diff --git a/.gitattributes b/.gitattributes
index 8457ba45693138e1d48d7161290d8d6956f7c1c9..b193384436386973e4154617c3e263e1dd83cf40 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4462,3 +4462,4 @@ dataset/kitchen_supplies/tableware/f9e2751ec09a5d4dac818e058dda7d8c/mesh/fork_gs
 dataset/kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71/04ebad9112ce5c10b9d4bd4664056e71.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71/mesh/spatula.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71/mesh/spatula_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/00c0a6d13b1b5dd9b30cc5a9084f8af2.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/00c0a6d13b1b5dd9b30cc5a9084f8af2.urdf b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/00c0a6d13b1b5dd9b30cc5a9084f8af2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3403848bd4b28daa9a487500aca0e9eed8d0804b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/00c0a6d13b1b5dd9b30cc5a9084f8af2.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_tray">
+   <link name="wooden_tray">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_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/wooden_tray_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>0.266466</scale>
+         <version>v0.1.5</version>
+         <category>wooden tray</category>
+         <description>flat rectangular wooden tray with smooth edges</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20251006034256</generate_time>
+         <gs_model>mesh/wooden_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.757283091545105</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/00c0a6d13b1b5dd9b30cc5a9084f8af2.usd b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/00c0a6d13b1b5dd9b30cc5a9084f8af2.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8d9cf1067267a2b26e08717d0feaf97225c05c17
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/00c0a6d13b1b5dd9b30cc5a9084f8af2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c6408b4f75c16607d1de450006c30053450993757d1344c3c5d51cdf69b9433
+size 630717
diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/material.mtl b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/material_0.png b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b6ed8f0e2cfe8f9baf4285d7b8ec524d890276c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a2d2da811283d5e993e57c9582c77a4e3d40edc2f062ed2927c84965e360cd4
+size 1206597
diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/wooden_tray.glb b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/wooden_tray.glb
new file mode 100644
index 0000000000000000000000000000000000000000..af44143348e3abcf49f52838232a3ccec30fb8e1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/wooden_tray.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52b2f6f0ee702d54e3185e5e9798490d1c3ab7808644118ab777eddd497ec1e7
+size 1626000
diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/wooden_tray.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/wooden_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db49cade04c5317a27fb2869bb9198edd2eb651a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/wooden_tray.obj
@@ -0,0 +1,38212 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/wooden_tray_collision.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/wooden_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa9d0e21ec560c03bfba82098457b716827cbc02
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/wooden_tray_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/wooden_tray_gs.ply b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mesh/wooden_tray_gs.ply
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/00c0a6d13b1b5dd9b30cc5a9084f8af2.xml b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/00c0a6d13b1b5dd9b30cc5a9084f8af2.xml
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7db2bcae023969d3edcbb068d409736eb415b418
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..554f1983f186cdf41ea96482ee07ed9ceba90235
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision.obj
@@ -0,0 +1,5733 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_1.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..219a3cf771df45f5087df3a6921eb6017f7de6d3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_1.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_10.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccb38165eda904f40884366431c9e49334b0bdef
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_10.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_11.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..783f3df937553ca3c675079d842d66829f81b21d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_11.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_12.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9483d15e07ae902b28a4f18b1ea4a80d76e5a929
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_12.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_13.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..799ff8c10257093783b0629d5b356f3373ea1bbc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_13.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_14.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..043f3803597d2d2080fd287260461dd429588610
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_14.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_15.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9127b9b4c9cbb9ec2ffe8690218b87b016477a9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_15.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_16.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b5e3230147898b8d73e0843b23d0a79133913e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_16.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_17.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f918f04c2852c44ba8635c67a2d12a81a540c410
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_17.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_18.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfffacc0a16c4b1349fab16ac6b601e29de58b39
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_18.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_2.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f26ce03d0363a729493e4ea0398f41439751571
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_2.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_3.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f8858fb5dcdcc7a496b5a582e99c10f43bd42bc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_3.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_4.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..314a0e0ac89ce503ca60a1c53b1a641dd58a8118
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_4.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_5.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a54c1be318d988533fed34085dddbf160f713520
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_5.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_6.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab37154d4a95fdcab07dbd53cd04fcc250e92f79
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_6.obj
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_7.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3a05bbc612d0d284b8b18072ed885f47e57a73a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_7.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_8.obj b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a45967fb2571d1917e85abc93d0b54f55d57ab8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/mjcf/mesh/wooden_tray_collision_8.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/video.mp4 b/dataset/kitchen_supplies/utensils/00c0a6d13b1b5dd9b30cc5a9084f8af2/video.mp4
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