diff --git a/.gitattributes b/.gitattributes
index 7a77218ddd362546445a4c26b8d86f37f9e09dd7..36a4b17110299e5251bcf09c44713c51a8050d8c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4311,3 +4311,6 @@ dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_c
 dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/plate_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/b17fb14e7ba958409554d7fa1ce390ae.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/b17fb14e7ba958409554d7fa1ce390ae.urdf b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/b17fb14e7ba958409554d7fa1ce390ae.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3526b8f0ff4616b9004312fc7d3d88c035e7e0f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/b17fb14e7ba958409554d7fa1ce390ae.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>0.225783</scale>
+         <version>v0.1.7</version>
+         <category>metal tray</category>
+         <description>rectangular black metal tray with slightly raised edges</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20260119212936</generate_time>
+         <gs_model>mesh/metal_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.510345458984375</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/tableware/b17fb14e7ba958409554d7fa1ce390ae/b17fb14e7ba958409554d7fa1ce390ae.usd b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/b17fb14e7ba958409554d7fa1ce390ae.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0aa0a358104691a7a56f3df692d2823ad11fd5af
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/b17fb14e7ba958409554d7fa1ce390ae.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de6b9ed5387d8bd60560bee29a8023e115b829a881187c3cd43e9899b098dd57
+size 496790
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/material.mtl b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/material_0.png b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fdc274ac95aaeefd614e0991be7a7bb9f37404f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:181a55be7183ad09318dfb4f00dd8192ed41945cceb3c60c7dfbf947ae9769c6
+size 1458208
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray.glb b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5edc8944793a3d474cc9aeebfd6338c7cebff9bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1881c7ba4b9b1d51c21c4d58d85b6f8724008979a3cf2f3ebbfa4202f03b73fd
+size 1791012
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc5bab788c1c2077de691ed756e8aedbd16ee287
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray.obj
@@ -0,0 +1,30310 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49cf88bf8f5e78d8001b224b0b310e82ebba0eb7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray_gs.ply b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..39d31b7b51e93087b98cd635fd325c314deaee2b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eee24863bab90c5419fac3b704deb71e4d15b60446c7d6384f8903bcb01541ff
+size 2137321
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/b17fb14e7ba958409554d7fa1ce390ae.xml b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/b17fb14e7ba958409554d7fa1ce390ae.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d2dbfa17bd005981aad9c637e22032d040ca90ee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/b17fb14e7ba958409554d7fa1ce390ae.xml
@@ -0,0 +1,102 @@
+<?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" />
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+    <mesh name="collision_mesh_0_13" file="mesh/metal_tray_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/metal_tray_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/metal_tray_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/metal_tray_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/metal_tray_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/metal_tray_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/metal_tray_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/metal_tray_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/metal_tray_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/metal_tray_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/metal_tray_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/metal_tray_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/metal_tray_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/metal_tray_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_29" file="mesh/metal_tray_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/metal_tray_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/metal_tray_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/metal_tray_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_34" file="mesh/metal_tray_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/metal_tray_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/metal_tray_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/metal_tray_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/metal_tray_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/metal_tray_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/metal_tray_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/metal_tray_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/metal_tray_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/metal_tray_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="metal_tray">
+      <joint type="free" />
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+      <geom type="mesh" mesh="collision_mesh_0_43" 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/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fdc274ac95aaeefd614e0991be7a7bb9f37404f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:181a55be7183ad09318dfb4f00dd8192ed41945cceb3c60c7dfbf947ae9769c6
+size 1458208
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0af3e4ea9caad90c74cc787be8cc719b24b00fad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray.obj
@@ -0,0 +1,30310 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..167311f71ba510fbc3eb43a0f60796150ee5fa3a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision.obj
@@ -0,0 +1,9775 @@
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_0.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d97621380284e138117228aaba5c52d9bedaff45
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_1.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57dd0bce309f46783cbcb06cde008e83dc1f6d98
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_10.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c44843fbe3a37620d25930a681ff5680d0bc31
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_11.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd833318d17e22e47517e19a4d56a94228c608d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_11.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_12.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb776b69cf179a8e1ff4f27b9f18c9f580b2ee24
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_12.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_13.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96d0c93ca0106b39626402d66ed776b2275aa1d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_13.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_14.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efef7c0617fbb33410812fb55059f8b1a387198a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_14.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+f 48 67 60
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+f 73 74 80
+f 74 86 80
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+f 80 85 81
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_15.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1d53e83d304eee81db652f9269e0bea4d85c847
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_15.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.07412138 -0.06487825 -0.00348595
+v -0.08174406 -0.04283290 0.00741192
+v -0.08418463 -0.03662707 0.01089626
+v -0.08420221 -0.04034165 0.01089624
+v -0.08423077 -0.04283291 0.01089623
+v -0.08425054 -0.04401163 0.01089623
+v -0.08430106 -0.04656024 0.01089622
+v -0.08726665 -0.06487193 0.01089615
+v -0.08727983 -0.06487830 0.01089615
+v -0.08555320 -0.06487825 -0.00348595
+v -0.07804256 0.00021300 -0.00348571
+v -0.07833033 0.00021300 -0.00139654
+v -0.07880702 0.00021298 0.00190335
+v -0.08036012 0.00021297 0.00534402
+v -0.08288856 0.00021296 0.00914931
+v -0.08288636 -0.00187689 0.00915211
+v -0.08288417 -0.00560422 0.00915633
+v -0.08408798 -0.00560423 0.01089637
+v -0.08408798 -0.00692313 0.01089636
+v -0.08409237 -0.00932519 0.01089636
+v -0.08409676 -0.01064409 0.01089635
+v -0.09564720 -0.06487830 0.01089615
+v -0.08569599 -0.06487825 -0.00333673
+v -0.08583219 -0.06467436 -0.00348595
+v -0.08420880 0.00021300 -0.00348571
+v -0.08393420 0.00021295 0.01066410
+v -0.08409018 -0.00187690 0.01089638
+v -0.09572409 -0.06467441 0.01089615
+v -0.09351417 -0.06392256 0.00643061
+v -0.08968966 -0.06362944 -0.00017198
+v -0.09318467 -0.06487829 0.00698950
+v -0.08718318 -0.06487825 -0.00156008
+v -0.08652196 -0.06413916 -0.00348595
+v -0.09180512 0.00021295 0.01089639
+v -0.08874946 -0.05772943 -0.00348592
+v -0.08917343 -0.05772943 -0.00276231
+v -0.09013559 -0.05772944 -0.00104198
+v -0.09173921 -0.05772945 0.00190314
+v -0.08409457 0.00021295 0.01089639
+v -0.09656105 -0.06145680 0.01089616
+v -0.09292545 -0.06145677 0.00405284
+v -0.09166013 -0.06145677 0.00190312
+v -0.08913169 -0.06487826 0.00080221
+v -0.09015756 -0.06487827 0.00222972
+v -0.09085612 -0.06487827 0.00330951
+v -0.09005211 -0.06145676 -0.00077733
+v -0.08887247 -0.06145675 -0.00249767
+v -0.08815194 -0.06148224 -0.00348594
+v -0.09644462 -0.05772311 0.01089618
+v -0.09291666 -0.05772946 0.00415140
+v -0.08847486 -0.05997219 -0.00348593
+v -0.09655885 -0.06133574 0.01089616
+f 1 2 3
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+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 22
+f 1 22 31
+f 1 31 45
+f 1 45 44
+f 1 44 43
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+f 1 32 23
+f 1 23 10
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+f 1 24 33
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+f 1 25 11
+f 1 11 12
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+f 1 17 18
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+f 30 45 31
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+f 38 41 40
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+f 38 52 50
+f 46 51 47
+f 47 51 48
+f 49 50 52
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_16.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d93f1eee2f245e1b7bbb8bdb6f9e9372f3f3672c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_16.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.09682683 -0.06145431 0.01095037
+v 0.09678690 -0.06159456 0.01095037
+v 0.09367401 -0.06379398 0.00657078
+v 0.09018175 -0.06145427 -0.00069167
+v 0.09011985 -0.06119926 -0.00081840
+v 0.09022168 -0.05818379 -0.00081839
+v 0.09023566 -0.05773116 -0.00081839
+v 0.09662516 -0.05773120 0.01095039
+v 0.09576657 -0.06491604 0.01095036
+v 0.08985029 -0.06356446 -0.00009597
+v 0.08960669 -0.06290781 -0.00081841
+v 0.09009988 -0.06145427 -0.00081841
+v 0.08489842 0.00021299 -0.00081818
+v 0.09181307 0.00021295 0.01095060
+v 0.08727252 -0.06491604 0.01095036
+v 0.09113817 -0.06491601 0.00371557
+v 0.08994014 -0.06491601 0.00190312
+v 0.08833078 -0.06450161 -0.00081842
+v 0.08838270 -0.06443786 -0.00081842
+v 0.07848495 0.00021299 -0.00081818
+v 0.08424350 0.00021295 0.01095060
+v 0.07643032 -0.06491600 -0.00081842
+v 0.08474866 -0.04940519 0.01095042
+v 0.08784558 -0.06491600 -0.00081842
+v 0.08789949 -0.06490962 -0.00081842
+v 0.07851490 0.00021299 -0.00032618
+v 0.08424150 -0.00187812 0.01095059
+v 0.08035787 0.00021297 0.00534389
+v 0.08183944 -0.04656184 0.00757673
+v 0.08432735 -0.04656185 0.01095043
+v 0.08310536 -0.04656184 0.00929815
+v 0.08029997 -0.04656183 0.00534372
+v 0.07883238 0.00021298 0.00190336
+v 0.08423950 -0.00560123 0.01095058
+v 0.08424549 -0.00932434 0.01095057
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+f 1 3 4
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+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 14
+f 1 14 21
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+f 1 15 9
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+f 29 35 34
+f 30 35 31
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_17.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a066b5f5a5c81e9e4213ee83a009aa0afe0586dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_17.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.09469230 0.06143194 0.00712775
+v 0.09406217 0.06143195 0.00587459
+v 0.09400553 0.06192126 0.00598371
+v 0.09459554 0.06175210 0.00712775
+v 0.09451293 0.05911221 0.00712774
+v 0.08132512 0.00021907 -0.01028714
+v 0.09176587 0.05770468 0.00190197
+v 0.09028377 0.05770469 -0.00094535
+v 0.08934684 0.05770470 -0.00266567
+v 0.09308748 0.06143195 0.00415426
+v 0.09454361 0.06192125 0.00712775
+v 0.09176115 0.06143196 0.00190199
+v 0.09013273 0.06192128 -0.00057023
+v 0.09440202 0.05770466 0.00712773
+v 0.08256178 0.00021906 -0.00749097
+v 0.07401614 0.00021907 -0.01028714
+v 0.08444036 0.05770473 -0.01028693
+v 0.08528053 0.05770472 -0.00924177
+v 0.08647233 0.05770472 -0.00751975
+v 0.08801107 0.05770471 -0.00497933
+v 0.08705998 0.06192125 0.00712775
+v 0.09021298 0.06143197 -0.00070834
+v 0.08661866 0.06192130 -0.00550615
+v 0.08628826 0.06028421 -0.00718556
+v 0.08715439 0.06148635 -0.00509013
+v 0.08896452 0.00021900 0.00712752
+v 0.07883294 0.00021902 0.00190176
+v 0.07058466 0.06192132 -0.01028691
+v 0.08327686 0.06088831 -0.01028692
+v 0.08193637 0.04904194 0.00712770
+v 0.08582097 0.06192130 -0.00660756
+v 0.08162957 0.00021900 0.00712752
+v 0.08035752 0.00021901 0.00534411
+v 0.08035752 0.00185006 0.00534412
+v 0.07883294 0.04653497 0.00289081
+v 0.08037876 0.04653496 0.00534428
+v 0.08162013 0.04653495 0.00712769
+v 0.08252874 0.06192132 -0.01028691
+v 0.08254054 0.06190924 -0.01028691
+v 0.08454656 0.06192131 -0.00806191
+v 0.08103720 0.00021901 0.00629890
+v 0.08162013 0.04280769 0.00712768
+v 0.08037403 0.04280770 0.00534427
+f 1 2 3
+f 1 3 4
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+f 1 11 21
+f 1 21 30
+f 1 30 37
+f 1 37 42
+f 1 42 32
+f 1 32 26
+f 1 26 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
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+f 2 8 9
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+f 14 26 15
+f 16 27 28
+f 17 29 24
+f 17 24 18
+f 18 24 19
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+f 19 22 20
+f 21 28 30
+f 23 25 24
+f 23 24 31
+f 24 29 31
+f 27 33 28
+f 28 33 34
+f 28 34 35
+f 28 35 36
+f 28 36 37
+f 28 37 30
+f 29 39 40
+f 29 40 31
+f 32 42 41
+f 33 41 42
+f 33 42 37
+f 33 37 34
+f 34 37 43
+f 34 43 35
+f 35 43 36
+f 36 43 37
+f 38 40 39
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_18.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddb0fc993bf3473c789420861ca048e694245caa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_18.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.06703632 -0.04655748 -0.01296076
+v -0.07639452 -0.04655752 -0.00348681
+v -0.07728305 -0.04968337 -0.00348682
+v -0.06892782 -0.04968333 -0.01295984
+v -0.06894296 -0.04968333 -0.01296077
+v -0.06911461 0.00021304 -0.01296059
+v -0.07804033 0.00021300 -0.00348664
+v -0.08414562 -0.04968337 -0.00348682
+v -0.08049389 -0.04968333 -0.01296077
+v -0.07997390 0.00021304 -0.01296059
+v -0.08420789 0.00021300 -0.00348664
+v -0.08412711 -0.04968337 -0.00354247
+v -0.08421630 -0.02955583 -0.00348675
+v -0.08374342 -0.02422234 -0.00498179
+v -0.08080184 -0.04968333 -0.01244232
+v -0.08055447 0.00021303 -0.01186433
+v -0.08422135 -0.01466897 -0.00348669
+v -0.08376194 0.00021301 -0.00498170
+v -0.08364246 -0.04968336 -0.00492252
+v -0.08422640 -0.02583412 -0.00348673
+v -0.08375352 -0.02049574 -0.00498178
+v -0.08098528 -0.04968334 -0.01197117
+v -0.08375521 -0.01677403 -0.00498176
+v -0.08307029 0.00021301 -0.00656301
+v -0.08252843 0.00021302 -0.00779930
+v -0.08422471 -0.01839069 -0.00348671
+v -0.08422640 -0.02211240 -0.00348672
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 17
+f 2 17 26
+f 2 26 27
+f 2 27 20
+f 2 20 13
+f 2 13 8
+f 2 8 3
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+f 3 12 19
+f 3 19 22
+f 3 22 15
+f 3 15 9
+f 3 9 5
+f 3 5 4
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+f 6 16 25
+f 6 25 24
+f 6 24 18
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+f 6 11 7
+f 8 13 14
+f 8 14 12
+f 9 15 10
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+f 12 14 19
+f 13 20 14
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+f 15 24 25
+f 15 25 16
+f 17 18 26
+f 18 23 20
+f 18 20 27
+f 18 27 26
+f 20 23 21
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_19.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a427d6c2491e30056833f37920bda26724c23a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_19.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.10365279 -0.05773122 0.01566941
+v 0.10255236 -0.03538617 0.01867734
+v 0.10255615 -0.03910928 0.01868453
+v 0.10254665 -0.05400811 0.01866107
+v 0.10253905 -0.05773123 0.01866646
+v 0.10241171 -0.06145434 0.01863584
+v 0.10347224 -0.06145433 0.01566939
+v 0.10192706 -0.06145432 0.01334466
+v 0.10198218 -0.05773121 0.01336628
+v 0.10190805 0.00021294 0.01340519
+v 0.10282224 0.00021294 0.01467421
+v 0.10353686 0.00021293 0.01566962
+v 0.10295528 0.00021293 0.01732745
+v 0.10249724 0.00021292 0.01862797
+v 0.09900207 -0.04283239 0.02014343
+v 0.10255045 -0.04283239 0.01868451
+v 0.09900207 -0.05773123 0.02007318
+v 0.09900207 -0.06145434 0.02004886
+v 0.09900207 -0.04656188 0.02013262
+v 0.09924534 -0.06491607 0.01982024
+v 0.10210001 -0.06491607 0.01850712
+v 0.10293057 -0.06491606 0.01566938
+v 0.10180923 -0.06491605 0.01356065
+v 0.09682590 -0.06145431 0.01095152
+v 0.10169899 -0.06491605 0.01339505
+v 0.10190995 -0.00187813 0.01340338
+v 0.09181407 0.00021295 0.01095175
+v 0.09662444 -0.05773120 0.01095154
+v 0.09900207 0.00021292 0.02005269
+v 0.09526933 -0.04656188 0.02014522
+v 0.09526933 0.00021292 0.02004729
+v 0.09553731 -0.06491607 0.01978604
+v 0.09900207 -0.06491607 0.01992104
+v 0.09526933 -0.05028500 0.02009751
+v 0.10148993 -0.06491605 0.01329965
+v 0.09678789 -0.06159456 0.01095152
+v 0.08424406 0.00021295 0.01095175
+v 0.09154038 -0.04656188 0.01896530
+v 0.09154038 0.00021292 0.01891417
+v 0.09526933 -0.06491607 0.01974554
+v 0.09576728 -0.06491604 0.01095151
+v 0.08492826 0.00021295 0.01194447
+v 0.08424215 -0.00111309 0.01095175
+v 0.08941174 -0.04656187 0.01766748
+v 0.08949916 -0.04935421 0.01757477
+v 0.09223410 -0.06491607 0.01833162
+v 0.09240706 -0.06491607 0.01843242
+v 0.09059390 0.00021292 0.01837236
+v 0.08938703 0.00021293 0.01768115
+v 0.08938703 -0.00187814 0.01768114
+v 0.08727358 -0.06491604 0.01095151
+v 0.08492636 -0.00187812 0.01194536
+v 0.08561248 0.00021294 0.01290928
+v 0.08423836 -0.00560123 0.01095173
+v 0.08784566 -0.04656187 0.01566945
+v 0.08772592 -0.00187814 0.01566961
+v 0.08772972 -0.00560125 0.01566960
+v 0.08614844 -0.00560124 0.01366617
+v 0.08615414 -0.00932435 0.01365896
+v 0.08624157 -0.04656186 0.01354362
+v 0.08497008 -0.04656185 0.01182280
+v 0.08432768 -0.04656185 0.01095158
+v 0.09049316 -0.06491606 0.01592589
+v 0.08845574 0.00021293 0.01655344
+v 0.08803951 -0.06491604 0.01221063
+v 0.08474961 -0.04940519 0.01095157
+v 0.08614844 -0.00187813 0.01366618
+v 0.08492636 -0.00560123 0.01194535
+v 0.08615034 0.00021294 0.01366529
+v 0.08424596 -0.00932434 0.01095172
+v 0.08492826 -0.00932434 0.01193814
+v 0.08772782 0.00021293 0.01566962
+v 0.08684215 0.00021294 0.01454641
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 2
+f 2 13 14
+f 2 14 3
+f 3 14 15
+f 3 15 16
+f 3 16 5
+f 3 5 4
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+f 5 18 6
+f 5 16 15
+f 5 15 19
+f 5 19 17
+f 6 20 21
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+f 6 18 20
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+f 7 22 23
+f 7 23 8
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+f 9 24 26
+f 9 26 10
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+f 10 72 64
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+f 10 26 24
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+f 10 28 27
+f 14 29 15
+f 15 30 19
+f 15 29 31
+f 15 31 30
+f 17 19 30
+f 17 30 18
+f 18 32 33
+f 18 33 20
+f 18 30 34
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+f 20 33 32
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+f 20 40 47
+f 20 47 46
+f 20 46 63
+f 20 63 65
+f 20 65 51
+f 20 51 41
+f 20 41 35
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+f 20 23 22
+f 20 22 21
+f 24 25 35
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+f 24 36 41
+f 24 41 51
+f 24 51 66
+f 24 66 62
+f 24 62 70
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+f 24 37 27
+f 24 27 28
+f 30 38 34
+f 30 31 39
+f 30 39 38
+f 32 34 40
+f 34 38 40
+f 35 41 36
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+f 38 45 46
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+f 42 52 53
+f 43 54 52
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+f 44 50 56
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+f 44 58 59
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+f 45 55 60
+f 45 60 61
+f 45 61 62
+f 45 62 63
+f 45 63 46
+f 49 64 50
+f 50 64 56
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+f 52 67 53
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+f 52 68 58
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+f 54 70 71
+f 54 71 68
+f 55 59 60
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+f 56 58 57
+f 56 64 72
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+f 56 73 67
+f 58 68 71
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+f 58 62 59
+f 59 62 61
+f 59 61 60
+f 62 66 63
+f 62 71 70
+f 63 66 65
+f 67 73 69
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_2.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6799d2d74db7968c9e364236641a6e7b82d27052
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_2.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.09023709 -0.05773480 -0.00081954
+v 0.09021773 -0.05766213 -0.00081954
+v 0.09012092 -0.06120329 -0.00081955
+v 0.08928008 -0.05773479 -0.00255900
+v 0.09007390 -0.05726284 -0.00081954
+v 0.08642564 -0.05726281 -0.00748615
+v 0.09009880 -0.06145800 -0.00081956
+v 0.08646713 -0.05773477 -0.00754350
+v 0.08794137 -0.05773478 -0.00498210
+v 0.08259483 -0.05726284 -0.00081954
+v 0.08533033 -0.05773477 -0.00926384
+v 0.08528607 -0.05726281 -0.00915477
+v 0.08960646 -0.06290907 -0.00081956
+v 0.08632883 -0.06039045 -0.00727590
+v 0.07079259 -0.05726279 -0.01230648
+v 0.06198034 -0.06491595 -0.01230651
+v 0.07642680 -0.06491600 -0.00081957
+v 0.08346333 -0.05773476 -0.01158799
+v 0.08326971 -0.05726280 -0.01178813
+v 0.08838115 -0.06444030 -0.00081957
+v 0.08653351 -0.06392039 -0.00405786
+v 0.08562352 -0.06287234 -0.00635165
+v 0.08300418 -0.06067361 -0.01097744
+v 0.08279673 -0.05726279 -0.01230648
+v 0.07681126 -0.06491595 -0.01230651
+v 0.08784733 -0.06491600 -0.00081957
+v 0.08280780 -0.05773475 -0.01230648
+v 0.08832860 -0.06450547 -0.00081957
+v 0.08766478 -0.06491600 -0.00113666
+v 0.08748499 -0.06491599 -0.00137616
+v 0.08458076 -0.06491598 -0.00470777
+v 0.08313418 -0.06400877 -0.00768633
+v 0.08203334 -0.06315549 -0.00998123
+v 0.08069187 -0.06187222 -0.01217045
+v 0.08060336 -0.06178756 -0.01230650
+v 0.08237078 -0.05899854 -0.01230649
+v 0.07705466 -0.06474964 -0.01230651
+v 0.07694126 -0.06491596 -0.01220194
+v 0.08786946 -0.06491600 -0.00084993
+v 0.08789988 -0.06490926 -0.00081957
+v 0.08795520 -0.06485756 -0.00081957
+v 0.08379801 -0.06491598 -0.00557357
+v 0.08114548 -0.06491597 -0.00826202
+v 0.08066421 -0.06491597 -0.00872190
+v 0.08041250 -0.06200856 -0.01230650
+v 0.07749998 -0.06491596 -0.01172407
+v 0.07954400 -0.06402074 -0.01106967
+v 0.07882486 -0.06350982 -0.01230650
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 26
+f 1 26 40
+f 1 40 41
+f 1 41 28
+f 1 28 20
+f 1 20 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
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+f 4 9 6
+f 5 6 12
+f 5 12 19
+f 5 19 24
+f 5 24 15
+f 5 15 10
+f 6 8 11
+f 6 11 12
+f 6 9 8
+f 7 13 14
+f 7 14 8
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+f 10 15 16
+f 10 16 17
+f 11 14 18
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+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 18
+f 15 24 27
+f 15 27 36
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+f 15 35 45
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+f 15 25 16
+f 16 25 38
+f 16 38 46
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+f 16 43 42
+f 16 42 31
+f 16 31 30
+f 16 30 29
+f 16 29 39
+f 16 39 26
+f 16 26 17
+f 18 23 27
+f 18 27 19
+f 19 27 24
+f 20 28 21
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+f 21 33 22
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+f 23 34 35
+f 23 35 36
+f 23 36 27
+f 25 37 38
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+f 28 41 29
+f 29 41 40
+f 29 40 39
+f 31 42 32
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+f 33 45 34
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+f 33 46 47
+f 33 47 48
+f 33 48 45
+f 34 45 35
+f 37 48 38
+f 38 48 47
+f 38 47 46
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_20.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9109d9bc32efe12578d2a72cdf2a35f5aa80e99
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_20.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.04157116 0.11319722 0.01566859
+v 0.04157116 0.11300704 0.01674683
+v 0.04157116 0.11222775 0.01353828
+v 0.00944092 0.11217672 0.01357592
+v 0.00944092 0.11311603 0.01566859
+v 0.00026605 0.11264752 0.01839280
+v 0.04157116 0.11267536 0.01845825
+v 0.04157116 0.09653760 0.00340378
+v 0.00026605 0.11214889 0.01359719
+v 0.00026605 0.11258260 0.01454944
+v 0.00026605 0.11309053 0.01566859
+v 0.00026605 0.11135798 0.01899491
+v 0.04157116 0.10984346 0.01982608
+v 0.04157116 0.11157832 0.01899001
+v 0.04157116 0.09027775 0.00340376
+v 0.00026605 0.09591602 0.00340378
+v 0.00026605 0.10984346 0.01970173
+v 0.04157116 0.10839157 0.01994716
+v 0.02063758 0.10611864 0.02008622
+v 0.03969899 0.08981853 0.00340376
+v 0.04157116 0.09085757 0.00455563
+v 0.00026605 0.08951702 0.00340376
+v 0.00026605 0.10813181 0.01983426
+v 0.01690536 0.10611864 0.02007150
+v 0.04157116 0.10611864 0.02011894
+v 0.00026605 0.10239613 0.01919941
+v 0.01690536 0.10239613 0.01925340
+v 0.02063758 0.10239613 0.01926322
+v 0.03929463 0.10239613 0.01930085
+v 0.04157116 0.10466675 0.01980315
+v 0.03929463 0.08973503 0.00340376
+v 0.04157116 0.09220973 0.00708189
+v 0.00198052 0.08951238 0.00340376
+v 0.00026605 0.09013858 0.00443619
+v 0.00026605 0.10611864 0.01998969
+v 0.00026605 0.10005826 0.01790846
+v 0.03929463 0.10002347 0.01794773
+v 0.04157116 0.10146841 0.01873145
+v 0.04157116 0.10239613 0.01925831
+v 0.03183019 0.08965849 0.00340376
+v 0.03929463 0.09083670 0.00534590
+v 0.04157116 0.09262025 0.00773145
+v 0.03929463 0.09246949 0.00793760
+v 0.00198052 0.09068363 0.00534590
+v 0.00571274 0.08950542 0.00340376
+v 0.00026605 0.09068827 0.00534590
+v 0.00026605 0.09923723 0.01687930
+v 0.03929463 0.09822833 0.01566853
+v 0.04157116 0.09936943 0.01701020
+v 0.04157116 0.10006986 0.01789864
+v 0.00026605 0.09827240 0.01566853
+v 0.02837294 0.08963531 0.00340376
+v 0.02809797 0.09077407 0.00534590
+v 0.00944092 0.08952166 0.00340376
+v 0.04157116 0.09643783 0.01306701
+v 0.04157116 0.09781318 0.01496498
+v 0.03929463 0.09371959 0.00965886
+v 0.00571274 0.09241382 0.00799814
+v 0.00571274 0.09067898 0.00534590
+v 0.00944092 0.09069058 0.00534590
+v 0.00198052 0.09241615 0.00799978
+v 0.00026605 0.09241615 0.00799651
+v 0.00575722 0.08950542 0.00340376
+v 0.03929463 0.09558200 0.01214257
+v 0.04157116 0.09833965 0.01566853
+v 0.00198052 0.09368248 0.00971939
+v 0.00571274 0.09368712 0.00971939
+v 0.00026605 0.09368480 0.00971776
+f 1 2 7
+f 1 7 14
+f 1 14 13
+f 1 13 18
+f 1 18 25
+f 1 25 30
+f 1 30 39
+f 1 39 38
+f 1 38 50
+f 1 50 49
+f 1 49 65
+f 1 65 56
+f 1 56 55
+f 1 55 42
+f 1 42 32
+f 1 32 21
+f 1 21 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
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+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 10
+f 4 10 11
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+f 4 8 9
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+f 6 11 10
+f 6 10 9
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+f 6 22 34
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+f 8 22 16
+f 8 16 9
+f 12 17 13
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+f 15 21 20
+f 17 23 24
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+f 19 30 25
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+f 22 33 34
+f 23 35 24
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+f 26 36 27
+f 27 36 28
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+f 29 39 30
+f 29 36 37
+f 31 32 41
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+f 33 44 34
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+f 34 44 46
+f 36 47 37
+f 37 48 49
+f 37 49 50
+f 37 50 38
+f 37 47 51
+f 37 51 48
+f 40 41 52
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+f 41 53 54
+f 41 54 52
+f 42 55 43
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+f 43 58 59
+f 43 59 60
+f 43 60 53
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+f 44 62 46
+f 44 45 59
+f 44 59 61
+f 45 63 59
+f 48 64 65
+f 48 65 49
+f 48 51 66
+f 48 66 67
+f 48 67 64
+f 51 68 66
+f 53 60 54
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+f 56 65 57
+f 57 65 64
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+f 57 67 58
+f 58 67 66
+f 58 66 61
+f 58 61 59
+f 59 63 60
+f 61 66 62
+f 62 66 68
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_21.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4435d4b80e4b2033f77355b869dfe5dff2006938
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_21.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.03556163 -0.09040434 0.00509437
+v 0.03556163 -0.09057344 0.00534425
+v 0.03929103 -0.09244706 0.00800228
+v 0.03929103 -0.09065235 0.00534425
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_22.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dc3e1e67638eb4dcfdba9f9da60b57ade97b051
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_22.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_23.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9401d1d2e71ae96f75dc000f6d847fbbc4eea3c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_23.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_24.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b78226a1a7423ce8e30736c0a4651219726dcc3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_24.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_25.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13ad5411ceaccfd5c05fba9f8293af0c1605c32c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_25.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.10379215 0.05770463 0.01566977
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+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_26.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e2cfbcb803bf75f5771b11fe66fbaabb7b16c94
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_26.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00018655 -0.08833827 0.00107891
+v -0.00175528 -0.08856079 0.00182969
+v 0.00018655 -0.08856079 0.00183404
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+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_27.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47025e8d80e76ac2c0f318f9f1b3ffb7a1abc244
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_27.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.03970884 -0.09745633 0.00509264
+v 0.02063245 -0.09292338 -0.00948003
+v 0.03970884 -0.09283935 -0.00887681
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+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_28.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cbdb5f0fba72b058715fb0b6424dc51150fc245
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_28.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00026200 0.09385763 0.00993941
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+v 0.00026200 0.10081030 0.00993944
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+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_29.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccd6b78322684c309e3b26c8fe2366193cae1137
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_29.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_3.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ee0f18dde39ce1da0e70023850cd4f1bf865b8f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_3.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_30.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f17539715ed89b5eb4767eec8f2b8573ccacd80d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_30.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_31.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61e897866747fb49189eb88d5dffc10ee555161f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_31.obj
@@ -0,0 +1,319 @@
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+f 90 94 93
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+f 101 106 107
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+f 105 107 106
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_32.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f645e19f19c826f99fd2400a08f71eb4f3427bb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_32.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.05950759 0.06154196 -0.01332373
+v 0.05823995 0.06171999 -0.01332373
+v 0.05950759 0.07938089 -0.01332367
+v 0.05950759 0.07534560 -0.00691019
+v 0.04784435 0.06996526 -0.01332370
+v 0.05941278 0.07537527 -0.00691019
+v 0.05773958 0.07589946 -0.00691019
+v 0.05476714 0.07727422 -0.00691019
+v 0.04157292 0.08724371 -0.00691015
+v 0.05263219 0.08909982 -0.01332363
+v 0.05602073 0.08921850 -0.01006980
+v 0.05728660 0.09078447 -0.00691014
+v 0.05774484 0.08963718 -0.00691014
+v 0.05852965 0.08760966 -0.00691015
+v 0.05901950 0.08568433 -0.00691016
+v 0.05950759 0.08285568 -0.00818772
+v 0.05950759 0.08367988 -0.00691016
+v 0.04157292 0.07800283 -0.01332367
+v 0.04157292 0.09360981 -0.00691013
+v 0.05206861 0.08959764 -0.01332363
+v 0.05353288 0.09047788 -0.01124879
+v 0.05575386 0.09276254 -0.00691013
+v 0.05620683 0.09222846 -0.00691013
+v 0.05687576 0.09046467 -0.00777523
+v 0.04157292 0.09066580 -0.01332363
+v 0.04676809 0.09501095 -0.00691012
+v 0.04157292 0.09342189 -0.00795665
+v 0.05015312 0.09039217 -0.01332363
+v 0.05195449 0.09296036 -0.00999257
+v 0.05344685 0.09376477 -0.00769801
+v 0.05372249 0.09415049 -0.00691012
+v 0.04157292 0.09181307 -0.01168572
+v 0.04675931 0.09325707 -0.01039122
+v 0.04675931 0.09198121 -0.01211198
+v 0.04313024 0.09077789 -0.01332363
+v 0.05054815 0.09522194 -0.00691012
+v 0.04675931 0.09428235 -0.00842246
+v 0.04474199 0.09311530 -0.01019284
+v 0.04157292 0.09285155 -0.00941501
+v 0.04867656 0.09063613 -0.01332363
+v 0.04946839 0.09328344 -0.01042386
+v 0.05062189 0.09411422 -0.00867609
+v 0.05237586 0.09460544 -0.00691012
+v 0.04675931 0.09094932 -0.01332363
+f 1 2 5
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+f 1 28 20
+f 1 20 10
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+f 29 43 31
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+f 32 38 33
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+f 33 37 36
+f 33 36 41
+f 33 41 34
+f 34 44 35
+f 34 41 44
+f 36 42 41
+f 40 44 41
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_33.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4bbfb0f7090aaab42900b87a3e419a13273be4e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_33.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.05939472 -0.11192491 0.01677497
+v 0.05422031 -0.11300793 0.01566831
+v 0.05830395 -0.11218059 0.01541513
+v 0.05939472 -0.11192491 0.01605971
+v 0.05939472 -0.11186670 0.01757041
+v 0.05048934 -0.11333636 0.01566831
+v 0.05422031 -0.11232817 0.01338856
+v 0.05729605 -0.11204962 0.01362487
+v 0.05939472 -0.11176483 0.01402575
+v 0.05939472 -0.11183343 0.01444457
+v 0.05795321 -0.11205380 0.01780145
+v 0.05422031 -0.11241133 0.01818967
+v 0.05939472 -0.11116826 0.01805147
+v 0.05048934 -0.11258804 0.01834475
+v 0.04675837 -0.11341743 0.01566831
+v 0.05048934 -0.11247784 0.01329045
+v 0.05422031 -0.10438952 0.00919513
+v 0.05535540 -0.10410474 0.00919513
+v 0.05753309 -0.10303420 0.00919513
+v 0.05939472 -0.10996675 0.01314065
+v 0.05795321 -0.10986907 0.01909378
+v 0.05422031 -0.10986907 0.01948517
+v 0.05939472 -0.10989817 0.01880261
+v 0.04675837 -0.11262960 0.01837324
+v 0.05048934 -0.10986907 0.01963392
+v 0.04302740 -0.11336962 0.01566831
+v 0.03970885 -0.11256723 0.01355630
+v 0.04302740 -0.11250070 0.01327146
+v 0.04675837 -0.11251734 0.01326196
+v 0.04302740 -0.11260050 0.01833842
+v 0.05295417 -0.10442694 0.00919513
+v 0.05857567 -0.10242721 0.00919513
+v 0.05939472 -0.10164146 0.00919514
+v 0.05939472 -0.10842851 0.01939867
+v 0.05939472 -0.10614400 0.01993670
+v 0.04675837 -0.10986907 0.01965502
+v 0.03970885 -0.10986907 0.01959594
+v 0.05795321 -0.10614400 0.01997257
+v 0.03970885 -0.11330309 0.01566831
+v 0.03970885 -0.11256309 0.01830466
+v 0.03970885 -0.11246953 0.01328939
+v 0.05048934 -0.10446852 0.00919513
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+v 0.05939472 -0.10470553 0.01992511
+v 0.03970885 -0.10614400 0.01996941
+v 0.04686822 -0.10342084 0.00919513
+v 0.03970885 -0.10046698 0.00919514
+v 0.03970885 -0.09337231 0.00919517
+v 0.03970885 -0.09370907 0.00967834
+v 0.03970885 -0.09603102 0.01287274
+v 0.05939472 -0.09697268 0.01575488
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+v 0.03970885 -0.10242310 0.01922145
+v 0.03970885 -0.09683548 0.01395090
+v 0.03970885 -0.09766490 0.01502274
+v 0.03970885 -0.09794137 0.01536665
+v 0.03970885 -0.10003049 0.01793336
+v 0.05939472 -0.09840908 0.01737424
+v 0.05939472 -0.10043791 0.01878576
+v 0.05939472 -0.09936322 0.01825830
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+f 53 60 57
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+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_34.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7273eb02d18922125b2639d0e680923955ed4d6d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_34.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.08121433 -0.04968482 -0.01097599
+v -0.08098422 -0.04968482 -0.01197139
+v -0.08235990 -0.05151577 -0.01097600
+v -0.07324533 -0.04968482 -0.01097599
+v -0.08091418 -0.04968482 -0.01215481
+v -0.08239492 -0.05160203 -0.01097600
+v -0.08080162 -0.04968481 -0.01244218
+v -0.06557647 -0.06487822 -0.01097605
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+v -0.08049147 -0.04968481 -0.01296077
+v -0.08298022 -0.05401007 -0.01157387
+v -0.08333289 -0.05399966 -0.01097601
+v -0.06465851 -0.06487822 -0.01121582
+v -0.07825534 -0.06487822 -0.01097605
+v -0.05821027 -0.06487821 -0.01296083
+v -0.06892816 -0.04969076 -0.01296077
+v -0.06894317 -0.04968481 -0.01296077
+v -0.08204225 -0.05401006 -0.01296079
+v -0.08353049 -0.05497983 -0.01097601
+v -0.07935089 -0.06411520 -0.01097605
+v -0.07752498 -0.06487822 -0.01171808
+v -0.07612678 -0.06487821 -0.01296083
+v -0.08201223 -0.05773293 -0.01296080
+v -0.08322784 -0.05773294 -0.01159798
+v -0.08372559 -0.05773294 -0.01097602
+v -0.08118181 -0.06256091 -0.01097604
+v -0.07930337 -0.06404976 -0.01111886
+v -0.07685964 -0.06487821 -0.01233304
+v -0.07755999 -0.06386383 -0.01296082
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+v -0.08275010 -0.06058867 -0.01097603
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+v -0.07895319 -0.06267245 -0.01296082
+v -0.07996620 -0.06142456 -0.01296082
+f 1 2 3
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+f 26 33 27
+f 28 32 35
+f 28 35 36
+f 28 36 29
+f 29 36 31
+f 29 31 30
+f 32 34 37
+f 32 37 35
+f 35 37 36
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_35.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84851014564e0812b52d54336bbf12dca64e132f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_35.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.08507082 -0.04891817 -0.00081951
+v 0.07786052 -0.04891817 -0.00081951
+v 0.08505931 -0.04891817 -0.00086224
+v 0.08502621 -0.02049558 -0.00081941
+v 0.07754246 -0.04731670 -0.00081950
+v 0.07049480 -0.04891812 -0.01230645
+v 0.08091159 -0.04891813 -0.01189380
+v 0.08358127 -0.02794026 -0.00498199
+v 0.08359278 -0.02422272 -0.00498198
+v 0.08360142 -0.02049556 -0.00498197
+v 0.08478155 -0.02049557 -0.00154016
+v 0.08355249 0.00020820 -0.00498189
+v 0.08502045 -0.01941351 -0.00081940
+v 0.07047753 -0.04876903 -0.01230645
+v 0.07746619 -0.04656164 -0.00081950
+v 0.08066405 -0.04891812 -0.01230645
+v 0.08040356 0.00020823 -0.01230627
+v 0.08062807 0.00020822 -0.01186438
+v 0.08255945 0.00020821 -0.00749156
+v 0.08359278 -0.01677321 -0.00498195
+v 0.08489668 0.00020818 -0.00081933
+v 0.08500606 -0.01677323 -0.00081939
+v 0.07036959 -0.04656159 -0.01230644
+v 0.07040413 -0.04283444 -0.01230643
+v 0.07037966 -0.04516211 -0.01230644
+v 0.07848369 0.00020818 -0.00081933
+v 0.07070636 -0.02049553 -0.01230635
+v 0.07067470 -0.02254908 -0.01230635
+v 0.07125037 0.00020823 -0.01230627
+f 1 2 6
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+f 1 7 3
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+f 1 13 22
+f 1 22 21
+f 1 21 26
+f 1 26 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
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+f 3 10 11
+f 3 11 4
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+f 4 12 13
+f 5 14 6
+f 5 15 14
+f 6 14 23
+f 6 23 25
+f 6 25 24
+f 6 24 28
+f 6 28 27
+f 6 27 29
+f 6 29 17
+f 6 17 16
+f 7 9 8
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 10
+f 7 10 9
+f 10 19 20
+f 10 20 11
+f 11 20 12
+f 12 19 18
+f 12 18 17
+f 12 17 29
+f 12 29 26
+f 12 26 21
+f 12 21 22
+f 12 22 13
+f 12 20 19
+f 14 15 23
+f 15 24 25
+f 15 25 23
+f 15 26 27
+f 15 27 28
+f 15 28 24
+f 26 29 27
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_36.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f790ad3c587434807f7af6770b51874ff6ce7227
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_36.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.05217307 0.09467433 -0.00691012
+v 0.05237627 0.09460769 -0.00691012
+v 0.05217307 0.08667475 -0.00691015
+v 0.05217307 0.11222815 0.01352476
+v 0.05422228 0.11215781 0.01357253
+v 0.05687822 0.11192460 0.01375299
+v 0.05372398 0.09415607 -0.00691012
+v 0.05324506 0.07997821 -0.00691018
+v 0.05217307 0.10096359 0.01637763
+v 0.05217307 0.11277602 0.01472431
+v 0.05217307 0.11316099 0.01566910
+v 0.05422228 0.11300922 0.01566910
+v 0.05805433 0.11216891 0.01573278
+v 0.05936613 0.11146559 0.01463142
+v 0.05950759 0.11132121 0.01455446
+v 0.05575452 0.09276420 -0.00691013
+v 0.05363279 0.07925636 -0.00691018
+v 0.05217307 0.10261087 0.01857770
+v 0.05217307 0.10152996 0.01722156
+v 0.05217307 0.11263532 0.01845565
+v 0.05422228 0.11255390 0.01839727
+v 0.05795309 0.11212078 0.01793019
+v 0.05950759 0.11186166 0.01760907
+v 0.05950759 0.11187647 0.01662979
+v 0.05950759 0.11141745 0.01470573
+v 0.05950759 0.09230145 -0.00258432
+v 0.05938049 0.09241622 -0.00269313
+v 0.05728748 0.09078744 -0.00691014
+v 0.05620831 0.09223484 -0.00691013
+v 0.05593546 0.09295299 -0.00655717
+v 0.05476941 0.07727220 -0.00691019
+v 0.05950759 0.09923484 0.01839722
+v 0.05217307 0.10612017 0.02005857
+v 0.05530576 0.07754241 -0.00557795
+v 0.05612359 0.07822354 -0.00328234
+v 0.05936901 0.08145887 0.00423609
+v 0.05950759 0.08158103 0.00446167
+v 0.05217307 0.10984418 0.01984627
+v 0.05422228 0.10984418 0.01978789
+v 0.05795309 0.10984418 0.01931284
+v 0.05950759 0.10986638 0.01893069
+v 0.05950759 0.09197570 -0.00287625
+v 0.05950759 0.09038394 -0.00414746
+v 0.05774486 0.08963989 -0.00691014
+v 0.05773983 0.07589883 -0.00691019
+v 0.05950759 0.10239617 0.01971887
+v 0.05795309 0.10612017 0.02020188
+v 0.05861150 0.07776822 -0.00222079
+v 0.05950759 0.07801253 -0.00103982
+v 0.05950759 0.08144407 0.00429713
+v 0.05950759 0.10612017 0.02014350
+v 0.05950759 0.08703012 -0.00568937
+v 0.05853037 0.08761131 -0.00691015
+v 0.05950759 0.07534356 -0.00691019
+v 0.05950759 0.08368370 -0.00691016
+v 0.05902005 0.08568637 -0.00691016
+f 1 2 7
+f 1 7 16
+f 1 16 29
+f 1 29 28
+f 1 28 44
+f 1 44 53
+f 1 53 56
+f 1 56 55
+f 1 55 54
+f 1 54 45
+f 1 45 31
+f 1 31 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 18
+f 1 18 33
+f 1 33 38
+f 1 38 20
+f 1 20 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 14
+f 14 25 15
+f 14 24 25
+f 15 25 24
+f 15 24 23
+f 15 23 41
+f 15 41 51
+f 15 51 46
+f 15 46 32
+f 15 32 37
+f 15 37 50
+f 15 50 49
+f 15 49 54
+f 15 54 55
+f 15 55 52
+f 15 52 43
+f 15 43 42
+f 15 42 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 16 30 29
+f 17 31 18
+f 18 32 33
+f 18 31 34
+f 18 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 32
+f 20 38 39
+f 20 39 21
+f 21 39 40
+f 21 40 22
+f 22 40 41
+f 22 41 23
+f 26 42 27
+f 27 42 28
+f 28 42 43
+f 28 43 44
+f 31 45 34
+f 32 46 33
+f 33 46 47
+f 33 47 38
+f 34 45 35
+f 35 45 48
+f 35 48 49
+f 35 49 36
+f 36 49 50
+f 36 50 37
+f 38 47 39
+f 39 47 51
+f 39 51 40
+f 40 51 41
+f 43 52 53
+f 43 53 44
+f 45 54 49
+f 45 49 48
+f 46 51 47
+f 52 55 56
+f 52 56 53
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_37.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7630f32c8781360a4b9f8f19f6c4ecc4c2b53b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_37.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.05217235 0.08667450 -0.00691015
+v 0.04201011 0.08901214 0.00101857
+v 0.04157116 0.08898868 0.00108473
+v 0.04157116 0.08884535 0.00060572
+v 0.04157116 0.08724523 -0.00691015
+v 0.05217235 0.09467783 -0.00691012
+v 0.05217235 0.10096626 0.01637585
+v 0.04233284 0.09267107 0.00765847
+v 0.04157116 0.09220979 0.00707890
+v 0.04157116 0.09361193 -0.00691013
+v 0.05054835 0.09522251 -0.00691012
+v 0.05217235 0.11222984 0.01352568
+v 0.05217235 0.10153179 0.01722006
+v 0.04551029 0.10030953 0.01764349
+v 0.04302706 0.09698676 0.01365531
+v 0.04157116 0.09261895 0.00772728
+v 0.04676799 0.09501402 -0.00691012
+v 0.04157116 0.09361455 -0.00690749
+v 0.05048920 0.11228717 0.01348598
+v 0.04157116 0.11222724 0.01353627
+v 0.04302706 0.11225069 0.01352039
+v 0.04675865 0.11228978 0.01349128
+v 0.05217235 0.11277712 0.01472451
+v 0.05217235 0.10261331 0.01857769
+v 0.04302706 0.09841228 0.01566924
+v 0.04302706 0.10009582 0.01786579
+v 0.04157116 0.09643948 0.01306514
+v 0.04675865 0.11329573 0.01566930
+v 0.05048920 0.11328269 0.01566930
+v 0.04157116 0.11319670 0.01566930
+v 0.04302706 0.11323317 0.01566930
+v 0.05217235 0.11316021 0.01566930
+v 0.05217235 0.10611851 0.02005970
+v 0.04302706 0.10239440 0.01923136
+v 0.04157116 0.09833931 0.01566924
+v 0.04157116 0.09781289 0.01496529
+v 0.04157116 0.10146923 0.01873117
+v 0.04157116 0.10006715 0.01789754
+v 0.04157116 0.09936873 0.01700834
+v 0.04675865 0.11270934 0.01850362
+v 0.05048920 0.11270153 0.01850626
+v 0.04157116 0.11300906 0.01674640
+v 0.04157116 0.11267546 0.01845863
+v 0.04302706 0.11268589 0.01847451
+v 0.05217235 0.11263637 0.01845598
+v 0.05217235 0.10984263 0.01984535
+v 0.05048920 0.10984263 0.01989298
+v 0.04675865 0.10611851 0.02011263
+v 0.04157116 0.10239440 0.01925782
+v 0.04302706 0.10984263 0.01984535
+v 0.04675865 0.10984263 0.01988240
+v 0.04157116 0.11157830 0.01899056
+v 0.04302706 0.10611851 0.02012586
+v 0.04157116 0.10466691 0.01980298
+v 0.04157116 0.10984263 0.01982682
+v 0.04157116 0.10839103 0.01994591
+v 0.04157116 0.10611851 0.02011792
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 17
+f 1 17 11
+f 1 11 6
+f 1 6 12
+f 1 12 23
+f 1 23 32
+f 1 32 45
+f 1 45 46
+f 1 46 33
+f 1 33 24
+f 1 24 13
+f 1 13 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 3
+f 3 9 16
+f 3 16 27
+f 3 27 36
+f 3 36 35
+f 3 35 39
+f 3 39 38
+f 3 38 37
+f 3 37 49
+f 3 49 54
+f 3 54 57
+f 3 57 56
+f 3 56 55
+f 3 55 52
+f 3 52 43
+f 3 43 42
+f 3 42 30
+f 3 30 20
+f 3 20 18
+f 3 18 10
+f 3 10 5
+f 3 5 4
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 10 18 17
+f 11 19 12
+f 11 17 20
+f 11 20 21
+f 11 21 22
+f 11 22 19
+f 12 19 23
+f 13 24 14
+f 14 25 15
+f 14 24 26
+f 14 26 25
+f 15 25 16
+f 16 25 27
+f 17 18 20
+f 19 22 28
+f 19 28 29
+f 19 29 23
+f 20 30 31
+f 20 31 21
+f 21 31 28
+f 21 28 22
+f 23 29 32
+f 24 33 34
+f 24 34 26
+f 25 35 36
+f 25 36 27
+f 25 26 35
+f 26 34 37
+f 26 37 38
+f 26 38 39
+f 26 39 35
+f 28 40 41
+f 28 41 29
+f 28 31 42
+f 28 42 43
+f 28 43 44
+f 28 44 40
+f 29 41 45
+f 29 45 32
+f 30 42 31
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 37
+f 40 44 50
+f 40 50 51
+f 40 51 47
+f 40 47 41
+f 41 47 46
+f 41 46 45
+f 43 52 44
+f 44 52 50
+f 47 53 48
+f 47 51 53
+f 48 53 54
+f 48 54 49
+f 50 52 55
+f 50 55 56
+f 50 56 51
+f 51 56 57
+f 51 57 53
+f 53 57 54
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_38.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..070f058a620111798e90dc4c695e6839aa8ff3bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_38.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.08414553 -0.04968485 -0.00348589
+v -0.08364189 -0.04968484 -0.00492214
+v -0.08594006 -0.05191589 -0.00348590
+v -0.07728280 -0.04968485 -0.00348589
+v -0.08121441 -0.04968482 -0.01097580
+v -0.08610794 -0.05213454 -0.00348590
+v -0.07412253 -0.06487825 -0.00348595
+v -0.06557417 -0.06487822 -0.01097586
+v -0.07324683 -0.04968482 -0.01097580
+v -0.08236009 -0.05151577 -0.01097581
+v -0.08738974 -0.05399374 -0.00348591
+v -0.08555438 -0.06487825 -0.00348595
+v -0.07825379 -0.06487822 -0.01097586
+v -0.08240093 -0.05161542 -0.01097581
+v -0.08241227 -0.05156931 -0.01093109
+v -0.08610113 -0.05515684 -0.00731298
+v -0.08831536 -0.05644194 -0.00348592
+v -0.08583116 -0.06467597 -0.00348595
+v -0.08287735 -0.06398284 -0.00765540
+v -0.08353753 -0.06487824 -0.00561503
+v -0.08098755 -0.06487823 -0.00824119
+v -0.07935183 -0.06411520 -0.01097586
+v -0.08245083 -0.05173887 -0.01097581
+v -0.08333109 -0.05399966 -0.01097582
+v -0.08352846 -0.05497983 -0.01097582
+v -0.08509384 -0.05773295 -0.00927491
+v -0.08628263 -0.05773295 -0.00755346
+v -0.08787297 -0.05773296 -0.00498156
+v -0.08875094 -0.05773297 -0.00348592
+v -0.08652311 -0.06413903 -0.00348595
+v -0.08633254 -0.06392634 -0.00403874
+v -0.08179065 -0.06312759 -0.00995017
+v -0.08118265 -0.06256091 -0.01097585
+v -0.08372583 -0.05773294 -0.01097583
+v -0.08608752 -0.06034624 -0.00722722
+v -0.08847416 -0.05997590 -0.00348593
+v -0.08815202 -0.06148706 -0.00348594
+v -0.08536381 -0.06282865 -0.00633352
+v -0.08274123 -0.06064519 -0.01096264
+v -0.08271854 -0.06065858 -0.01097584
+v -0.08275030 -0.06058867 -0.01097584
+v -0.08697004 -0.06153614 -0.00510402
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 17
+f 1 17 29
+f 1 29 36
+f 1 36 37
+f 1 37 30
+f 1 30 18
+f 1 18 12
+f 1 12 7
+f 1 7 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 5 9 8
+f 5 8 13
+f 5 13 22
+f 5 22 33
+f 5 33 40
+f 5 40 41
+f 5 41 34
+f 5 34 25
+f 5 25 24
+f 5 24 23
+f 5 23 14
+f 5 14 10
+f 7 12 20
+f 7 20 21
+f 7 21 13
+f 7 13 8
+f 10 14 15
+f 10 15 11
+f 11 16 17
+f 11 15 16
+f 12 18 19
+f 12 19 20
+f 13 21 19
+f 13 19 22
+f 14 23 15
+f 15 23 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 16 23 24
+f 18 30 31
+f 18 31 19
+f 19 21 20
+f 19 31 32
+f 19 32 22
+f 22 32 33
+f 25 34 26
+f 26 34 35
+f 26 35 27
+f 27 35 36
+f 27 36 28
+f 28 36 29
+f 30 37 31
+f 31 37 38
+f 31 38 32
+f 32 39 40
+f 32 40 33
+f 32 38 39
+f 34 41 35
+f 35 38 42
+f 35 42 37
+f 35 37 36
+f 35 41 39
+f 35 39 38
+f 37 42 38
+f 39 41 40
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_39.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c581cb612dffbbe6529c44df374deccee3bd28f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_39.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.03160453 -0.08572709 -0.01023118
+v -0.03157107 -0.08572709 -0.01023118
+v -0.03533706 -0.08572840 -0.01023118
+v 0.00018655 -0.08757149 -0.00154133
+v -0.02414901 -0.08576933 -0.01023119
+v -0.03906482 -0.08767711 -0.00154133
+v -0.00922365 -0.08758865 -0.00154133
+v -0.00549111 -0.08757809 -0.00154133
+v -0.04863273 -0.08589080 -0.01023119
+v -0.04863751 -0.08588684 -0.01022787
+v -0.00466909 -0.08834384 0.00107780
+v 0.00018655 -0.08804546 0.00007598
+v 0.00018655 -0.08591588 -0.01023119
+v -0.03906482 -0.08842437 0.00107780
+v -0.00549111 -0.08834516 0.00107780
+v -0.04863751 -0.08590531 -0.01023119
+v -0.04863751 -0.09251844 0.00107778
+v -0.04368151 -0.08964428 0.00107779
+v -0.04212350 -0.08887986 0.00107779
+v -0.04179851 -0.08879668 0.00107779
+v 0.00018655 -0.08833988 0.00107780
+v 0.00018655 -0.09272172 -0.01023121
+v -0.04863751 -0.09327622 -0.01023121
+v -0.04863751 -0.09921338 0.00107776
+v 0.00018655 -0.09507970 0.00107777
+v 0.00018655 -0.09297124 -0.00971757
+v -0.04863751 -0.09702441 -0.00361476
+v -0.04710817 -0.09327622 -0.01023121
+v 0.00018655 -0.09323530 -0.00882312
+v 0.00018655 -0.09347822 -0.00799731
+v 0.00018655 -0.09379113 -0.00642760
+v 0.00018655 -0.09407762 -0.00497967
+f 1 2 5
+f 1 5 13
+f 1 13 22
+f 1 22 28
+f 1 28 23
+f 1 23 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 3 9 10
+f 3 10 6
+f 4 11 12
+f 4 12 21
+f 4 21 25
+f 4 25 32
+f 4 32 31
+f 4 31 30
+f 4 30 29
+f 4 29 26
+f 4 26 22
+f 4 22 13
+f 4 13 5
+f 4 8 11
+f 6 14 7
+f 6 10 14
+f 7 14 8
+f 8 14 15
+f 8 15 11
+f 9 16 10
+f 10 16 23
+f 10 23 27
+f 10 27 24
+f 10 24 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 14
+f 11 15 14
+f 11 14 20
+f 11 20 19
+f 11 19 18
+f 11 18 17
+f 11 17 24
+f 11 24 25
+f 11 25 21
+f 11 21 12
+f 22 26 27
+f 22 27 28
+f 23 28 27
+f 24 27 26
+f 24 26 29
+f 24 29 30
+f 24 30 31
+f 24 31 32
+f 24 32 25
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_4.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34cce1c795e08a0cf96184f5a351bf045669d320
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_4.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.07312932 0.06031432 -0.01040711
+v -0.08333726 0.06031432 -0.01040711
+v -0.08990191 0.06031424 0.01132647
+v -0.08557985 0.05228975 0.01071788
+v -0.08581250 0.05173086 0.01132644
+v -0.08529923 0.05026010 0.01132643
+v -0.08521048 0.05026010 0.01120301
+v -0.08186220 0.04873052 0.00724101
+v -0.08037514 0.04653615 0.00534298
+v -0.07872978 0.04653616 0.00259171
+v -0.07797906 0.04653617 0.00087030
+v -0.07319168 0.04653621 -0.01040716
+v -0.08358911 0.05966130 -0.01040711
+v -0.08608593 0.06031431 -0.00732815
+v -0.09762983 0.06031424 0.01132647
+v -0.08464924 0.04653613 0.01132642
+v -0.08300868 0.04653614 0.00909433
+v -0.08176866 0.04653614 0.00737292
+v -0.08175187 0.04281216 0.00740058
+v -0.08034156 0.04281217 0.00534297
+v -0.08036075 0.00021297 0.00534281
+v -0.07880653 0.00021298 0.00190212
+v -0.07349629 0.00021303 -0.01040733
+v -0.08426788 0.05770813 -0.01040712
+v -0.08611951 0.06031431 -0.00727921
+v -0.08515052 0.05770812 -0.00934321
+v -0.09748591 0.05770805 0.01132646
+v -0.08978199 0.06031429 -0.00138514
+v -0.08631138 0.05770812 -0.00762180
+v -0.08790637 0.05770811 -0.00497904
+v -0.08455809 0.04281215 0.01132641
+v -0.08297030 0.04281216 0.00912198
+v -0.08447415 0.02792214 0.01132635
+v -0.08447175 0.02726324 0.01132635
+v -0.08444776 0.01979764 0.01132632
+v -0.08442618 0.01302624 0.01132630
+v -0.08440459 0.00557829 0.01132627
+v -0.08439499 0.00153664 0.01132626
+v -0.08439260 0.00021295 0.01132625
+v -0.08393449 0.00021295 0.01066449
+v -0.08288875 0.00021296 0.00914948
+v -0.08125299 0.00021303 -0.01040733
+v -0.09217807 0.00021295 0.01132625
+v -0.08452691 0.03908818 0.01132639
+v -0.08450532 0.03536420 0.01132638
+v -0.08448854 0.03164023 0.01132637
+f 1 2 14
+f 1 14 25
+f 1 25 28
+f 1 28 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 23
+f 1 23 42
+f 1 42 24
+f 1 24 13
+f 1 13 2
+f 2 13 14
+f 3 15 27
+f 3 27 43
+f 3 43 39
+f 3 39 38
+f 3 38 37
+f 3 37 36
+f 3 36 35
+f 3 35 34
+f 3 34 33
+f 3 33 46
+f 3 46 45
+f 3 45 44
+f 3 44 31
+f 3 31 16
+f 3 16 6
+f 3 6 5
+f 3 5 4
+f 6 16 8
+f 6 8 7
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 12
+f 13 24 14
+f 14 24 26
+f 14 26 25
+f 15 28 29
+f 15 29 30
+f 15 30 27
+f 16 31 17
+f 17 31 18
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 39
+f 19 39 40
+f 19 40 41
+f 19 41 20
+f 20 41 21
+f 21 41 40
+f 21 40 39
+f 21 39 43
+f 21 43 42
+f 21 42 23
+f 21 23 22
+f 24 42 26
+f 25 26 29
+f 25 29 28
+f 26 42 29
+f 27 30 42
+f 27 42 43
+f 29 42 30
+f 31 44 32
+f 32 44 45
+f 32 45 46
+f 32 46 33
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_40.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6f36a77a1a6ab9ac57bb92b3d9b327ed9c5c39c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_40.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.04734625 -0.08008626 -0.01231374
+v 0.04497264 -0.09303979 0.00718239
+v 0.04627943 -0.09545912 0.00919516
+v 0.04734625 -0.09532394 0.00788559
+v 0.04734625 -0.09185296 -0.01231379
+v 0.03970959 -0.08192824 -0.01231375
+v 0.03970959 -0.08938101 0.00316315
+v 0.03970959 -0.09073730 0.00534226
+v 0.03970959 -0.09247849 0.00795508
+v 0.04302666 -0.09380957 0.00919517
+v 0.04313581 -0.09384165 0.00919517
+v 0.04734625 -0.09634803 0.00919516
+v 0.04734625 -0.09233180 -0.01179165
+v 0.04675790 -0.09193315 -0.01231379
+v 0.03970959 -0.09131686 -0.01231379
+v 0.03970959 -0.09336970 0.00919517
+v 0.04734625 -0.10349144 0.00919513
+v 0.04675790 -0.09206833 -0.01215168
+v 0.04734625 -0.09330548 -0.01043365
+v 0.04675790 -0.09330319 -0.01043155
+v 0.04648951 -0.09193085 -0.01231379
+v 0.03970959 -0.09136498 -0.01223589
+v 0.04220655 -0.09154368 -0.01231379
+v 0.03970959 -0.10046500 0.00919514
+v 0.04686779 -0.10342042 0.00919513
+v 0.03970959 -0.09160783 -0.01183376
+v 0.04466463 -0.09316114 -0.01023153
+v 0.04734625 -0.09461596 -0.00795348
+v 0.03970959 -0.09174529 -0.01151163
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 17
+f 1 17 28
+f 1 28 19
+f 1 19 13
+f 1 13 5
+f 1 5 14
+f 1 14 21
+f 1 21 23
+f 1 23 15
+f 1 15 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 3
+f 3 12 4
+f 3 11 10
+f 3 10 16
+f 3 16 24
+f 3 24 25
+f 3 25 17
+f 3 17 12
+f 5 13 14
+f 6 15 22
+f 6 22 26
+f 6 26 29
+f 6 29 24
+f 6 24 16
+f 6 16 9
+f 6 9 8
+f 6 8 7
+f 9 16 10
+f 13 18 14
+f 13 19 20
+f 13 20 18
+f 14 18 21
+f 15 23 20
+f 15 20 22
+f 17 25 26
+f 17 26 27
+f 17 27 20
+f 17 20 28
+f 18 20 21
+f 19 28 20
+f 20 27 26
+f 20 26 22
+f 20 23 21
+f 24 29 25
+f 25 29 26
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_41.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a323f4174b0299618b829c076fd09b4f86523ef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_41.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.05049096 -0.10447029 0.00919513
+v 0.05295624 -0.10442721 0.00919513
+v 0.04734625 -0.10349096 0.00919513
+v 0.04734625 -0.09461729 -0.00795348
+v 0.04734625 -0.09330819 -0.01043365
+v 0.04955439 -0.09331813 -0.01043997
+v 0.05422073 -0.10438910 0.00919513
+v 0.04734625 -0.09634733 0.00919516
+v 0.04734625 -0.09233383 -0.01179165
+v 0.04734625 -0.09185493 -0.01231379
+v 0.04976907 -0.09152185 -0.01231379
+v 0.05067497 -0.09191791 -0.01169691
+v 0.05204208 -0.09302151 -0.01002941
+v 0.05269910 -0.09698858 -0.00351106
+v 0.05535547 -0.10410573 0.00919513
+v 0.04734625 -0.09532657 0.00788559
+v 0.05939664 -0.09218145 0.00919517
+v 0.05939664 -0.08754164 0.00655078
+v 0.04734625 -0.08754157 -0.01231377
+v 0.05062543 -0.09134952 -0.01231379
+v 0.05303056 -0.09005535 -0.01231378
+v 0.05589807 -0.09292542 -0.00650915
+v 0.05341037 -0.09378875 -0.00773451
+v 0.05653149 -0.09717086 -0.00030029
+v 0.05586268 -0.10048501 0.00372526
+v 0.05753294 -0.10303361 0.00919513
+v 0.04734625 -0.09201902 0.00112510
+v 0.05939664 -0.10164001 0.00919514
+v 0.05939664 -0.08754160 -0.00530273
+v 0.04734625 -0.08754159 -0.00872614
+v 0.05467368 -0.08754157 -0.01231377
+v 0.05429386 -0.08822760 -0.01231377
+v 0.05600423 -0.08916219 -0.01003993
+v 0.05939664 -0.09242168 -0.00242043
+v 0.05939664 -0.09404562 -0.00071926
+v 0.05939664 -0.09642022 0.00190620
+v 0.05939664 -0.09728687 0.00297995
+v 0.05939664 -0.10029282 0.00701392
+v 0.05819231 -0.09978740 0.00506009
+v 0.05710711 -0.10124728 0.00602017
+v 0.05857567 -0.10242547 0.00919513
+v 0.05939664 -0.10063252 0.00751712
+v 0.05939664 -0.08814312 -0.00511956
+v 0.05704814 -0.08754159 -0.00909459
+v 0.05507945 -0.08754158 -0.01188006
+v 0.05503935 -0.08776363 -0.01180637
+v 0.05458875 -0.08771059 -0.01231377
+v 0.05530829 -0.08754158 -0.01156425
+v 0.05939664 -0.09032715 -0.00407107
+v 0.05932115 -0.09231232 -0.00262044
+v 0.05939664 -0.09224604 -0.00255939
+v 0.05939664 -0.10044692 0.00723078
+f 1 2 7
+f 1 7 15
+f 1 15 26
+f 1 26 41
+f 1 41 28
+f 1 28 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 16
+f 3 16 27
+f 3 27 30
+f 3 30 19
+f 3 19 10
+f 3 10 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 8 17 18
+f 8 18 16
+f 10 19 31
+f 10 31 47
+f 10 47 32
+f 10 32 21
+f 10 21 20
+f 10 20 11
+f 11 20 12
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 15
+f 15 25 26
+f 16 18 27
+f 17 28 42
+f 17 42 52
+f 17 52 38
+f 17 38 37
+f 17 37 36
+f 17 36 35
+f 17 35 34
+f 17 34 51
+f 17 51 49
+f 17 49 43
+f 17 43 29
+f 17 29 18
+f 18 29 44
+f 18 44 48
+f 18 48 45
+f 18 45 31
+f 18 31 19
+f 18 19 30
+f 18 30 27
+f 21 32 33
+f 21 33 22
+f 22 24 23
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 26
+f 26 40 41
+f 28 41 42
+f 29 43 44
+f 31 45 46
+f 31 46 33
+f 31 33 47
+f 32 47 33
+f 33 46 45
+f 33 45 48
+f 33 48 44
+f 33 44 43
+f 33 43 49
+f 33 49 50
+f 33 50 34
+f 34 50 51
+f 38 52 39
+f 39 52 41
+f 39 41 40
+f 41 52 42
+f 49 51 50
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_42.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..199c7f24d71409229e1785596784d753fe717314
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_42.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.05939664 -0.08754164 0.00654988
+v 0.05939664 -0.08754160 -0.00530372
+v 0.05939664 -0.08724856 0.00665199
+v 0.04734625 -0.08754159 -0.00872706
+v 0.05704814 -0.08754159 -0.00909464
+v 0.05939664 -0.07989131 -0.01231374
+v 0.05939664 -0.08455443 0.00630112
+v 0.04831113 -0.07641375 -0.01231373
+v 0.04734625 -0.08008482 -0.01231374
+v 0.04734625 -0.08754157 -0.01231377
+v 0.05530829 -0.08754158 -0.01156376
+v 0.05507945 -0.08754158 -0.01188122
+v 0.05467368 -0.08754157 -0.01231377
+v 0.05939664 -0.06834828 -0.01231370
+v 0.05939664 -0.08147703 0.00407522
+v 0.05055230 -0.07388683 -0.01231372
+v 0.05439531 -0.07087520 -0.01231371
+v 0.05193356 -0.07275959 -0.01231372
+f 1 2 6
+f 1 6 14
+f 1 14 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 13
+f 1 13 12
+f 1 12 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
+f 4 9 10
+f 4 7 8
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 10
+f 6 10 9
+f 6 9 8
+f 6 8 16
+f 6 16 18
+f 6 18 17
+f 6 17 14
+f 7 15 8
+f 8 15 16
+f 14 17 15
+f 15 17 18
+f 15 18 16
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_43.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eefb4ed54efc23ae26fedabc18083ab5bc88697a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_43.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.05569442 -0.07472617 -0.01023114
+v -0.05569442 -0.07808813 -0.00471893
+v -0.05469971 -0.07525392 -0.01023115
+v -0.05569442 -0.08853065 -0.01023120
+v -0.05569442 -0.07894818 -0.00392514
+v -0.04863820 -0.09251811 0.00107778
+v -0.05211969 -0.07678585 -0.01023115
+v -0.05399927 -0.07565706 -0.01023115
+v -0.05552657 -0.08890447 -0.01023120
+v -0.05569442 -0.08904129 -0.00997989
+v -0.05569442 -0.08082949 -0.00224679
+v -0.04863820 -0.09921267 0.00107776
+v -0.04863820 -0.09248146 0.00101578
+v -0.05064420 -0.08007938 -0.01023116
+v -0.05162993 -0.07766787 -0.01023116
+v -0.05569442 -0.08195095 -0.00174970
+v -0.05569442 -0.08997955 0.00107779
+v -0.05370638 -0.09093239 -0.01023120
+v -0.05569442 -0.08907550 -0.00995111
+v -0.05026773 -0.09968422 0.00107775
+v -0.04863820 -0.09702350 -0.00361412
+v -0.04863820 -0.08588704 -0.01022787
+v -0.04863820 -0.08590414 -0.01023119
+v -0.05569442 -0.09842838 0.00107776
+v -0.05188551 -0.09231773 -0.01023121
+v -0.05317104 -0.09377636 -0.00763064
+v -0.05565851 -0.09290657 -0.00649919
+v -0.05569442 -0.09281373 -0.00654347
+v -0.05415815 -0.09921512 0.00107776
+v -0.05251481 -0.09699906 -0.00352998
+v -0.05026773 -0.09708213 -0.00370047
+v -0.04863820 -0.09327549 -0.01023121
+v -0.05569442 -0.09802280 0.00038361
+v -0.05507618 -0.09877533 0.00107776
+v -0.05130043 -0.09267688 -0.01023121
+v -0.05145931 -0.09292121 -0.00992455
+v -0.05500227 -0.09634915 -0.00265425
+v -0.05569442 -0.09288214 -0.00647594
+v -0.05569442 -0.09733380 -0.00066702
+v -0.05475567 -0.09892925 0.00107776
+v -0.05026773 -0.09607549 -0.00542089
+v -0.04903608 -0.09327793 -0.01023121
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 15
+f 1 15 14
+f 1 14 23
+f 1 23 32
+f 1 32 42
+f 1 42 35
+f 1 35 25
+f 1 25 18
+f 1 18 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 28
+f 1 28 38
+f 1 38 39
+f 1 39 33
+f 1 33 24
+f 1 24 17
+f 1 17 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 10
+f 5 11 6
+f 6 12 21
+f 6 21 32
+f 6 32 23
+f 6 23 22
+f 6 22 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 6 11 16
+f 6 16 17
+f 6 17 24
+f 6 24 34
+f 6 34 40
+f 6 40 29
+f 6 29 20
+f 6 20 12
+f 9 18 10
+f 10 18 19
+f 12 20 21
+f 13 22 14
+f 14 22 23
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 24 33 34
+f 25 35 36
+f 25 36 26
+f 26 30 37
+f 26 37 27
+f 26 36 30
+f 27 38 28
+f 27 37 39
+f 27 39 38
+f 29 40 30
+f 30 41 31
+f 30 40 34
+f 30 34 33
+f 30 33 39
+f 30 39 37
+f 30 36 42
+f 30 42 41
+f 31 41 42
+f 31 42 32
+f 35 42 36
+
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_5.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38357d46c52ad8cc10deefe50ff53d3205cc46ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_5.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.09431747 -0.06492680 0.00913274
+v 0.09426620 -0.06510636 0.00913274
+v 0.09407136 -0.06491603 0.00863560
+v 0.09426620 -0.06491603 0.00906608
+v 0.09420125 -0.06491603 0.00913274
+v 0.09225968 -0.06491602 0.00557219
+v 0.09322363 -0.06677266 0.00913273
+v 0.09284420 -0.06628426 0.00794681
+v 0.08585047 -0.06491603 0.00913274
+v 0.09113849 -0.06491601 0.00371415
+v 0.08954901 -0.06693783 0.00376969
+v 0.06266107 -0.09885261 0.00913262
+v 0.08993869 -0.06491601 0.00190055
+v 0.05939664 -0.06491595 -0.01276379
+v 0.07037264 -0.07387241 0.00797456
+v 0.07258766 -0.07341992 0.00913271
+v 0.08748439 -0.06491599 -0.00137671
+v 0.08766556 -0.06491600 -0.00113786
+v 0.06003585 -0.09704623 0.00335020
+v 0.06025120 -0.10096781 0.00913261
+v 0.05959832 -0.10037527 0.00733567
+v 0.05939664 -0.08147849 0.00407515
+v 0.05943425 -0.08151801 0.00417791
+v 0.05939664 -0.06491593 -0.01924055
+v 0.06193298 -0.08407853 0.00913267
+v 0.08457888 -0.06491598 -0.00470951
+v 0.05939664 -0.09642136 0.00190600
+v 0.05939664 -0.09728684 0.00298082
+v 0.06018968 -0.10101450 0.00913261
+v 0.05939664 -0.10160345 0.00913261
+v 0.05939664 -0.10063024 0.00751620
+v 0.05939664 -0.10044350 0.00723013
+v 0.05939664 -0.10029267 0.00701350
+v 0.05939664 -0.08455255 0.00629978
+v 0.05966327 -0.08526002 0.00739961
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_6.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6369dade34f8b1bff40482f50e87adece6daa91
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_6.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_7.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc557b59102ae51cdb36ad156a3b80b70acb2bbd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_7.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_8.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03c19f998ff68462bd9dbc68095a2e37dda11da9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_8.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_9.obj b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b06aaf290ba2b8f8418fba6177cdea3402a2f91
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mjcf/mesh/metal_tray_collision_9.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/textures/material_0.png b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fdc274ac95aaeefd614e0991be7a7bb9f37404f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:181a55be7183ad09318dfb4f00dd8192ed41945cceb3c60c7dfbf947ae9769c6
+size 1458208
diff --git a/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/video.mp4 b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..758a97913951706d6c9399201779a31bdbfa1a99
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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