diff --git a/.gitattributes b/.gitattributes
index 0db0e6597036574168243ff128fa04e7a817647a..3093a3fae35b6c0c37c552cbab285d47d05c3a30 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4281,6 +4281,6 @@ dataset/kitchen_supplies/tableware/924a0a37a55a51e8b5af466ff87c1b12/mesh/chopsti
dataset/kitchen_supplies/tableware/924a0a37a55a51e8b5af466ff87c1b12/mjcf/mesh/chopsticks_005.obj filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/plate_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/9bab9f4a67445f22aa997aae1992ff3d.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/9be88af69d2358ecbcf789b8fccb8c2e.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/9be88af69d2358ecbcf789b8fccb8c2e.urdf b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/9be88af69d2358ecbcf789b8fccb8c2e.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..43be342b4fa826736cd6cd4ee3960e2d6246556f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/9be88af69d2358ecbcf789b8fccb8c2e.urdf
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/9be88af69d2358ecbcf789b8fccb8c2e.usd b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/9be88af69d2358ecbcf789b8fccb8c2e.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cf8e0e5725729340d6488843f6eed27a2f52fc59
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/9be88af69d2358ecbcf789b8fccb8c2e.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4810303d43bd4e91eb1c05076e91928028fa9e28fcc650981bbbf308852cd6f2
+size 370771
diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/material.mtl b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/material_0.png b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray.glb b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3f341e3314c52fa73ddb92e4ff628317e1589ca2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray.glb
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+version https://git-lfs.github.com/spec/v1
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+size 1492052
diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4812c43ff559726bb000771d39a535528ac95312
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray.obj
@@ -0,0 +1,23114 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7b5562f6041ac97e391e85a2fa1996bcfc3b5ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray_collision.obj
@@ -0,0 +1,5645 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray_gs.ply b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mesh/metal_tray_gs.ply
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray.obj
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49692931b5cac9f7024f8b45b622516e41381aad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision.obj
@@ -0,0 +1,5645 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_0.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f62227dd029a5811953b3a54058c7775ddd535
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_1.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f6af5312926a205b3b6777571a91c5ad5df8d40
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_1.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_10.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41b277b8e4ec6b792962b0fbdde0ba4802bd2430
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_10.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.12098319 -0.07002035 -0.00537599
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+v 0.12098319 -0.08929883 -0.00537606
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_11.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc4952043a91657edd3afa5428701fb38a183aa8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_11.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.14915038 -0.00105354 0.01607952
+v 0.14821619 -0.00105353 0.01333828
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+
diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_12.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68b2b6ef45de61eac8f186747840037bb199da47
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_12.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.12109975 0.06247599 -0.00530622
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+
diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_13.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..140b0e77bd5d45b4dc493f472344c2cfae8b333f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_13.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.14636107 0.06247591 0.01607900
+v 0.14622341 0.06247591 0.01654685
+v 0.13319285 0.06247599 -0.00530622
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+v 0.14478657 0.06602648 0.01607901
+v 0.14308730 0.06930165 0.01871004
+v 0.14489841 0.06247590 0.01922315
+v 0.14389606 0.06602647 0.01911500
+v 0.12110011 0.06247599 -0.00530622
+v 0.13216469 0.06498893 -0.00530621
+v 0.14317334 0.06944919 0.01607903
+v 0.13168717 0.06602165 -0.00530621
+v 0.13141615 0.06657735 -0.00530621
+v 0.12920495 0.07109178 -0.00530619
+v 0.12887371 0.07173108 -0.00530619
+v 0.12848653 0.07246873 -0.00530618
+v 0.12728199 0.07468661 -0.00530618
+v 0.12663670 0.07585210 -0.00530617
+v 0.12407704 0.08022393 -0.00530616
+v 0.12357802 0.08104519 -0.00530615
+v 0.12794019 0.09320165 0.01374741
+v 0.14023082 0.07093433 0.01931624
+v 0.13765395 0.07828627 0.01830009
+v 0.12806064 0.09339834 0.01850891
+v 0.12531170 0.09518837 0.01906480
+v 0.14011036 0.06247590 0.02039025
+v 0.14011036 0.06602647 0.02018652
+v 0.12848223 0.06247593 0.01209977
+v 0.10241250 0.09616700 0.01617973
+v 0.10241250 0.08613500 -0.00530613
+v 0.13765395 0.07828627 0.01824223
+v 0.12809506 0.09346228 0.01607911
+v 0.12256277 0.08267294 -0.00530615
+v 0.12027843 0.08588420 -0.00530613
+v 0.11885450 0.08780701 -0.00530613
+v 0.12350489 0.09869963 0.01346823
+v 0.12392648 0.09927007 0.01607913
+v 0.12638289 0.09591620 0.01607912
+v 0.12230035 0.08305652 -0.00530614
+v 0.12365546 0.09891106 0.01877052
+v 0.12058387 0.10045522 0.01927862
+v 0.12534182 0.09052148 0.01974140
+v 0.13518894 0.06247590 0.01981173
+v 0.11550329 0.10032244 0.02015144
+v 0.10566046 0.10522046 0.02027471
+v 0.10241250 0.10522046 0.02030992
+v 0.12042471 0.09541950 0.02004074
+v 0.12965236 0.06247592 0.01474840
+v 0.10241250 0.09771115 0.01842844
+v 0.13028044 0.06247591 0.01609409
+v 0.10241250 0.09847840 -0.00530609
+v 0.11762414 0.08920855 -0.00530612
+v 0.11884589 0.10353371 0.01343555
+v 0.12190027 0.10172399 0.01607914
+v 0.11904808 0.10372548 0.01882085
+v 0.11549898 0.10530406 0.01923085
+v 0.13212597 0.06247590 0.01869996
+v 0.10241250 0.10008640 0.01940690
+v 0.11058187 0.10522046 0.02004330
+v 0.10241250 0.11018733 0.01934908
+v 0.13142045 0.06247590 0.01789003
+v 0.10241250 0.11241998 0.01505293
+v 0.10266201 0.11235114 0.01485925
+v 0.10287281 0.09837021 -0.00530609
+v 0.11593778 0.09092975 -0.00530612
+v 0.11352870 0.10795471 0.01364937
+v 0.11647553 0.10650890 0.01607916
+v 0.11943956 0.10405498 0.01607915
+v 0.11428584 0.09249849 -0.00530611
+v 0.11385135 0.10817108 0.01868252
+v 0.11058187 0.10888414 0.01904221
+v 0.10528619 0.11030043 0.01907744
+v 0.10241250 0.11268059 0.01840585
+v 0.10241250 0.11271011 0.01719095
+v 0.10339334 0.11261176 0.01781223
+v 0.11058187 0.10971524 0.01607917
+v 0.10491192 0.09781451 -0.00530609
+v 0.11401481 0.10825960 0.01607917
+v 0.11259088 0.09384594 -0.00530611
+v 0.11078837 0.09502126 -0.00530610
+v 0.10980322 0.09557696 -0.00530610
+v 0.10641330 0.09728340 -0.00530609
+v 0.10339334 0.11261176 0.01834297
+f 1 2 7
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+f 1 26 43
+f 1 43 57
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+f 1 48 28
+f 1 28 9
+f 1 9 3
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+
diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_14.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6af2084e19f2fc610384181f1ecc38b8b3c11ea5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_14.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.14776187 -0.06461649 0.01607976
+v 0.14770944 -0.06464877 0.01852082
+v 0.14773829 -0.06475767 0.01607976
+v 0.14770159 -0.06461649 0.01545028
+v 0.14771206 -0.06461650 0.01852308
+v 0.14623369 -0.06461650 0.01915143
+v 0.14533459 -0.06627837 0.01933790
+v 0.14406854 -0.07117123 0.01923843
+v 0.14323759 -0.07512021 0.01882139
+v 0.14339225 -0.07560021 0.01607972
+v 0.14708297 -0.06461648 0.01364096
+v 0.14299644 -0.07476119 0.01357086
+v 0.14523237 -0.06461650 0.01954923
+v 0.14011044 -0.07117123 0.02040584
+v 0.13933456 -0.08097308 0.01923387
+v 0.14225201 -0.07804866 0.01607971
+v 0.13834896 -0.08487769 0.01882363
+v 0.13992958 -0.06640338 0.00906623
+v 0.14012093 -0.06461646 0.00906623
+v 0.13852983 -0.07129220 0.00906621
+v 0.13810781 -0.08455901 0.01357082
+v 0.14176970 -0.06461650 0.02039117
+v 0.14011044 -0.06627032 0.02060929
+v 0.13518774 -0.08097308 0.02037981
+v 0.13560452 -0.08624915 0.01949039
+v 0.13427293 -0.09076687 0.01912987
+v 0.13851935 -0.08536173 0.01607969
+v 0.13327161 -0.09397365 0.01870153
+v 0.13724804 -0.08781017 0.01607968
+v 0.12922701 -0.06461646 0.00906623
+v 0.13355995 -0.08097708 0.00906617
+v 0.13307239 -0.09374371 0.01364651
+v 0.14011044 -0.06461651 0.02061042
+v 0.12098319 -0.09566781 0.02045435
+v 0.12534757 -0.09566781 0.02042610
+v 0.13027028 -0.09076687 0.02028711
+v 0.13029125 -0.09563149 0.01929598
+v 0.12866607 -0.09895525 0.01880662
+v 0.13142363 -0.09662780 0.01607965
+v 0.13339218 -0.09417935 0.01607965
+v 0.12098319 -0.08112633 0.00906617
+v 0.12098319 -0.08248972 0.01164850
+v 0.13006582 -0.06461647 0.01164856
+v 0.12732923 -0.09059338 0.00906614
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+v 0.13677884 -0.06461650 0.01977526
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+v 0.12098319 -0.10001207 0.02038200
+v 0.12532135 -0.10058083 0.01933099
+v 0.12366472 -0.10364239 0.01874558
+v 0.12634365 -0.10167798 0.01607963
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+v 0.12098319 -0.08548273 0.01606387
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+v 0.12098319 -0.10447736 0.01910496
+v 0.12098319 -0.10489686 0.01897272
+v 0.12098319 -0.10573989 0.01672039
+v 0.12098319 -0.10582460 0.01600841
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+v 0.12098319 -0.10426759 0.01341254
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+v 0.12098319 -0.08958097 0.01912309
+v 0.12098319 -0.08639031 0.01679844
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+f 58 66 65
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+f 70 72 71
+
diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_15.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ab5855e44ad77786926710ecf90f505802cc0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_15.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.11525072 -0.07119093 0.01058005
+v -0.10928944 -0.07119087 -0.00536937
+v -0.10927806 -0.07125090 -0.00536937
+v -0.10886444 -0.07270762 -0.00536938
+v -0.10807896 -0.07502601 -0.00536939
+v -0.11029879 -0.08479052 0.01058000
+v -0.10292213 -0.07119093 0.01058005
+v -0.09795502 -0.07119087 -0.00536937
+v -0.10761603 -0.07619845 -0.00536939
+v -0.10743389 -0.07658338 -0.00536939
+v -0.10525959 -0.08117249 -0.00536941
+v -0.10418572 -0.08311655 -0.00536942
+v -0.10385560 -0.08394997 -0.00494624
+v -0.10329400 -0.08450441 -0.00536942
+v -0.10220496 -0.08599998 -0.00536943
+v -0.10679260 -0.08922954 0.01057998
+v -0.09149286 -0.08922954 0.01057998
+v -0.07648529 -0.08922948 -0.00536944
+v -0.09957910 -0.08922948 -0.00536944
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 17
+f 1 17 7
+f 1 7 8
+f 1 8 2
+f 2 8 18
+f 2 18 19
+f 2 19 15
+f 2 15 14
+f 2 14 12
+f 2 12 11
+f 2 11 10
+f 2 10 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
+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 15
+f 6 15 16
+f 7 17 18
+f 7 18 8
+f 12 14 13
+f 15 19 16
+f 16 19 18
+f 16 18 17
+
diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_16.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3237a69d1ddadcb83e74526d7e74b98637ecc2ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_16.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v -0.10338387 0.07579809 0.01039188
+v -0.11560811 0.07579809 0.01039188
+v -0.10393602 0.07579808 0.01232011
+v -0.10397675 -0.06637599 0.01203110
+v -0.10362374 -0.06637599 0.01064515
+v -0.10361017 -0.06637599 0.01058269
+v -0.10357849 -0.00010417 0.01039160
+v -0.11600185 0.07579809 0.01039485
+v -0.11630056 0.07091329 0.01039186
+v -0.10532092 0.07579807 0.01605761
+v -0.10533450 -0.01727753 0.01608007
+v -0.10536166 -0.04665590 0.01607996
+v -0.10539787 -0.06637601 0.01607295
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_17.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce04264cfa559382c8da487baa5bff4a52c1057
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_17.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_18.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c5b7acd92d116c900586a87aaff7f763e281d28
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_18.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+f 22 28 26
+f 23 24 29
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+f 28 30 32
+f 28 32 31
+
diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_19.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4339066a544294021ce86f99c938d4989dbd275d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_19.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.12499218 -0.06637602 0.01607968
+v -0.12498234 -0.06637602 0.01616764
+v -0.12401163 -0.06637601 0.01340895
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+v -0.11402911 -0.08922733 0.01607959
+v -0.11379627 -0.08922734 0.01807176
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+v -0.11363230 -0.08922734 0.01868846
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+v -0.09722214 -0.08922734 0.01888081
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+v -0.10734895 -0.06637603 0.01901816
+v -0.09473307 -0.08922733 0.01607959
+v -0.09248339 -0.08922732 0.01246159
+v -0.09481505 -0.08922733 0.01619268
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+
diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_2.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f781e738cd806dfcb89496bef081d6b71d8c98b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_2.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.12098512 -0.01727909 -0.01933276
+v 0.12098512 -0.00313291 -0.01931881
+v 0.12534619 -0.01727909 -0.01932720
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+v 0.12098512 -0.05156748 -0.01930231
+v 0.12098512 -0.00106274 -0.01931602
+v 0.12930198 -0.01237409 -0.01805123
+v 0.12930586 -0.01727909 -0.01805680
+v 0.12930391 -0.02217477 -0.01805960
+v 0.12534619 -0.00106274 -0.01929656
+v 0.12928840 -0.00106274 -0.01803728
+v 0.12930198 -0.02707977 -0.01805406
+v 0.12929810 -0.03687112 -0.01803742
+v 0.12534619 -0.04667181 -0.01927172
+v 0.12098512 -0.05646316 -0.01929399
+v 0.12098512 -0.00106278 -0.00746821
+v 0.13176077 -0.01237410 -0.01587459
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+v 0.13175689 -0.03687113 -0.01590526
+v 0.13174526 -0.04177614 -0.01590805
+v 0.12928646 -0.04177613 -0.01802909
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+v 0.12098512 -0.06136817 -0.01928011
+v 0.12985269 -0.00106284 0.00906647
+v 0.12098512 -0.08111883 0.00906617
+v 0.13176465 -0.01727910 -0.01587460
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+v 0.13321898 -0.03687114 -0.01368970
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+v 0.13321704 -0.04667183 -0.01367861
+v 0.13320541 -0.05156750 -0.01365917
+v 0.13172974 -0.04667182 -0.01589417
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+v 0.14077182 -0.04667191 0.00906630
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+v 0.14072916 -0.05646326 0.00906626
+v 0.13430683 -0.05646319 -0.01050960
+v 0.13299598 -0.06136819 -0.01326169
+v 0.13147960 -0.06136818 -0.01547725
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+v 0.12534619 -0.06626384 -0.01876863
+v 0.12098512 -0.07606452 -0.01854350
+v 0.12098512 -0.08666719 -0.01075990
+v 0.12732990 -0.09059314 0.00906614
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+v 0.13282341 -0.06412841 -0.01291978
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+v 0.12806870 -0.06931316 -0.01735090
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+
diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_20.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc79257e4cc9b0f342715384160299d96ec9e73e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_20.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.11016405 0.07093774 -0.00738694
+v -0.09690858 0.07093774 -0.00738694
+v -0.11037585 0.06739009 -0.00738695
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+v -0.10368400 0.07093767 0.01039063
+v -0.10292426 -0.07119093 0.01058005
+v -0.09795978 -0.07119087 -0.00536840
+v -0.09791509 -0.00012656 -0.00738720
+v -0.11044968 0.06601277 -0.00738696
+v -0.11628660 0.07093767 0.01038008
+v -0.11629437 0.07092376 0.01039063
+v -0.10403957 0.07093767 0.01039063
+v -0.10361988 -0.00012663 0.01058031
+v -0.11524902 -0.07119093 0.01058005
+v -0.10929163 -0.07119087 -0.00536840
+v -0.11069062 -0.00012656 -0.00738720
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+v -0.11638181 0.06606835 0.01039061
+v -0.11673933 -0.00012663 0.01058031
+v -0.11532285 -0.07103789 0.01058005
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+v -0.11067508 -0.06213392 -0.00536837
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+v -0.11103843 -0.05156053 -0.00536833
+v -0.11108506 -0.04744248 -0.00536831
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+v -0.11060902 0.04785715 -0.00738702
+v -0.11061679 0.04642418 -0.00738703
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+
diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_3.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a4c728ca203a868746e602140470b9e0639bf33
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_3.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.09581179 0.10522042 0.02032989
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_4.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c698a3d475e75c57338f29caac433e15c413f86
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_4.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_5.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..166b4dbe06ed2f0b40b7911d4efb4152928510f0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_5.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_6.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfbd3e7e19683689f5d6fc6e7b97c40dbde97ae8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_6.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_7.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21765f69c46657181304c57df3d982db74acef87
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_7.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_8.obj b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfb99b396501306e5aba8c1517668baeaf54f4af
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9be88af69d2358ecbcf789b8fccb8c2e/mjcf/mesh/metal_tray_collision_8.obj
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