01978671 -0.13419716 0.00849257
+v 0.02539555 -0.13429162 0.01066733
+v -0.00265559 -0.13419972 0.00866199
+v 0.00856903 -0.13419461 0.00841651
+v -0.01828121 -0.13438352 0.01041494
+v 0.03666182 -0.13722462 0.01921597
+v 0.03387823 -0.13449328 0.01023169
+v 0.04224289 -0.13776322 0.01921596
+v 0.04223595 -0.13740330 0.01801450
+v 0.01978671 -0.13472300 0.00587352
+v 0.01417787 -0.13463110 0.00562977
+v 0.01417787 -0.13421759 0.00824882
+v 0.02539555 -0.13429161 0.00915122
+v -0.01828121 -0.13468471 0.00658922
+v -0.01828121 -0.13444477 0.00864124
+v -0.01828121 -0.13438351 0.00920827
+v -0.01828121 -0.13571344 0.01246695
+v 0.03173326 -0.13858772 0.01921596
+v -0.01828121 -0.13609124 0.01303225
+v -0.01828121 -0.13889402 0.01618029
+v 0.03387823 -0.13449328 0.01012105
+v 0.05263452 -0.13878676 0.00155855
+v 0.05263452 -0.14165086 0.01921595
+v 0.05263452 -0.14153089 0.01895146
+v 0.05263452 -0.14124500 0.01801448
+v 0.02539555 -0.13488381 0.00653389
+v 0.03181656 -0.13722200 0.00155856
+v 0.02620078 -0.13687995 0.00155856
+v 0.02059194 -0.13666808 0.00155856
+v 0.01978671 -0.13665277 0.00155856
+v 0.01499004 -0.13656598 0.00155856
+v 0.01417787 -0.13656343 0.00155856
+v -0.01828121 -0.13658385 0.00155856
+v 0.02787371 -0.14291442 0.01921595
+v -0.01828121 -0.14206438 0.01677151
+v -0.01828121 -0.14291441 0.01691672
+v 0.05263452 -0.14805534 0.00155852
+v 0.05263452 -0.15989702 0.01921588
+v -0.01828121 -0.14961499 0.00155851
+v 0.02586064 -0.14853019 0.01921592
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+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_29.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ba65d7ccc35d944e236a7fa11a9f47a0bc06b2e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_29.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_3.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..692e1303d861bad8bc31f64e02eee7ba2aab3e17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_3.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_30.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5aae6ba9e629507ce5c56e0ae8bd8891a545c43
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_30.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.00265631 0.17050889 0.02849046
+v -0.00265631 0.16941343 0.02435279
+v -0.00826658 0.16935597 0.02444668
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+v -0.00826658 0.16926513 0.03279612
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_31.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d6c347948c40fcd2c5376101c3b6e5c7f8b82b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_31.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_32.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86522e0b4300b83236c3af57ec9ef7e3e6b47444
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_32.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_4.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b140add0485868f2879649a2309e790d27d24d8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_4.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_5.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69fc6428dda45133bc4522ba7169810c7e2fbde9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_5.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_6.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7572796ee5f652307d39f9355b271aa487b7333
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_6.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_7.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3d2e9c4936373f707bcfd1170a3b0152969ae2a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_7.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_8.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afd54a5a292cc4d526cc4ea4d238db41923fbab0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_8.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_9.obj b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83d5209102b044c05c81d7f58b5d7124964e724f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/mesh/tray_071_collision_9.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/tray_071.xml b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/tray_071.xml
new file mode 100644
index 0000000000000000000000000000000000000000..35258ea9b95454526316f1b23b6dfdf8dcc083b6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/mjcf/tray_071.xml
@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_071">
+  <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/tray_071.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_071_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_071_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_071_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_071_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_071_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_071_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_071_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_071_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_071_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_071_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_071_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_071_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_071_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_071_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_071_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_071_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_071_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_071_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_071_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_071_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_071_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_071_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_071_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_071_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tray_071_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tray_071_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tray_071_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tray_071_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/tray_071_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/tray_071_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/tray_071_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/tray_071_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/tray_071_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_071">
+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" 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/3d03497f6a2257f59f79b513b60869ff/textures/material_0.png b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:deec1c732d16dd1fceefde2369b0275ead553ff296555e238b37eda644bb7d72
+size 19223064
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/tray_071.urdf b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/tray_071.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1ebb4dfa7844c19f4635ad5df40f0302f65375e9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/tray_071.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_071">
+   <link name="tray_071">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_071.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_071_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <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>1.000000</scale>
+         <uuid>3d03497f6a2257f59f79b513b60869ff</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>handled serving tray</name>
+         <color>brown,beige</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular ornate tray with rope handles and raised rim</description>
+         <min_height>0.0542</min_height>
+         <max_height>0.0542</max_height>
+         <real_height>0.0542</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201236</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.129708 -0.169567 -0.016118</min>
+            <max>0.130006 0.169643 0.038065</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/tray_071.usd b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/tray_071.usd
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+size 4796675
diff --git a/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/video.mp4 b/dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/video.mp4
new file mode 100644
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