diff --git a/.gitattributes b/.gitattributes
index a60b13ba63afee36a47b69c36a7b33cbc7beebc1..0449f07d2c261a04cc84f759c381c329cca3ba15 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4615,3 +4615,4 @@ dataset/kitchen_supplies/utensils/f1e1397147cb582a8d9d8fea8a2a5c2c/mesh/spatula.
 dataset/kitchen_supplies/utensils/f1e1397147cb582a8d9d8fea8a2a5c2c/mesh/spatula_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/ec38d04d02985d99ab9c64156be62936/mesh/spatula_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/ec38d04d02985d99ab9c64156be62936/spatula_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/fcf659def3ef50d390174a7255c39691.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/fcf659def3ef50d390174a7255c39691.urdf b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/fcf659def3ef50d390174a7255c39691.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c4cca503dfa64c30f125fa5b9c6f9ed23509d8ce
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/fcf659def3ef50d390174a7255c39691.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="metal_tray">
+   <link name="metal_tray">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_tray.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_tray_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.256039</scale>
+         <version>v0.1.5</version>
+         <category>metal tray</category>
+         <description>rectangular black metal tray with slightly curved edges</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20251011221757</generate_time>
+         <gs_model>mesh/metal_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.7332504987716675</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/fcf659def3ef50d390174a7255c39691.usd b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/fcf659def3ef50d390174a7255c39691.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6548f7c7309b009c968fb030b37c073ca0daa376
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/fcf659def3ef50d390174a7255c39691.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38f4c1bdbf3ea8b7e92a8c0b4bc85af2500bfee1a9f2bdbb31b33d08db7eb148
+size 990940
diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/material.mtl b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/material_0.png b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..21568bc1b7975c53640b9b1d0afccde939814c49
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc0f840f1185cadeb17d065b3e14c676ab4f17d82cbc5eedfffcd25b47d95ff9
+size 229077
diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/metal_tray.glb b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/metal_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..90d3b1238f9780393f08e4acf5d1f754464683cd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/metal_tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:027ae35ae6197e110f627d666e17157280f024375cd4e9c88f87a3c782deae75
+size 889152
diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/metal_tray.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..482a7a05bdd6f8630d91d5fe8e9c0aad632e1f90
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/metal_tray.obj
@@ -0,0 +1,60220 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d405031dac6339ba8ca5ea8167767a66f7dbb4aa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/metal_tray_collision.obj
@@ -0,0 +1,6035 @@
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/metal_tray_gs.ply b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/metal_tray_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5ab3aee4d1c1872d5cafbc4b9573e942044d09f0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mesh/metal_tray_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:919d1eb92dca83c1f3bbfa95feb6d7568ec4600fb80310c33e21a8c50e1f05a3
+size 15531626
diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/fcf659def3ef50d390174a7255c39691.xml b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/fcf659def3ef50d390174a7255c39691.xml
new file mode 100644
index 0000000000000000000000000000000000000000..31e8b02a1cfcb818d71505321a5ef16f9fa863e5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/fcf659def3ef50d390174a7255c39691.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="metal_tray">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/metal_tray.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/metal_tray_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/metal_tray_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/metal_tray_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/metal_tray_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/metal_tray_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/metal_tray_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/metal_tray_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/metal_tray_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/metal_tray_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/metal_tray_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/metal_tray_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/metal_tray_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/metal_tray_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/metal_tray_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/metal_tray_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/metal_tray_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/metal_tray_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/metal_tray_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="metal_tray">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..21568bc1b7975c53640b9b1d0afccde939814c49
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc0f840f1185cadeb17d065b3e14c676ab4f17d82cbc5eedfffcd25b47d95ff9
+size 229077
diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eceaaa1417d779cda046e14046ecd8b881b1d93c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray.obj
@@ -0,0 +1,60220 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e9413b5e8ce7d7513c3e3fbeb90279863923917
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision.obj
@@ -0,0 +1,6035 @@
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_0.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23b47c97343dbfc57f6c819d223bc7c15bff49c2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_0.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_1.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c277ddd354f72c080ed02c6f927cafd5980d0e1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_1.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_10.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..790677401473f574b575398f6ac624ef892c7659
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_10.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_11.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b97f182d9856f0b9e7c0a270cfe84856709731d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_11.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_12.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5063028198fa23b7c215846b32af42de8f0f2697
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_12.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_13.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb5692b634113cf93cf9d19f304ff9478e80c4da
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_13.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_14.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32fa7b92fe8dd42999c547d08b495ccc39eb6e31
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_14.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_15.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fad41fb81015b48d0f465c0f3dafcf7e79aa35a8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_15.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_16.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c0f3717a28a8a3fdb363ae30f7975370d198794
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_16.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_17.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f48515ba71ba8be2210abc0a54c01d1506fcef
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_17.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_2.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35c72a1b98a34d162a267c1d1c983a59d9f7e5c1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_2.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_3.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ecd0d4d7bf4d2b864cabb83b664dcf8840f3f10
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_3.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_4.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..948f6a6801de849e704dcf980944a1d9f0c6239f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_4.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_5.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f85e6889a9b86207e31ac8665b0a981f3513df2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_5.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_6.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0802e83b02ccf4c87c78b4e42aeef03a954e7a73
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_6.obj
@@ -0,0 +1,634 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_7.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f994f283b9b4a524c7b173bff04a83c1c5065525
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_7.obj
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_8.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91e6bd363f42f466653e667d41cc48df298ec24f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_8.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_9.obj b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..381790f49843d29959947865e0d93ec5407498c5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/mjcf/mesh/metal_tray_collision_9.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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