diff --git a/.gitattributes b/.gitattributes
index 1d16b1a181bbf8dee365dcc97f6e545bd666fae9..8167583cfc376fe9bc58457fee32bfab43922d4d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4452,3 +4452,5 @@ dataset/kitchen_supplies/tableware/e06fce747ae153fe8328add42605b2b4/chopsticks_0
 dataset/kitchen_supplies/tableware/e06fce747ae153fe8328add42605b2b4/mesh/chopsticks_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/e06fce747ae153fe8328add42605b2b4/mesh/chopsticks_002.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/e06fce747ae153fe8328add42605b2b4/mjcf/mesh/chopsticks_002.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/tray_069.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/material.mtl b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c7fcb99dadfa2ada9f6481716084cfe060a47cd1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_069_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_069_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/material_0.png b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9592fceea7716e38fb2c97f4463469d80085bb4a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4f7abe533d3f0f411d4a72835f90698752011ffa348fd28735818138b5c2399
+size 14024102
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069.glb b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bc2f02a52c4bcbefef880a1ea4b81afecdfa3065
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7199457f426090cd02f692a787652695c8493b4ab66f7685ea98e025118fa25
+size 16746764
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069.mtl b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2efee4421e08919e182e2be35e9a47e688f3795f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069.mtl
@@ -0,0 +1,6 @@
+newmtl tray_069_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/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069.obj
new file mode 100644
index 0000000000000000000000000000000000000000..175f79d36d1bc5c448611b0b88e4472b6661ece6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069.obj
@@ -0,0 +1,107980 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl tray_069_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069_collision.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c89e56e7eb322058e4327fea62a29e147a51c9c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069_collision.obj
@@ -0,0 +1,6145 @@
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diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9592fceea7716e38fb2c97f4463469d80085bb4a
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diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9592fceea7716e38fb2c97f4463469d80085bb4a
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diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069.obj
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+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069.obj
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diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01f49badfdf4647993a741ccf5161229d0f8ae90
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision.obj
@@ -0,0 +1,6145 @@
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diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_0.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c31650fc1ad4f3f5a9d92f4f873ea66fa677533b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_0.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_1.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe5b89da00f7702d430dd788fe1da27f13e1c726
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_1.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_10.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1262149089c9594ba997bcb414f05588deaf8ef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_10.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_11.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4498571ab7a9af3f61605602a5f0d99a350167c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_11.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.08868674 -0.14884418 -0.01350618
+v -0.07998564 -0.15115229 -0.01336456
+v -0.08638926 -0.15115229 -0.01336456
+v -0.09296885 -0.15097566 -0.01336455
+v -0.09296885 -0.14884418 -0.01349404
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+v -0.08638926 -0.15469534 -0.01290326
+v -0.09278311 -0.15115229 -0.01335242
+v -0.09296885 -0.15109142 -0.01335241
+v -0.09296885 -0.14884424 0.00177775
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_12.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9689504e6479e9d1b09d78b049d36451fef0d34b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_12.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.09509143 -0.14884418 -0.01351034
+v -0.09296885 -0.14884418 -0.01349411
+v -0.09296885 -0.15097566 -0.01336430
+v -0.10559773 -0.14884418 -0.01339270
+v -0.09296885 -0.14884424 0.00177887
+v -0.09296885 -0.15109142 -0.01335213
+v -0.10559773 -0.15012069 -0.01325883
+v -0.10734491 -0.14884418 -0.01329128
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_13.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7de37f22662f9d9351eb90363dd9bbd2425016cd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_13.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.13759586 0.00318653 0.02788133
+v -0.14286055 0.02890751 0.02518271
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diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_14.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f88ac139c20839a2d48981aa52ce6fe8976726
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_14.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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+v -0.00317183 -0.19356544 0.02793488
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_15.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe95140dff6b0eddfad65ce2647986e298d0d847
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_15.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.09931357 -0.14884276 0.00360023
+v 0.11683974 -0.13185254 0.00360030
+v 0.12384060 -0.14884276 0.00360023
+v 0.12156236 -0.14884283 0.02266227
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_16.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c334b9fd438a2673f8e25cf3ffaaa865e94216b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_16.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.13759807 -0.00006541 0.02788064
+v -0.13153640 -0.00006540 0.02541974
+v -0.14285660 -0.00006540 0.02518225
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+v -0.10112658 -0.01612269 -0.01395054
+v -0.10112658 -0.13182644 -0.01392639
+v -0.14223521 -0.00006537 0.01559254
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_17.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..537470e5f6de2152b3566fe3116a91d62c5c76ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_17.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+v -0.10113077 -0.14472023 -0.01379814
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_18.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdd29f0453c5efa86e69b68ee27f24752d64af12
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_18.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.09911941 0.14877755 0.00391164
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+v -0.09911941 0.12536239 -0.00202183
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_19.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80f21318034c2fd0a4b5ef21c3c7ff30cc6107d0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_19.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.13764628 -0.00006541 0.02786246
+v 0.13156520 0.00961973 0.02540698
+v 0.13457609 -0.00006541 0.02662242
+v 0.14290582 -0.00006540 0.02517366
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_2.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd5a4ffbd844c18d669232c157f75f9c81923cfc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_2.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_20.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c0297eadc6bdae02dd114260457e0837e44b5c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_20.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_21.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..062c4ba6f82caff735aebc858c9df74169710d06
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_21.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+f 16 22 21
+f 16 21 20
+f 17 28 29
+f 17 29 18
+f 17 22 28
+f 18 29 19
+f 22 26 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 28
+f 23 34 27
+f 23 27 24
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 25 27 38
+f 25 38 35
+f 26 39 40
+f 26 40 30
+f 26 37 39
+f 27 34 38
+f 28 33 41
+f 28 41 29
+f 30 40 31
+f 31 40 42
+f 31 42 32
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 33
+f 33 45 46
+f 33 46 47
+f 33 47 41
+f 34 48 38
+f 35 49 50
+f 35 50 36
+f 35 38 49
+f 36 39 37
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 40
+f 36 40 39
+f 38 48 49
+f 40 53 54
+f 40 54 43
+f 40 43 42
+f 43 54 44
+f 44 55 45
+f 45 56 46
+f 45 55 56
+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_22.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c90f51735c27120c25ab7aa5f21351965b55d1f6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_22.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.10329482 0.16505996 0.00944490
+v -0.10558595 0.16505995 0.01010132
+v -0.11838751 0.16863937 0.01580032
+v -0.11308606 0.17018645 0.01553889
+v -0.11160659 0.17018645 0.01520221
+v -0.09872282 0.16626682 0.00944490
+v -0.02244773 0.16505996 0.00944490
+v -0.11818202 0.16505994 0.01377839
+v -0.12235331 0.16764026 0.01642852
+v -0.11838751 0.17018644 0.01866675
+v -0.11096959 0.17018645 0.01508748
+v -0.10531882 0.17018646 0.01412637
+v -0.09940092 0.17018646 0.01327246
+v -0.09877419 0.17018646 0.01322167
+v -0.09278439 0.17018646 0.01282105
+v -0.09278439 0.16653479 0.00944490
+v -0.02944441 0.16667279 0.00944490
+v -0.03037935 0.16743202 0.01051324
+v -0.03284514 0.17018645 0.01735015
+v -0.02671149 0.17018640 0.02865973
+v -0.03074922 0.16620652 0.02865971
+v -0.03216705 0.16534190 0.02865971
+v -0.03257802 0.16505989 0.02824592
+v -0.11964095 0.16505994 0.01421287
+v -0.12392526 0.16505993 0.01576833
+v -0.12739791 0.16505992 0.01977455
+v -0.12640132 0.16593659 0.01977455
+v -0.12320607 0.16820679 0.01977456
+v -0.11950738 0.17018644 0.01977457
+v -0.09197273 0.17018646 0.01278908
+v -0.08638360 0.16675057 0.00944490
+v -0.03518764 0.16673852 0.00944490
+v -0.06606139 0.17018646 0.01264613
+v -0.06079076 0.17018646 0.01272325
+v -0.05976335 0.17018646 0.01276463
+v -0.03771508 0.17018645 0.01561788
+v -0.03495134 0.17018645 0.01655079
+v -0.05361942 0.17018646 0.01316901
+v -0.04763988 0.17018646 0.01396837
+v -0.05821196 0.17018640 0.02865973
+v -0.03369790 0.16505988 0.02865971
+v -0.12718216 0.16505991 0.02087109
+v -0.12298004 0.16807529 0.02394818
+v -0.11940464 0.17018643 0.02069619
+v -0.08638360 0.17018646 0.01267999
+v -0.08533565 0.17018646 0.01266870
+v -0.07998283 0.16681129 0.00944490
+v -0.06493123 0.16684391 0.00944490
+v -0.06719154 0.17018646 0.01263673
+v -0.05961951 0.16867946 0.02865972
+v -0.09938037 0.17018641 0.02739015
+v -0.11087712 0.16505989 0.02763652
+v -0.05449272 0.16505988 0.02865971
+v -0.12456226 0.16505990 0.02523655
+v -0.12393554 0.16505990 0.02549423
+v -0.11838751 0.16930474 0.02503907
+v -0.11718543 0.17018642 0.02376762
+v -0.07998283 0.17018646 0.01264425
+v -0.07359232 0.16683487 0.00944490
+v -0.06719154 0.16684692 0.00944490
+v -0.07246217 0.17018646 0.01263297
+v -0.05938321 0.16659794 0.02865971
+v -0.10578115 0.17018641 0.02706664
+v -0.11741146 0.16505989 0.02742963
+v -0.05669139 0.16538406 0.02865971
+v -0.11838751 0.16505989 0.02723214
+v -0.11499705 0.17018642 0.02527043
+v -0.07887322 0.17018646 0.01264049
+v -0.07134229 0.16683990 0.00944490
+v -0.10582225 0.17018641 0.02705912
+v -0.11288058 0.17018642 0.02569738
+v -0.11300386 0.17018642 0.02567293
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 31
+f 1 31 47
+f 1 47 59
+f 1 59 69
+f 1 69 60
+f 1 60 48
+f 1 48 32
+f 1 32 17
+f 1 17 7
+f 1 7 23
+f 1 23 41
+f 1 41 53
+f 1 53 52
+f 1 52 64
+f 1 64 66
+f 1 66 55
+f 1 55 54
+f 1 54 42
+f 1 42 26
+f 1 26 25
+f 1 25 24
+f 1 24 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 29
+f 4 29 44
+f 4 44 57
+f 4 57 67
+f 4 67 72
+f 4 72 71
+f 4 71 70
+f 4 70 63
+f 4 63 51
+f 4 51 40
+f 4 40 20
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+f 4 19 37
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+f 4 34 33
+f 4 33 49
+f 4 49 61
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+f 4 45 30
+f 4 30 15
+f 4 15 14
+f 4 14 13
+f 4 13 12
+f 4 12 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 8 24 9
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 10
+f 9 24 25
+f 15 30 16
+f 16 30 31
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 36 37
+f 18 37 19
+f 18 35 38
+f 18 38 39
+f 18 39 36
+f 20 40 50
+f 20 50 62
+f 20 62 65
+f 20 65 53
+f 20 53 41
+f 20 41 22
+f 20 22 21
+f 22 41 23
+f 26 42 27
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 29
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 32 48 49
+f 32 49 33
+f 40 51 52
+f 40 52 50
+f 42 54 43
+f 43 54 55
+f 43 55 56
+f 43 56 57
+f 43 57 44
+f 46 58 47
+f 47 58 59
+f 48 60 49
+f 49 60 61
+f 50 52 62
+f 51 63 64
+f 51 64 52
+f 52 53 65
+f 52 65 62
+f 55 66 56
+f 56 66 67
+f 56 67 57
+f 58 68 59
+f 59 68 69
+f 60 69 68
+f 60 68 61
+f 63 70 64
+f 64 71 72
+f 64 72 67
+f 64 67 66
+f 64 70 71
+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_23.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61d04133f63ffa94a47a8b024f884f97537116ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_23.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.05961233 0.16867946 0.02865972
+v -0.05820419 0.17018640 0.02865973
+v -0.05937649 0.16659794 0.02865971
+v -0.05923775 0.16677408 0.02883216
+v -0.04633558 0.17018638 0.03554837
+v -0.04981778 0.17018639 0.03369288
+v -0.02669792 0.17018640 0.02865973
+v -0.05704577 0.16554765 0.02865971
+v -0.04501762 0.16708870 0.03459240
+v -0.04193080 0.17018638 0.03655117
+v 0.00321987 0.17018640 0.03035554
+v -0.03074198 0.16620652 0.02865971
+v -0.05667813 0.16538406 0.02865971
+v -0.04759805 0.16505988 0.03041194
+v -0.04453205 0.16708870 0.03459240
+v -0.00318266 0.17018636 0.03953508
+v -0.04897845 0.16505988 0.03034488
+v 0.00957384 0.17018639 0.03156592
+v -0.03369006 0.16505988 0.02865971
+v -0.03216399 0.16534190 0.02865971
+v -0.03119286 0.16593103 0.02865971
+v -0.05448614 0.16505988 0.02865971
+v -0.04197936 0.16505988 0.03013410
+v -0.00318266 0.16908539 0.03746028
+v -0.00060916 0.17018637 0.03944247
+v 0.00962240 0.17018639 0.03170006
+v 0.00962240 0.16996357 0.03746028
+v 0.00321987 0.16926505 0.03746028
+v -0.03527162 0.16505988 0.02924627
+v -0.03651328 0.16505988 0.02955711
+v 0.00321987 0.17018637 0.03923488
+v 0.01123864 0.17018637 0.03746029
+v 0.01014958 0.17018637 0.03779136
+v 0.00962240 0.17018637 0.03791166
+v 0.00523150 0.17018637 0.03888465
+f 1 2 7
+f 1 7 12
+f 1 12 21
+f 1 21 20
+f 1 20 19
+f 1 19 22
+f 1 22 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 10
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+f 2 16 25
+f 2 25 31
+f 2 31 35
+f 2 35 34
+f 2 34 33
+f 2 33 32
+f 2 32 26
+f 2 26 18
+f 2 18 11
+f 2 11 7
+f 3 8 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 7 11 12
+f 8 13 9
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 9 13 17
+f 9 17 14
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 22 17
+f 14 23 24
+f 14 24 15
+f 14 17 22
+f 14 22 19
+f 14 19 29
+f 14 29 30
+f 14 30 23
+f 15 24 16
+f 16 24 25
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 23 30 28
+f 23 28 24
+f 24 28 25
+f 25 28 31
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 28 35 31
+f 28 30 29
+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_24.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c5fd2c691b89ffeaa3963921ce9a2e3f1adc843
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_24.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.01864423 -0.16400652 0.00450294
+v 0.02239340 -0.16400652 0.00451534
+v 0.02239340 -0.16579291 0.00795174
+v -0.02282677 -0.16609583 0.00856286
+v -0.00317353 -0.16400652 0.00451622
+v 0.02239340 -0.16400655 0.01351998
+v 0.02239340 -0.16580948 0.00798451
+v -0.02282677 -0.16462648 0.01308423
+v -0.02282677 -0.16567285 0.00774627
+v -0.00957411 -0.16400652 0.00452065
+v -0.01649701 -0.16400655 0.01355098
+v 0.02239340 -0.16401656 0.01348987
+v -0.02282677 -0.16400655 0.01312674
+v -0.02282677 -0.16400652 0.00453482
+v -0.02257004 -0.16400652 0.00453217
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 14
+f 1 14 13
+f 1 13 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 7
+f 2 7 3
+f 3 7 4
+f 4 8 13
+f 4 13 14
+f 4 14 9
+f 4 9 5
+f 4 7 8
+f 5 9 10
+f 6 11 8
+f 6 8 12
+f 7 12 8
+f 8 11 13
+f 9 14 15
+f 9 15 10
+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_25.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b592af87d8f4c19b959f7d4fdc98d62007b6e32a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_25.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.03414334 0.16505997 0.00669274
+v -0.03518974 0.16673828 0.00944463
+v 0.02246043 0.16505996 0.00712678
+v -0.06619994 0.16505997 0.00670190
+v -0.06718478 0.16684673 0.00944463
+v -0.06491964 0.16684376 0.00944463
+v -0.02945304 0.16667251 0.00944463
+v 0.02246043 0.16550425 0.00797951
+v 0.02246043 0.16505996 0.00935653
+v -0.07358625 0.16505997 0.00672911
+v -0.07358625 0.16683466 0.00944463
+v -0.07133343 0.16683974 0.00944463
+v -0.02244835 0.16505996 0.00944463
+v 0.02242349 0.16505996 0.00943547
+v 0.02246043 0.16506435 0.00942954
+v 0.02242349 0.16550653 0.00798543
+v -0.07998772 0.16505997 0.00676144
+v -0.07998772 0.16681122 0.00944463
+v -0.10330384 0.16505996 0.00944463
+v -0.08638919 0.16505996 0.00684793
+v -0.08638919 0.16675036 0.00944463
+v -0.09872434 0.16626654 0.00944463
+v -0.09876126 0.16505996 0.00806114
+v -0.09279066 0.16505996 0.00714726
+v -0.09279066 0.16653433 0.00944463
+v -0.09818267 0.16505996 0.00796765
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 13
+f 1 13 19
+f 1 19 23
+f 1 23 26
+f 1 26 24
+f 1 24 20
+f 1 20 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 5
+f 2 5 12
+f 2 12 11
+f 2 11 18
+f 2 18 21
+f 2 21 25
+f 2 25 22
+f 2 22 19
+f 2 19 13
+f 2 13 7
+f 3 8 15
+f 3 15 9
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 15
+f 9 15 14
+f 10 17 11
+f 11 17 18
+f 17 20 18
+f 18 20 21
+f 19 22 23
+f 20 24 21
+f 21 24 25
+f 22 25 24
+f 22 24 26
+f 22 26 23
+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_26.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7faf60725ceed07734ed6f149113660392fcd937
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_26.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.06717441 -0.17332878 0.01492169
+v -0.06078337 -0.17332879 0.01499662
+v -0.06717441 -0.17458610 0.01595189
+v -0.07357835 -0.17457974 0.01595938
+v -0.07357835 -0.17332878 0.01493543
+v -0.06078337 -0.17454300 0.01599560
+v -0.05437942 -0.17332879 0.01560599
+v -0.08638624 -0.17606960 0.01977423
+v -0.05413411 -0.17615025 0.01999775
+v -0.06078337 -0.17610413 0.01977423
+v -0.07998230 -0.17457117 0.01597062
+v -0.08638624 -0.17456234 0.01598311
+v -0.07998230 -0.17332878 0.01495666
+v -0.05437942 -0.17417813 0.01634649
+v 0.00962131 -0.17615027 0.02543595
+v -0.04695549 -0.17615026 0.02059839
+v 0.01314607 -0.17332883 0.02767867
+v 0.01859459 -0.17422790 0.02767867
+v 0.01859459 -0.17615028 0.02664971
+v -0.09279019 -0.17604198 0.01977423
+v -0.09279019 -0.17454853 0.01600059
+v -0.05446980 -0.17615028 0.02605532
+v -0.05413411 -0.17615028 0.02684826
+v -0.05356602 -0.17615028 0.02767866
+v -0.08638624 -0.17332879 0.01498538
+v -0.05709077 -0.17332883 0.02767867
+v 0.01859459 -0.17615028 0.02767866
+v -0.09918123 -0.17586825 0.01977423
+v -0.09918123 -0.17446954 0.01606677
+v -0.09279019 -0.17332879 0.01504032
+v -0.09918123 -0.17332882 0.02572317
+v -0.10558517 -0.17332882 0.02524366
+v -0.09918123 -0.17505816 0.02465426
+v -0.10558517 -0.17472643 0.02430337
+v -0.10558517 -0.17523160 0.01977424
+v -0.10558517 -0.17416488 0.01633650
+v -0.09915541 -0.17332879 0.01524886
+v -0.11111115 -0.17332882 0.02411856
+v -0.11060763 -0.17420220 0.02358660
+v -0.10943272 -0.17383978 0.01664119
+v -0.11063345 -0.17420163 0.01977424
+v -0.10558517 -0.17332879 0.01582952
+v -0.11330606 -0.17332880 0.01977424
+v -0.11271215 -0.17332880 0.01898255
+v -0.10980713 -0.17332879 0.01643390
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 25
+f 1 25 30
+f 1 30 37
+f 1 37 42
+f 1 42 45
+f 1 45 44
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+f 1 26 17
+f 1 17 7
+f 1 7 2
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+f 8 20 21
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+f 8 12 11
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+f 9 16 15
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+f 12 21 13
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+f 17 26 24
+f 17 24 27
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+f 18 27 19
+f 20 28 29
+f 20 29 21
+f 20 24 28
+f 21 29 30
+f 21 30 25
+f 24 26 31
+f 24 31 32
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+f 24 33 28
+f 28 33 34
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 29 37 30
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+f 32 38 34
+f 32 34 33
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+f 35 41 40
+f 36 40 42
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+f 38 43 39
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+f 40 41 43
+f 40 43 44
+f 40 44 45
+f 40 45 42
+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_27.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68959b630ea6e5c11b2ae462cbdd1556a3795bcf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_27.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.06723139 -0.17332878 0.01489456
+v 0.06723139 -0.17460294 0.01593697
+v 0.06500375 -0.17332878 0.01492585
+v 0.07137109 -0.17332878 0.01489707
+v 0.07363586 -0.17460239 0.01593822
+v 0.06083621 -0.17612955 0.01977494
+v 0.05444103 -0.17608922 0.01977494
+v 0.06083621 -0.17454715 0.01599578
+v 0.06083621 -0.17332879 0.01499468
+v 0.07778484 -0.17332878 0.01490332
+v 0.08003104 -0.17459936 0.01594197
+v 0.07363586 -0.17612236 0.01977494
+v 0.06723139 -0.17612679 0.01977494
+v 0.04838927 -0.17615026 0.02081109
+v 0.04163210 -0.17615026 0.02170332
+v 0.05444103 -0.17420851 0.01632489
+v 0.05444103 -0.17332879 0.01556531
+v 0.05876636 -0.17332879 0.01514609
+v 0.08419858 -0.17332878 0.01491834
+v 0.08643551 -0.17459355 0.01594948
+v 0.08003104 -0.17611712 0.01977494
+v 0.08643551 -0.17610910 0.01977494
+v 0.05463594 -0.17615028 0.02607940
+v 0.01859459 -0.17615028 0.02664878
+v 0.05290024 -0.17332879 0.01582309
+v 0.05087681 -0.17383674 0.01667278
+v 0.05046840 -0.17332879 0.01628986
+v 0.09064946 -0.17332878 0.01495213
+v 0.09283997 -0.17457836 0.01596700
+v 0.09283997 -0.17607789 0.01977494
+v 0.05306731 -0.17615028 0.02767866
+v 0.01859459 -0.17615028 0.02767866
+v 0.01859459 -0.17422790 0.02767867
+v 0.03523691 -0.17332881 0.02068220
+v 0.03775229 -0.17332880 0.01982250
+v 0.09283997 -0.17332879 0.01499217
+v 0.09723028 -0.17332879 0.01509604
+v 0.09923516 -0.17448693 0.01604709
+v 0.09923516 -0.17588676 0.01977494
+v 0.09923516 -0.17505899 0.02465409
+v 0.10163915 -0.17332882 0.02559763
+v 0.09923516 -0.17332882 0.02572277
+v 0.05422755 -0.17570559 0.02767866
+v 0.02311484 -0.17332883 0.02767867
+v 0.03194186 -0.17332881 0.02244665
+v 0.09920731 -0.17332879 0.01522118
+v 0.10563963 -0.17416681 0.01633365
+v 0.10563963 -0.17522717 0.01977495
+v 0.10563963 -0.17472009 0.02427867
+v 0.10563963 -0.17332882 0.02521971
+v 0.05705851 -0.17332883 0.02767867
+v 0.10435872 -0.17332879 0.01563538
+v 0.10947301 -0.17383730 0.01664650
+v 0.11069822 -0.17419582 0.01977495
+v 0.11067965 -0.17419694 0.02356413
+v 0.10822925 -0.17332882 0.02474669
+v 0.10889755 -0.17332879 0.01626107
+v 0.10985358 -0.17332879 0.01643502
+v 0.11341780 -0.17332880 0.01977495
+v 0.11340851 -0.17332880 0.02034558
+v 0.11118087 -0.17332882 0.02409973
+f 1 2 3
+f 1 3 9
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+f 1 18 17
+f 1 17 25
+f 1 25 27
+f 1 27 35
+f 1 35 34
+f 1 34 45
+f 1 45 44
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+f 1 42 41
+f 1 41 50
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+f 1 60 59
+f 1 59 58
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+f 1 57 52
+f 1 52 46
+f 1 46 37
+f 1 37 36
+f 1 36 28
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+f 1 19 10
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+f 1 4 5
+f 1 5 2
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+f 33 44 45
+f 33 45 34
+f 37 46 38
+f 38 46 47
+f 38 47 39
+f 39 47 48
+f 39 48 49
+f 39 49 40
+f 40 49 41
+f 41 49 50
+f 42 51 43
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+f 47 53 48
+f 48 53 54
+f 48 54 55
+f 48 55 49
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+f 49 56 50
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+f 53 57 58
+f 53 58 59
+f 53 59 54
+f 54 59 55
+f 55 59 60
+f 55 60 61
+f 55 61 56
+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_28.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50a3d6bc9e5c701496cd6a7312393b64399216fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_28.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.03518376 -0.16400650 0.00436882
+v -0.06079153 -0.16400650 0.00438363
+v -0.02878182 -0.16400650 0.00438363
+v -0.06719347 -0.16863724 0.01100951
+v -0.06719347 -0.16400650 0.00439251
+v -0.02283716 -0.16400650 0.00453462
+v -0.06079153 -0.16863724 0.01106280
+v -0.07185982 -0.16863724 0.01102431
+v -0.07359542 -0.16863724 0.01103024
+v -0.07076858 -0.16400650 0.00440731
+v -0.02283716 -0.16400653 0.01312935
+v -0.02283716 -0.16567323 0.00774690
+v -0.02878182 -0.16750631 0.01050620
+v -0.03518376 -0.16762507 0.01031376
+v -0.05438959 -0.16863724 0.01141512
+v -0.07359542 -0.16400650 0.00441915
+v -0.07998696 -0.16863724 0.01106576
+v -0.02832453 -0.16863732 0.03179023
+v -0.02283716 -0.16462663 0.01308494
+v -0.03563065 -0.16400658 0.02655880
+v -0.03079801 -0.16646020 0.02999905
+v -0.02283716 -0.16609614 0.00856404
+v -0.02537299 -0.16723252 0.01092366
+v -0.03293892 -0.16863725 0.01366520
+v -0.03518376 -0.16863725 0.01274148
+v -0.07711856 -0.16400650 0.00443988
+v -0.07998696 -0.16400650 0.00446060
+v -0.08638890 -0.16863724 0.01113682
+v -0.02871946 -0.16863732 0.03208037
+v -0.02906242 -0.16863729 0.02412810
+v -0.02283716 -0.16607892 0.00861733
+v -0.04126353 -0.16400658 0.02760687
+v -0.03518376 -0.16598834 0.03047275
+v -0.03518376 -0.16806800 0.03342154
+v -0.02988345 -0.16863726 0.01576430
+v -0.08345814 -0.16400650 0.00450501
+v -0.09279084 -0.16863724 0.01134110
+v -0.08638890 -0.16400650 0.00455238
+v -0.03518376 -0.16863733 0.03404327
+v -0.04425664 -0.16400658 0.02783187
+v -0.04798765 -0.16575580 0.03098791
+v -0.04158570 -0.16778017 0.03380050
+v -0.09275967 -0.16400650 0.00482476
+v -0.08937163 -0.16400650 0.00466192
+v -0.09794566 -0.16863724 0.01174671
+v -0.04158570 -0.16863733 0.03461468
+v -0.11838823 -0.16400658 0.02782595
+v -0.09998264 -0.16863724 0.01206054
+v -0.09913043 -0.16400650 0.00580769
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+v -0.11837783 -0.16863726 0.01561034
+v -0.11923003 -0.16863726 0.01585608
+v -0.12251416 -0.16781410 0.01635050
+v -0.10558434 -0.16400651 0.00817916
+v -0.12507076 -0.16437781 0.02564396
+v -0.11838823 -0.16863729 0.02554032
+v -0.12597494 -0.16400657 0.02538639
+v -0.12149566 -0.16863726 0.01719724
+v -0.12305457 -0.16863727 0.01977300
+v -0.12342871 -0.16843465 0.01977300
+v -0.12662968 -0.16615510 0.01977301
+v -0.12794957 -0.16400655 0.01789301
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+v -0.12470703 -0.16407635 0.01538535
+v -0.12311693 -0.16825065 0.02402744
+v -0.12169312 -0.16863729 0.02435311
+v -0.12899924 -0.16400655 0.01977302
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+f 65 69 71
+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_29.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f90ab09796348521e9e59dd5f5a84ad061ddfab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_29.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.06723671 0.17018719 0.01260914
+v 0.06723671 0.17441079 0.01603679
+v 0.07362947 0.17440791 0.01603986
+v 0.08003177 0.17440430 0.01604447
+v 0.07362947 0.17018719 0.01261990
+v 0.06084395 0.17018719 0.01267367
+v 0.06084395 0.17436239 0.01608595
+v 0.04357109 0.17756531 0.02291819
+v 0.08643406 0.17439996 0.01605215
+v 0.08003177 0.17018719 0.01264448
+v 0.05444165 0.17018719 0.01308695
+v 0.05444165 0.17404167 0.01640091
+v 0.03390096 0.17756530 0.02440846
+v 0.05038305 0.17756530 0.02352198
+v 0.09283636 0.17573992 0.01977631
+v 0.09283636 0.17438118 0.01607212
+v 0.08643406 0.17018719 0.01270747
+v 0.04845856 0.17018719 0.01394424
+v 0.04639115 0.17018719 0.01424384
+v 0.05097374 0.17371083 0.01672047
+v 0.02231586 0.17756529 0.02640574
+v 0.05055454 0.17756530 0.02584189
+v 0.09923865 0.17556367 0.01977630
+v 0.09923865 0.17429161 0.01615355
+v 0.09283636 0.17055558 0.01312536
+v 0.09283636 0.17018719 0.01285035
+v 0.03499659 0.17018718 0.01651920
+v 0.02231586 0.17691878 0.02646258
+v 0.02231586 0.17756529 0.02830469
+v 0.04955419 0.17756529 0.02830469
+v 0.10564094 0.17452851 0.02414112
+v 0.10564094 0.17492511 0.01977630
+v 0.10564094 0.17398678 0.01643624
+v 0.09880039 0.17018719 0.01322522
+v 0.02976615 0.17018715 0.02370786
+v 0.02231586 0.17250590 0.02830160
+v 0.02231586 0.17264676 0.02805117
+v 0.02231586 0.17271105 0.02801583
+v 0.02231586 0.17680537 0.02648563
+v 0.02231586 0.17342329 0.02830468
+v 0.05013535 0.17733269 0.02830469
+v 0.09923865 0.17037567 0.02740743
+v 0.10564094 0.17037567 0.02704485
+v 0.11232905 0.17090950 0.02544549
+v 0.11038550 0.17404309 0.02345898
+v 0.11029022 0.17401277 0.01977630
+v 0.10922318 0.17370144 0.01671279
+v 0.10350684 0.17018719 0.01385974
+v 0.02762252 0.17018714 0.02830467
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+v 0.06033900 0.17018714 0.02830467
+v 0.09923865 0.17018714 0.02737670
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+v 0.11844552 0.17018716 0.02205165
+v 0.11844552 0.17082862 0.01977629
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+v 0.11667347 0.17018718 0.01721210
+v 0.11313887 0.17018718 0.01552978
+v 0.11166214 0.17018718 0.01519485
+v 0.10564094 0.17018719 0.01416241
+v 0.11964596 0.17018717 0.01977629
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 17
+f 1 17 26
+f 1 26 34
+f 1 34 48
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+f 1 60 65
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+f 1 49 35
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+f 1 27 19
+f 1 19 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
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+f 35 49 36
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+f 42 54 55
+f 42 55 43
+f 42 51 52
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+f 43 56 44
+f 44 56 45
+f 45 56 57
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+f 45 58 59
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+f 47 60 61
+f 47 61 62
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+f 47 63 64
+f 47 64 48
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_3.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ccda63ecf26b88f23aff822226a3a9f3b80309e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_3.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v -0.00057428 0.17999525 0.02271668
+v -0.00057428 0.18013650 0.02271668
+v 0.00013086 0.17999525 0.02271668
+v 0.04355573 0.17756677 0.02292299
+v -0.04157817 0.17756676 0.02340039
+v 0.00013086 0.18013650 0.02271668
+v -0.00288949 0.18266163 0.02299738
+v 0.05037209 0.17756676 0.02352514
+v 0.06033806 0.17018961 0.02830635
+v -0.05972378 0.17018961 0.02830635
+v 0.00263411 0.18266163 0.02313412
+v 0.00322172 0.18966456 0.02548758
+v -0.04810072 0.17756676 0.02391858
+v -0.00315980 0.18966456 0.02547079
+v 0.03224999 0.18653231 0.02855111
+v 0.03368377 0.18717163 0.03156907
+v 0.03688041 0.18583100 0.03156906
+v 0.04584744 0.18062465 0.02771143
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diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_30.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdb1f033a7a5c0087e61519fefc8b219f7a9c379
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_30.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_31.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b797c3f890a496f185848d0bccd60c03af7b4721
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_31.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_4.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f6cddea26da46fa7be1e22b2cb6ee881c7a935
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_4.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.06165750 -0.00006526 -0.01396813
+v 0.09283968 -0.00006526 -0.01395184
+v 0.06165750 -0.00006530 -0.00201043
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+v 0.09283968 0.00318376 -0.01395364
+v 0.06400592 -0.00006530 -0.00200862
+v 0.10111321 0.14877754 0.00452567
+v 0.06165750 0.14877755 0.00310632
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+v 0.09923988 -0.00006526 -0.01394641
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+v 0.06723885 -0.00006530 -0.00200681
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_5.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c07153e066c331b806a07be5ebb65d21b2139cbf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_5.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.06165870 -0.14884270 -0.01350570
+v 0.06165870 -0.14884276 0.00289679
+v 0.06165870 -0.14524560 -0.01372067
+v 0.10564120 -0.14472132 -0.01381870
+v 0.08644646 -0.14884270 -0.01350054
+v 0.09930701 -0.14884276 0.00360023
+v 0.11771253 -0.00007988 0.00360078
+v 0.06165870 -0.00007986 -0.00200947
+v 0.06165870 -0.14472132 -0.01375162
+v 0.11245577 -0.14512910 -0.01338529
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+v 0.06723801 -0.13828440 -0.01393563
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+v 0.09923838 -0.13828440 -0.01392187
+v 0.10564120 -0.13184746 -0.01392356
+v 0.11204402 -0.13828440 -0.01377568
+v 0.12384086 -0.14884276 0.00360023
+v 0.13176717 -0.00007988 0.00360078
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+v 0.11843998 -0.12542511 -0.01371372
+v 0.11843998 -0.13184746 -0.01350563
+v 0.12237912 -0.14884275 0.00111328
+v 0.12172030 -0.14802722 -0.00098668
+v 0.12193304 -0.14198346 -0.00749469
+v 0.12628395 -0.14508546 0.00360025
+v 0.13173972 -0.10612896 0.00360039
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+v 0.12731334 -0.14309030 0.00360025
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+v 0.12069091 -0.13997373 -0.01142461
+v 0.12260558 -0.13800770 -0.00955510
+v 0.12815058 -0.14132817 0.00360026
+v 0.13172600 -0.11256588 0.00360037
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+v 0.13148581 -0.12542517 0.00360032
+v 0.11843998 -0.00007982 -0.01375282
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_6.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aee520af0f06b0e9e1e6a91d4f02a449ad3d247f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_6.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.06165365 0.14877755 0.00310666
+v 0.02242036 -0.00006531 0.00080130
+v 0.02882547 -0.00006531 0.00071198
+v 0.06165365 -0.00006530 -0.00200966
+v 0.06165365 0.14877761 -0.01345085
+v -0.09911941 0.14877755 0.00391054
+v -0.02236822 -0.00006531 0.00079779
+v 0.06165365 -0.00006526 -0.01396805
+v 0.06165365 0.14823853 -0.01349114
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+v -0.09911941 0.14877761 -0.01337554
+v -0.09911941 -0.00006530 -0.00202718
+v -0.02877333 -0.00006531 0.00072774
+v -0.02561012 -0.00006531 0.00077678
+v 0.06083530 -0.00006526 -0.01396980
+v 0.06165365 0.00236786 -0.01396979
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+v 0.05443019 0.14877761 -0.01345610
+v -0.09911941 0.14727694 -0.01352792
+v -0.09277725 0.14877761 -0.01342457
+v -0.09911941 -0.00006526 -0.01395404
+v 0.05443019 -0.00006526 -0.01397155
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+v 0.05443019 0.14463985 -0.01376086
+v -0.09911941 0.14463985 -0.01379413
+v -0.02007056 0.14877761 -0.01345960
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+v -0.09595620 -0.00006526 -0.01395754
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+v -0.02877333 -0.00006526 -0.01398206
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+v -0.01597884 0.13178948 -0.01394305
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_7.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac0fba9a8e35911ba87387a6c9f39da52bffaa6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_7.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.06165870 -0.00007986 -0.00201021
+v 0.06165870 -0.14884276 0.00289705
+v 0.06165870 -0.00007982 -0.01396911
+v 0.02881801 -0.00007987 0.00071183
+v 0.06165870 -0.14884270 -0.01350419
+v 0.02242834 -0.00007987 0.00080209
+v -0.10112658 -0.14884277 0.00409347
+v 0.06165870 -0.00048759 -0.01396911
+v 0.05442451 -0.00007982 -0.01397265
+v 0.06083012 -0.14884270 -0.01350596
+v 0.06165870 -0.14472132 -0.01375195
+v -0.02237904 -0.00007987 0.00079855
+v -0.02559778 -0.00007987 0.00077731
+v -0.02876871 -0.00007987 0.00072776
+v -0.10112658 -0.00007986 -0.00202791
+v -0.10112658 -0.14884270 -0.01341747
+v 0.06165870 -0.11981829 -0.01395362
+v 0.05442451 -0.01611388 -0.01397094
+v 0.00961713 -0.02897317 -0.01398515
+v 0.00321152 -0.02897317 -0.01398692
+v -0.02876871 -0.00007982 -0.01398150
+v -0.09508746 -0.14884270 -0.01350950
+v -0.10112658 -0.14472132 -0.01380151
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+v -0.10112658 -0.00007982 -0.01394964
+v -0.10112658 -0.14769221 -0.01352542
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+v -0.09277698 -0.11898819 -0.01394831
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+v -0.10112658 -0.12991057 -0.01393066
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_8.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a3ba8894e6d843776a94be1ae31a4e8ff6f540b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_8.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.11684136 -0.13185254 0.00360030
+v 0.13081432 -0.13185254 0.00360030
+v 0.12806987 -0.13185261 0.02264698
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+v 0.11771483 -0.00007822 0.00360078
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+v 0.13156918 -0.00007830 0.02540946
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+v 0.13162850 -0.12104227 0.00360034
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_9.obj b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c063e6c80c69ae5a2e7f71235507520f7a0a4466
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_9.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.14433022 0.12030355 0.01977359
+v 0.14390292 0.12030355 0.01888584
+v 0.14426676 0.12536231 0.01977361
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+v 0.12251230 0.12030367 -0.01319585
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+v 0.14301869 0.13821962 0.01977366
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+
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/tray_069.xml b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/tray_069.xml
new file mode 100644
index 0000000000000000000000000000000000000000..253580d3a3f20f6b1281ef4acd4412ea0cb5125f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/tray_069.xml
@@ -0,0 +1,78 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_069">
+  <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_069.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_069_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_069_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_069_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_069_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_069_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_069_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_069_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_069_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_069_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_069_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_069_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_069_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_069_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_069_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_069_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_069_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_069_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_069_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_069_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_069_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_069_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_069_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_069_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_069_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tray_069_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tray_069_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tray_069_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tray_069_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/tray_069_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/tray_069_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/tray_069_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/tray_069_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_069">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/textures/material_0.png b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9592fceea7716e38fb2c97f4463469d80085bb4a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4f7abe533d3f0f411d4a72835f90698752011ffa348fd28735818138b5c2399
+size 14024102
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/tray_069.urdf b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/tray_069.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f77dab9e99b48e5e064887421761f5e4fb92841a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/tray_069.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_069">
+   <link name="tray_069">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_069.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_069_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.9000" />
+         <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>f25bf4c29ceb560f83c315ce24abfa0c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>floral serving tray</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular tray with side handles and colorful floral painted interior</description>
+         <min_height>0.0609</min_height>
+         <max_height>0.0609</max_height>
+         <real_height>0.0609</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201150</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.143605 -0.194587 -0.011941</min>
+            <max>0.143655 0.194518 0.048964</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/tray_069.usd b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/tray_069.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bee9b9e227b5de62e99877fe1542404a0044094e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/tray_069.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597324885bee78828119d9716cda89329198acb8246a9436f34f7959b2aaf5d6
+size 4529254
diff --git a/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/video.mp4 b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f84fbb4018d5f022fd19a789b68b2965fe4fb92e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12486d90ed7e65834c85227676993181563d193ecd89cd3ff73d2577c896c8f4
+size 588717