diff --git a/.gitattributes b/.gitattributes
index 9d5963bb79f3b4d96d3e2570fae85d6e4277f37f..1037a05da71ab15e79dde22b9ae4d06985084d8a 100644
--- a/.gitattributes
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dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/spice_jar_022.usd filter=lfs diff=lfs merge=lfs -text
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+dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mesh/bottle_opener_006.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/bottle_opener_006.urdf b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/bottle_opener_006.urdf
new file mode 100644
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mesh/bottle_opener_006.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mesh/bottle_opener_006.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mesh/bottle_opener_006_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mesh/bottle_opener_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..356b9b94e56580f3dcc701722641f264fe42bfc1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mesh/bottle_opener_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:635c025b4e363ad0d21d9a1f66814b247c466cbfbe603e2d0577ea55248abcd7
+size 12524657
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mesh/material.mtl b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..30ac85e92ade5379547dea3e50f50827f172263f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_006_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd bottle_opener_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mesh/material_0.png b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..356b9b94e56580f3dcc701722641f264fe42bfc1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:635c025b4e363ad0d21d9a1f66814b247c466cbfbe603e2d0577ea55248abcd7
+size 12524657
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/bottle_opener_006.xml b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/bottle_opener_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5d5c7432f008bf25457aef8b34c9ca4113a919dc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/bottle_opener_006.xml
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4411c465ba8d10681b5f156a19c72f1a9f8ea0af
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c659d0b04842822d0c463e2cb1f285f3dab6bdc6e8290674467a9e931aec5684
+size 112105693
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31da90d60849409733ea6c2d974cfba881354da3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision.obj
@@ -0,0 +1,16230 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_0.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2757e921c84f00a4f7faa6b742d67a3ca417708b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_1.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0333c0d768e64c566acab738d342b4c1942ad2b7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_1.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.01016783 -0.00584055 0.01688110
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_10.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d25c4cd10abc9273d77b6038ffdce5ec340778ac
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_10.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01578079 -0.00974518 -0.05286195
+v 0.01425980 -0.00855623 -0.05286194
+v 0.01810314 -0.00940793 -0.05286194
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_11.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..953c4ed92c9329267b01a38a1f7538315ff12356
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_11.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_12.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2db660c7555449b7cb052b639ec9e33e517cbca
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_12.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_13.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a85038e67898d098a342044ce091f3ca7c3d8b7e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_13.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_14.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9647c947b377100608cf5ea1149e58cce4e061c7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_14.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_15.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5327549abe0edaec2e28b73ac877f40db5612ae
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_15.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_16.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc95223e112ad41bf3163255fd056a720bc3ec44
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_16.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_17.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dffec6db337ec97d981740c8b5ed5de813e41694
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_17.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_18.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde127c8f99bd8457e7f32654b0b1f68c34af079
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_18.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_19.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0742fbcfce10ae5cfcb691d77e052c0791a7dd2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_19.obj
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_2.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..820928311c7d082aef7bd78dfcee764a1911c436
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_20.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..250ec0d22b63ec990ac71eb4c1682b88ab9fa281
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_20.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_21.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bff7293f3119808f32a269bd5c440a252dc1063c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_21.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.02555238 -0.00001122 -0.07064681
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_22.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10ec53788b8b5fd54165232c33634ee82d4e0ce9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_22.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_23.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22d0bfb5547d28b5aa2847b95b33a13df9080e0d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_23.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_24.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cad677eed99cddd575e536ab167e529be1ad8bea
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_24.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_25.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de053c9c85c357488e5c1bedfc98651aa584fce
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_25.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_26.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76dbda3f531033de04e115c50141bc7ed3351be8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_26.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+v -0.01824838 0.01727113 -0.06561675
+v -0.02083646 0.01428128 -0.06561676
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_27.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0ae8caef7d7ccc8c283947740c2f75505ab9218
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_27.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.01989995 -0.01017588 -0.05720497
+v 0.01899810 -0.01017589 -0.05569663
+v 0.01985659 -0.01025992 -0.05720497
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+v 0.01872061 -0.01205548 -0.05720497
+v 0.01181802 -0.01017589 -0.05569663
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+v -0.00962973 -0.01237235 -0.05720498
+v -0.00962973 -0.01226673 -0.05700255
+v -0.00962973 -0.01218382 -0.05684336
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+v 0.01819164 -0.01245639 -0.05679420
+v 0.01175732 -0.01017588 -0.05596242
+v -0.00962973 -0.01244504 -0.05569664
+v 0.01175732 -0.01017588 -0.05657491
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+v -0.00962973 -0.01859947 -0.05569666
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+v -0.00839548 -0.01936948 -0.05569666
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_28.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51e37ba2aa02482f72a0403ca5eee30dceab0a55
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_28.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.02544864 -0.00140035 -0.06561658
+v -0.02542899 -0.00158150 -0.06561658
+v -0.02543712 -0.00140035 -0.06542702
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+v -0.02512478 -0.00418207 -0.06542703
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+v -0.02543170 0.00138138 -0.06542700
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+v -0.02509564 -0.00436322 -0.06561659
+v -0.02460782 -0.00418208 -0.06311817
+v -0.02486257 -0.00197650 -0.06311816
+v -0.02504686 -0.00451874 -0.06542703
+v -0.02491948 0.00138137 -0.06311814
+v -0.02511123 0.00416310 -0.06542699
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+v -0.01928916 0.00450860 -0.06561655
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_29.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bdd72b9810dd9af92fd607b675fb793e368ae2b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_29.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.00026381 0.02345112 -0.06104182
+v -0.00024680 0.02228748 -0.05806726
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+f 19 37 38
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+f 19 39 25
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_3.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb46e40dafc88d042a3f6642816ca71b3f42aaf1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_3.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.01350349 -0.00205230 -0.01076343
+v 0.01357677 0.00416270 -0.01076340
+v 0.01356320 -0.00418134 -0.01076344
+v 0.01016783 -0.00140001 -0.00850662
+v 0.01016783 -0.00030192 -0.00850661
+v 0.01016783 0.00138134 -0.00850390
+v 0.01413859 0.00586662 -0.01076340
+v 0.01016783 0.00422121 -0.00780844
+v 0.01366362 -0.00458581 -0.01076344
+v 0.01016783 -0.00424332 -0.00781660
+v 0.01455657 0.00600775 -0.01076340
+v 0.01016783 0.00599569 -0.00645815
+v 0.01412774 -0.00589903 -0.01076344
+v 0.01016783 -0.00431388 -0.00778684
+v 0.01594077 0.00645525 -0.01076340
+v 0.01016783 0.00657399 -0.00428523
+v 0.01594077 -0.00649971 -0.01076344
+v 0.01016783 -0.00602470 -0.00646631
+v 0.01016783 0.00658087 -0.00425275
+v 0.01952342 0.00865307 0.00538875
+v 0.02174900 0.00860488 0.00545640
+v 0.01827492 0.00614200 -0.01076340
+v 0.01016783 -0.00661677 -0.00425279
+v 0.01773210 -0.00625187 -0.01076344
+v 0.02174900 -0.00863225 0.00543199
+v 0.01952071 -0.00867528 0.00538057
+v 0.01016783 0.00672716 -0.00137627
+v 0.01927643 0.00877871 0.00739661
+v 0.02194442 0.00871330 0.00733166
+v 0.02327163 0.00837597 0.00584336
+v 0.03631572 0.00326427 -0.01076341
+v 0.03404400 0.00369111 -0.01076341
+v 0.01016783 -0.00675964 -0.00133843
+v 0.01927372 -0.00880437 0.00739655
+v 0.01828849 -0.00617442 -0.01076344
+v 0.02195799 -0.00874413 0.00738302
+v 0.03631572 -0.00328464 -0.01076343
+v 0.02328791 -0.00840506 0.00582165
+v 0.01016783 0.00673057 0.00444705
+v 0.01971070 0.00860832 0.00930704
+v 0.02110576 0.00860832 0.00930704
+v 0.01016783 0.00673056 0.00739660
+v 0.01016783 0.00672882 0.01322262
+v 0.02304364 0.00827786 0.00825982
+v 0.02327163 0.00837597 0.00631691
+v 0.03704853 0.00303192 -0.01076341
+v 0.03666313 0.00317477 -0.01076341
+v 0.01016783 -0.00676138 0.00448489
+v 0.02112747 -0.00863226 0.00931510
+v 0.01970798 -0.00863226 0.00931510
+v 0.01016783 -0.00676313 0.01322258
+v 0.02328791 -0.00840506 0.00640344
+v 0.02306264 -0.00830525 0.00834365
+v 0.03704582 -0.00305056 -0.01076343
+v 0.01016783 0.00611609 0.01617217
+v 0.01016783 0.00609888 0.01624794
+v 0.01884489 0.00613846 0.01558497
+v 0.02174900 0.00608166 0.01541990
+v 0.02403158 0.00586996 0.01508977
+v 0.03336275 0.00365659 0.01688113
+v 0.03545534 0.00312820 0.01688113
+v 0.03766193 0.00241575 -0.01076341
+v 0.02174900 -0.00611428 0.01543339
+v 0.01884489 -0.00617107 0.01559304
+v 0.01016783 -0.00612288 0.01624519
+v 0.03544720 -0.00313672 0.01688111
+v 0.03402771 -0.00351881 0.01688111
+v 0.03336275 -0.00365478 0.01688111
+v 0.02404516 -0.00589741 0.01510055
+v 0.03789534 -0.00140000 -0.01076343
+v 0.01016783 0.00580973 0.01688114
+v 0.01913530 0.00524347 0.01688114
+v 0.02169201 0.00500596 0.01688114
+v 0.02174629 0.00500079 0.01688114
+v 0.02480240 0.00464968 0.01688114
+v 0.03573761 0.00260842 0.01688113
+v 0.03789263 0.00138135 -0.01076341
+v 0.03624787 0.00138125 0.01688113
+v 0.02174900 -0.00503685 0.01688110
+v 0.01884489 -0.00528985 0.01688110
+v 0.01016783 -0.00584062 0.01688110
+v 0.02558135 -0.00464959 0.01688110
+v 0.03623701 -0.00140010 0.01688111
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+f 17 23 18
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+f 63 69 68
+f 63 68 82
+f 63 82 79
+f 64 81 65
+f 66 70 83
+f 70 78 83
+f 70 77 78
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_30.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c29c4ca90aae49e9157c9743510d8490b021e68d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_30.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00024505 -0.02251073 -0.05860048
+v 0.00093145 -0.02250800 -0.05860048
+v 0.00054545 -0.02230483 -0.05807309
+v -0.00024505 -0.02240847 -0.05833822
+v -0.00024505 -0.01613438 -0.05860046
+v 0.00213174 -0.02243164 -0.05860048
+v 0.00248205 -0.02223938 -0.05820299
+v -0.00024505 -0.02230483 -0.05807309
+v 0.00125664 -0.02177438 -0.05720502
+v -0.00024505 -0.02177574 -0.05720502
+v -0.00024505 -0.01567758 -0.05754280
+v 0.01325693 -0.00858123 -0.05720497
+v 0.01325693 -0.00990940 -0.05860044
+v 0.00432347 -0.02210846 -0.05860048
+v 0.00432347 -0.02208391 -0.05854380
+v 0.00369556 -0.02147847 -0.05720502
+v 0.00168890 -0.02174302 -0.05720502
+v -0.00024505 -0.01553303 -0.05720500
+v 0.01325693 -0.01756075 -0.05720500
+v 0.01325693 -0.01838029 -0.05860047
+v 0.00448739 -0.02206755 -0.05860048
+v 0.00629443 -0.02083756 -0.05720502
+v 0.00432347 -0.02136256 -0.05720502
+v 0.01253120 -0.01806530 -0.05720501
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+v 0.01201037 -0.01926392 -0.05860047
+v 0.00730437 -0.02126710 -0.05860048
+v 0.00637111 -0.02081574 -0.05720502
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+v 0.00724753 -0.02056620 -0.05720502
+v 0.00978295 -0.01960620 -0.05720501
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+f 1 11 5
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+f 22 29 30
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+f 25 33 34
+f 25 34 28
+f 29 35 36
+f 29 36 37
+f 29 37 30
+f 31 38 32
+f 32 36 35
+f 32 35 33
+f 32 38 36
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_31.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d5ca9ef3bb6c660f900b1de9103f9d2c52bd169
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_31.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00011131 0.02085411 -0.05569637
+v -0.00011131 0.01548227 -0.05569639
+v -0.00011131 0.02043110 -0.05499449
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+v 0.00146345 0.02085228 -0.05569637
+v 0.01057824 0.01150122 -0.05569641
+v 0.01057824 0.01164772 -0.05444013
+v -0.00011131 0.01576427 -0.05420676
+v -0.00011131 0.02006212 -0.05438285
+v 0.00141951 0.01807343 -0.05335695
+v 0.00432418 0.01807343 -0.05349915
+v 0.00432418 0.01986160 -0.05462902
+v 0.00432418 0.02049062 -0.05569637
+v 0.01057824 0.01812470 -0.05569638
+v 0.01057824 0.01246718 -0.05402083
+v -0.00011131 0.01807343 -0.05335809
+v 0.01013145 0.01529274 -0.05336589
+v 0.00722572 0.01824922 -0.05413874
+v 0.00625785 0.01962904 -0.05496061
+v 0.00669941 0.01990372 -0.05569638
+v 0.01057824 0.01730065 -0.05452026
+v 0.01026748 0.01831606 -0.05569638
+v 0.01057824 0.01528999 -0.05350374
+v 0.01013145 0.01742701 -0.05439889
+v 0.00819360 0.01929301 -0.05552257
+v 0.00803351 0.01944866 -0.05569638
+v 0.00855250 0.01923075 -0.05569638
+v 0.00831393 0.01934428 -0.05569638
+f 1 2 8
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+f 1 9 3
+f 1 3 4
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+f 1 13 20
+f 1 20 26
+f 1 26 28
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+f 1 22 14
+f 1 14 6
+f 1 6 2
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+f 21 22 27
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+f 21 24 23
+f 25 27 28
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_32.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5bfac94fc5a5056c9a7574fc0175c397db285f4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_32.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.02561770 -0.00140347 -0.06834009
+v -0.02530690 -0.00418526 -0.06834010
+v -0.02544931 -0.00140348 -0.06561682
+v -0.02561673 0.00138129 -0.06834007
+v -0.02555226 0.00138130 -0.07064679
+v -0.02555226 -0.00140346 -0.07064681
+v -0.02524147 -0.00418525 -0.07064682
+v -0.02473727 -0.00638343 -0.07064682
+v -0.02466414 -0.00696409 -0.06834011
+v -0.02513755 -0.00418527 -0.06561683
+v -0.02544353 0.00138128 -0.06561680
+v -0.02530017 0.00416308 -0.06834006
+v -0.02523569 0.00416309 -0.07064678
+v -0.02460256 -0.00696408 -0.07064683
+v -0.02448613 -0.00696410 -0.06561684
+v -0.02509521 -0.00436599 -0.06561683
+v -0.02391842 -0.00891341 -0.07064683
+v -0.02373079 -0.00944370 -0.07064683
+v -0.02375869 -0.00950592 -0.06834011
+v -0.02366728 -0.00929559 -0.06561684
+v -0.02512408 0.00416307 -0.06561679
+v -0.02465163 0.00694487 -0.06834005
+v -0.02459197 0.00694488 -0.07064677
+v -0.02360474 -0.00973403 -0.07064684
+v -0.02315634 -0.01089534 -0.06834012
+v -0.02309957 -0.01059614 -0.06561685
+v -0.02446977 0.00694486 -0.06561678
+v -0.02371828 0.00908675 -0.06561678
+v -0.02365958 0.00925265 -0.06561678
+v -0.02375292 0.00946596 -0.06834005
+v -0.02372501 0.00940969 -0.07064677
+v -0.02312363 -0.01083608 -0.07064684
+v -0.02201419 -0.01252769 -0.06561686
+v -0.02306012 -0.01068501 -0.06561685
+v -0.02215371 -0.01252767 -0.07064685
+v -0.02221626 -0.01252768 -0.06834013
+v -0.02323044 0.01058875 -0.06785850
+v -0.02307167 0.01058874 -0.06561677
+v -0.02326315 0.01058875 -0.06834004
+v -0.02320734 0.01058876 -0.07064676
+v -0.02076716 -0.01445332 -0.06561686
+v -0.02112318 -0.01412742 -0.07064685
+v -0.02084414 -0.01455698 -0.07064685
+v -0.02087300 -0.01459254 -0.06834013
+v -0.01662096 0.01058874 -0.06561677
+v -0.01642948 0.01058876 -0.07064676
+v -0.01974817 -0.01598492 -0.06834014
+v -0.01970006 -0.01575386 -0.06561687
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+v -0.01578865 -0.01172781 -0.06561685
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_33.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7c116af534101bcd84592f4f6cf4952a307019a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_33.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02420997 -0.00140134 -0.06104193
+v -0.02388926 -0.00418338 -0.06104194
+v -0.02359329 -0.00418338 -0.06029390
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+v -0.02420674 0.00017292 -0.06104192
+v -0.02346737 -0.00614868 -0.06104194
+v -0.02339957 -0.00598444 -0.06074415
+v -0.02295509 -0.00418338 -0.05883774
+v -0.02316280 -0.00162479 -0.05860041
+v -0.02318971 -0.00140134 -0.05860041
+v -0.02318755 0.00110361 -0.05860040
+v -0.02375473 0.00138070 -0.05991221
+v -0.02420244 0.00138405 -0.06104191
+v -0.02298953 -0.00762461 -0.06104195
+v -0.02263222 -0.00693301 -0.05970456
+v -0.02283455 -0.00418338 -0.05860042
+v -0.02305948 -0.00247170 -0.05860041
+v -0.02208012 -0.00693413 -0.05860043
+v -0.02318648 0.00138070 -0.05860039
+v -0.02375473 0.00138405 -0.05991268
+v -0.01813896 0.00138405 -0.06104191
+v -0.02205859 -0.00985694 -0.06104196
+v -0.02130092 -0.00993739 -0.05939532
+v -0.02105985 -0.00959997 -0.05860044
+v -0.01674309 0.00138405 -0.05860039
+v -0.02318648 0.00138405 -0.05860087
+v -0.01692390 0.00138405 -0.05898636
+v -0.01321521 -0.01002789 -0.05860044
+v -0.01373180 -0.01002789 -0.05936640
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+v -0.02196603 -0.01002789 -0.06104196
+v -0.02121375 -0.01002789 -0.05929996
+v -0.02083169 -0.01002789 -0.05860044
+v -0.01671941 0.00138405 -0.05860039
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+f 1 13 21
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+f 1 22 14
+f 1 14 6
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+f 28 30 29
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_34.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b281195885ea1af1b6108cc045f84d1fddb860
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_34.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01175855 -0.01017588 -0.05657491
+v 0.01197655 -0.01017588 -0.05703310
+v 0.01175855 -0.01017588 -0.05596242
+v 0.01534004 -0.00000455 -0.05569659
+v 0.01540648 -0.00000454 -0.05593905
+v 0.01561307 -0.00000454 -0.05668812
+v 0.01205857 -0.01017588 -0.05720497
+v 0.01181876 -0.01017589 -0.05569663
+v 0.02173690 -0.00000455 -0.05569659
+v 0.01588609 -0.00000454 -0.05720493
+v 0.01989943 -0.01017588 -0.05720497
+v 0.01899939 -0.01017589 -0.05569663
+v 0.02235872 -0.00000454 -0.05720493
+v 0.02173897 -0.00140142 -0.05569660
+v 0.02236288 -0.00140141 -0.05720494
+v 0.02030222 -0.00938137 -0.05720496
+v 0.01921947 -0.00985430 -0.05569663
+v 0.02164554 -0.00234926 -0.05569660
+v 0.02141300 -0.00426385 -0.05569661
+v 0.02212100 -0.00339267 -0.05720494
+v 0.02077249 -0.00830510 -0.05720496
+v 0.02077041 -0.00653786 -0.05569661
+v 0.02128324 -0.00691420 -0.05720496
+v 0.02147633 -0.00620930 -0.05720495
+v 0.02201822 -0.00418319 -0.05720495
+v 0.02116178 -0.00724674 -0.05720496
+f 1 2 7
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+f 21 26 22
+f 22 26 23
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_35.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..966485b6405c1d3c1576f698a9a196becd24297f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_35.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.00081595 0.02478522 -0.07064671
+v -0.00148472 0.02477144 -0.07125338
+v -0.00148472 0.02478384 -0.07064671
+v 0.00142184 0.02478384 -0.07064671
+v 0.00142184 0.02477282 -0.07125338
+v -0.00148472 0.02344029 -0.07384593
+v -0.00438842 0.02326667 -0.07376279
+v -0.00438842 0.02442969 -0.07125338
+v -0.00438842 0.02444348 -0.07064671
+v -0.00208775 0.02471357 -0.07064671
+v 0.00432555 0.02444210 -0.07064671
+v 0.00432555 0.02442969 -0.07125338
+v 0.00432555 0.02326804 -0.07376009
+v 0.00142184 0.02344167 -0.07384554
+v -0.00616894 0.02085515 -0.07458870
+v 0.00722925 0.02085515 -0.07459528
+v -0.00616894 0.02306134 -0.07361201
+v -0.00616894 0.02402043 -0.07125338
+v -0.00616894 0.02402869 -0.07088180
+v -0.00616894 0.02403283 -0.07064671
+v 0.00722925 0.02376274 -0.07064671
+v 0.00722925 0.02375034 -0.07125338
+v 0.00943275 0.02255837 -0.07311979
+v 0.00722925 0.02292630 -0.07350799
+v -0.00616894 0.01862691 -0.07368625
+v 0.01593750 0.01529350 -0.07459685
+v 0.01884406 0.01251130 -0.07451720
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+v 0.01303380 0.01807295 -0.07455353
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+v 0.00939845 0.02299932 -0.07064672
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+v 0.01142190 0.02216976 -0.07125339
+v 0.01484861 0.01972656 -0.07302855
+v 0.01303380 0.02027914 -0.07349370
+v -0.00616894 0.01811841 -0.07125340
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+v 0.02301385 0.01073365 -0.07064676
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+v 0.02098755 0.01405328 -0.07064675
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+v 0.02219647 0.01215163 -0.07064676
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+f 69 80 70
+f 70 80 72
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_36.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e2ae89ca6494b98784e8c8c449d342b947c685d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_36.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.01458875 -0.02039965 -0.06838101
+v 0.01458875 -0.02020559 -0.06561688
+v 0.01458875 -0.02034789 -0.07064687
+v 0.01517500 -0.01998046 -0.07064687
+v 0.01521451 -0.02000634 -0.06834015
+v 0.01507249 -0.01990544 -0.06561688
+v 0.01458875 -0.01305102 -0.06561686
+v 0.01458875 -0.01285953 -0.07064685
+v 0.01666680 -0.01888593 -0.06834015
+v 0.01662729 -0.01885229 -0.07064687
+v 0.01652478 -0.01876950 -0.06561688
+v 0.01872670 0.00603472 -0.06561679
+v 0.01859643 0.00603474 -0.07064678
+v 0.01816821 -0.01746019 -0.07064686
+v 0.01820025 -0.01749383 -0.06834014
+v 0.01808279 -0.01737740 -0.06561687
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+v 0.02456790 0.00603472 -0.06561679
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+v 0.02303445 -0.01078690 -0.07064684
+v 0.02306222 -0.01083608 -0.06834012
+v 0.02188009 -0.01252834 -0.06561686
+v 0.02074923 -0.01428011 -0.06561686
+v 0.02533035 -0.00140189 -0.06561682
+v 0.02518405 -0.00418349 -0.06834010
+v 0.02512959 -0.00418348 -0.07064682
+v 0.02364313 -0.00939480 -0.07064683
+v 0.02296397 -0.01062391 -0.06561685
+v 0.02194417 -0.01241708 -0.06561686
+v 0.02366662 -0.00944398 -0.06834011
+v 0.02353635 -0.00932237 -0.06561684
+v 0.02501320 -0.00418350 -0.06561683
+v 0.02454120 -0.00696510 -0.06834011
+v 0.02449208 -0.00696509 -0.07064683
+v 0.02363245 -0.00907138 -0.06561684
+v 0.02357479 -0.00923181 -0.06561684
+v 0.02436287 -0.00696511 -0.06561684
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 17
+f 2 17 16
+f 2 16 22
+f 2 22 29
+f 2 29 32
+f 2 32 40
+f 2 40 49
+f 2 49 48
+f 2 48 55
+f 2 55 54
+f 2 54 57
+f 2 57 62
+f 2 62 61
+f 2 61 63
+f 2 63 58
+f 2 58 50
+f 2 50 42
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+f 2 41 37
+f 2 37 34
+f 2 34 24
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+f 2 18 12
+f 2 12 7
+f 3 8 13
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+f 12 25 19
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+f 15 21 16
+f 16 21 22
+f 18 24 23
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+f 20 28 21
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+f 23 34 26
+f 23 26 33
+f 25 33 26
+f 26 35 36
+f 26 36 27
+f 26 34 37
+f 26 37 35
+f 30 38 39
+f 30 39 31
+f 31 39 40
+f 31 40 32
+f 35 37 41
+f 35 41 42
+f 35 42 43
+f 35 43 44
+f 35 44 45
+f 35 45 36
+f 38 46 47
+f 38 47 39
+f 39 47 48
+f 39 48 49
+f 39 49 40
+f 42 50 43
+f 43 51 52
+f 43 52 44
+f 43 50 51
+f 46 53 47
+f 47 54 55
+f 47 55 48
+f 47 53 56
+f 47 56 57
+f 47 57 54
+f 50 58 51
+f 51 58 59
+f 51 59 60
+f 51 60 52
+f 53 60 59
+f 53 59 56
+f 56 59 61
+f 56 61 62
+f 56 62 57
+f 58 63 59
+f 59 63 61
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_37.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcace43f468c3c8f4969650326c6eb6f0c2a18f1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_37.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.01815187 -0.00555738 -0.06311817
+v 0.01830505 -0.00555738 -0.06367186
+v 0.02415415 -0.00555738 -0.06311817
+v 0.01847510 0.00431707 -0.06311813
+v 0.01842732 0.00450811 -0.06311838
+v 0.01817013 0.00553170 -0.06312009
+v 0.01888054 -0.00555737 -0.06561659
+v 0.01887633 0.00553171 -0.06561655
+v 0.02467835 -0.00555737 -0.06542681
+v 0.02448722 -0.00418101 -0.06311817
+v 0.02030487 0.00553170 -0.06311813
+v 0.02469100 -0.00555737 -0.06561659
+v 0.02468678 0.00553171 -0.06561655
+v 0.02468538 -0.00555737 -0.06551363
+v 0.02492218 -0.00451750 -0.06542681
+v 0.02500088 -0.00418100 -0.06542681
+v 0.02481327 -0.00140006 -0.06311816
+v 0.02415064 0.00553170 -0.06311813
+v 0.02501353 -0.00418100 -0.06561659
+v 0.02467413 0.00553171 -0.06542677
+v 0.02492850 0.00450812 -0.06561655
+v 0.02531779 -0.00140005 -0.06542680
+v 0.02527422 0.00119854 -0.06523579
+v 0.02481256 -0.00082368 -0.06311815
+v 0.02434317 0.00473931 -0.06311813
+v 0.02434177 0.00553170 -0.06394719
+v 0.02533044 -0.00140005 -0.06561658
+v 0.02437339 0.00553171 -0.06408757
+v 0.02447949 0.00416293 -0.06311813
+v 0.02499737 0.00416294 -0.06542677
+v 0.02500861 0.00416294 -0.06561655
+v 0.02531498 0.00138199 -0.06542678
+v 0.02480905 0.00119853 -0.06311815
+v 0.02532762 0.00119854 -0.06561657
+v 0.02474230 0.00195836 -0.06311814
+v 0.02530655 0.00156217 -0.06561656
+v 0.02532692 0.00138199 -0.06561656
+v 0.02480764 0.00138198 -0.06311814
+f 1 2 7
+f 1 7 12
+f 1 12 14
+f 1 14 9
+f 1 9 3
+f 1 3 10
+f 1 10 17
+f 1 17 24
+f 1 24 33
+f 1 33 38
+f 1 38 35
+f 1 35 29
+f 1 29 25
+f 1 25 18
+f 1 18 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 4 11 5
+f 5 11 6
+f 6 11 18
+f 6 18 26
+f 6 26 28
+f 6 28 20
+f 6 20 13
+f 6 13 8
+f 7 8 13
+f 7 13 21
+f 7 21 31
+f 7 31 36
+f 7 36 37
+f 7 37 34
+f 7 34 27
+f 7 27 19
+f 7 19 12
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 12 19 14
+f 13 20 21
+f 14 19 16
+f 14 16 15
+f 16 19 27
+f 16 27 22
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 18 25 26
+f 20 28 25
+f 20 25 29
+f 20 29 30
+f 20 30 21
+f 21 30 31
+f 22 27 32
+f 22 32 23
+f 23 33 24
+f 23 32 33
+f 25 28 26
+f 27 34 32
+f 29 35 30
+f 30 35 32
+f 30 32 36
+f 30 36 31
+f 32 34 37
+f 32 37 36
+f 32 35 38
+f 32 38 33
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_38.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98902336f69a7dbcf5d3dff756de946eba81447d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_38.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00808326 -0.02349490 -0.07064728
+v 0.00808326 -0.02348570 -0.07119773
+v 0.01032088 -0.02272023 -0.07064727
+v 0.00808326 -0.01749755 -0.07064725
+v 0.00808326 -0.02280987 -0.07337087
+v 0.00946627 -0.02258460 -0.07313131
+v 0.01140316 -0.02217773 -0.07188696
+v 0.01031408 -0.02271563 -0.07105081
+v 0.01078811 -0.02255472 -0.07064727
+v 0.00808326 -0.01741939 -0.07125353
+v 0.01958736 -0.00001352 -0.07064719
+v 0.01955848 -0.00001352 -0.07087047
+v 0.01951261 -0.00001352 -0.07125385
+v 0.00808326 -0.02093642 -0.07439969
+v 0.01031408 -0.02109963 -0.07387637
+v 0.01303762 -0.02031577 -0.07350228
+v 0.01486407 -0.01975258 -0.07303788
+v 0.01153568 -0.02224210 -0.07064727
+v 0.01516650 -0.01997097 -0.07125354
+v 0.01276238 -0.02149042 -0.07105081
+v 0.00808326 -0.01826761 -0.07385543
+v 0.01962644 -0.00001351 -0.07239121
+v 0.01974197 -0.00001351 -0.07352585
+v 0.02543881 -0.00001352 -0.07064719
+v 0.01303762 -0.01809061 -0.07455784
+v 0.02174682 -0.00001351 -0.07458026
+v 0.01587499 -0.01807452 -0.07364338
+v 0.01661747 -0.01884230 -0.07125354
+v 0.01783737 -0.01713664 -0.07314641
+v 0.01234102 -0.02177776 -0.07064727
+v 0.01662766 -0.01885149 -0.07064726
+v 0.01517669 -0.01997786 -0.07064726
+v 0.02074610 -0.00001351 -0.07405422
+v 0.02542351 -0.00001352 -0.07125385
+v 0.02544050 -0.00140195 -0.07064720
+v 0.01593955 -0.01531146 -0.07459931
+v 0.02299391 -0.00001351 -0.07417167
+v 0.02174682 -0.00418338 -0.07460702
+v 0.01882110 -0.01522411 -0.07361934
+v 0.01815678 -0.01745157 -0.07125353
+v 0.01960945 -0.01589994 -0.07125353
+v 0.02053542 -0.01424026 -0.07300064
+v 0.01816528 -0.01746077 -0.07064725
+v 0.02542351 -0.00140195 -0.07125386
+v 0.02423589 -0.00140194 -0.07376466
+v 0.02423420 -0.00001351 -0.07376348
+v 0.02512958 -0.00418339 -0.07064721
+v 0.02511599 -0.00418339 -0.07125387
+v 0.01884319 -0.01252772 -0.07453185
+v 0.02174682 -0.00696483 -0.07450237
+v 0.02107401 -0.01252772 -0.07345691
+v 0.01961795 -0.01590914 -0.07064725
+v 0.02073760 -0.01450922 -0.07125352
+v 0.02344075 -0.00893253 -0.07303512
+v 0.02302619 -0.01077611 -0.07125351
+v 0.02201527 -0.01252773 -0.07125352
+v 0.02408298 -0.00418338 -0.07366930
+v 0.02449075 -0.00696484 -0.07064722
+v 0.02447886 -0.00696484 -0.07125388
+v 0.02376527 -0.00696483 -0.07339486
+v 0.02193542 -0.00981523 -0.07380887
+v 0.02169076 -0.01058990 -0.07370848
+v 0.02074440 -0.01451842 -0.07064724
+v 0.02203056 -0.01252773 -0.07064724
+v 0.02363614 -0.00938538 -0.07125388
+v 0.02303299 -0.01078990 -0.07064723
+v 0.02364294 -0.00939688 -0.07064722
+v 0.02311964 -0.01059221 -0.07064723
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 30
+f 1 30 32
+f 1 32 31
+f 1 31 43
+f 1 43 52
+f 1 52 63
+f 1 63 64
+f 1 64 66
+f 1 66 68
+f 1 68 67
+f 1 67 58
+f 1 58 47
+f 1 47 35
+f 1 35 24
+f 1 24 11
+f 1 11 4
+f 1 4 10
+f 1 10 21
+f 1 21 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 11 12
+f 4 12 13
+f 4 13 10
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 18 8
+f 7 17 19
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+f 7 20 18
+f 8 18 9
+f 10 13 22
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+f 10 23 21
+f 11 24 34
+f 11 34 46
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+f 11 13 12
+f 14 25 15
+f 14 21 26
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+f 15 25 16
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+f 17 28 19
+f 17 27 29
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+f 18 20 30
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+f 19 31 32
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+f 21 33 26
+f 24 35 34
+f 25 26 36
+f 25 36 27
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+f 27 39 29
+f 28 29 40
+f 28 40 31
+f 29 41 40
+f 29 39 42
+f 29 42 41
+f 31 40 43
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+f 34 45 46
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+f 35 48 44
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+f 36 38 49
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+f 39 51 42
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+f 40 52 43
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+f 42 54 55
+f 42 55 56
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+f 44 48 57
+f 44 57 45
+f 45 57 50
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+f 47 59 48
+f 48 59 54
+f 48 54 60
+f 48 60 57
+f 49 50 61
+f 49 61 62
+f 49 62 51
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+f 50 60 61
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+f 54 61 60
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+f 55 66 64
+f 55 64 56
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+f 58 65 59
+f 65 67 68
+f 65 68 66
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_39.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..414b5ae0dd1848f317cb9857c892e6139698615f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_39.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00998931 0.01587728 -0.06311838
+v 0.01866282 0.01587728 -0.06311838
+v 0.01120807 0.01587729 -0.06561630
+v 0.01897331 -0.00004337 -0.06311799
+v 0.01803603 -0.00004338 -0.06104192
+v 0.01466993 0.01044935 -0.06104188
+v 0.01937812 0.01587729 -0.06542687
+v 0.02156753 0.01044935 -0.06104188
+v 0.01988448 0.01460406 -0.06311839
+v 0.02047935 0.01414745 -0.06355322
+v 0.01654595 0.01587729 -0.06561630
+v 0.01887465 0.00553261 -0.06561634
+v 0.02481176 -0.00004337 -0.06311799
+v 0.02409501 -0.00004338 -0.06104192
+v 0.01939408 0.01587729 -0.06561317
+v 0.01950144 0.01574171 -0.06542687
+v 0.01951015 0.01575106 -0.06561630
+v 0.01941584 0.01585391 -0.06561630
+v 0.02192010 0.00980105 -0.06104188
+v 0.02259332 0.00973405 -0.06249728
+v 0.02220883 0.01044936 -0.06251206
+v 0.02073907 0.01345396 -0.06311839
+v 0.02037634 0.01400564 -0.06311839
+v 0.02063170 0.01435005 -0.06542688
+v 0.02340293 0.00881304 -0.06345696
+v 0.02294299 0.01056625 -0.06542689
+v 0.02182869 0.01250958 -0.06542688
+v 0.02468553 0.00553261 -0.06561634
+v 0.02480741 0.00138257 -0.06311798
+v 0.02467537 0.00138257 -0.06251433
+v 0.02467827 -0.00004337 -0.06251434
+v 0.02438084 -0.00004337 -0.06176066
+v 0.02409211 0.00138256 -0.06104191
+v 0.01958414 0.01566067 -0.06561630
+v 0.02287915 0.00751332 -0.06104189
+v 0.02300828 0.00774709 -0.06151523
+v 0.02333474 0.00862759 -0.06311841
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+v 0.02355817 0.00917460 -0.06542690
+v 0.02295025 0.01058028 -0.06561632
+v 0.02184175 0.01250958 -0.06561631
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+v 0.02435182 0.00694764 -0.06561633
+v 0.02468117 0.00553261 -0.06553663
+v 0.02474211 0.00195918 -0.06311798
+v 0.02467392 0.00553261 -0.06542691
+v 0.02447950 0.00416432 -0.06311797
+v 0.02434311 0.00416432 -0.06251432
+v 0.02376130 0.00416431 -0.06104190
+v 0.02336375 0.00603284 -0.06104190
+v 0.02368150 0.00686971 -0.06249729
+v 0.02382079 0.00688841 -0.06311841
+v 0.02437358 0.00553261 -0.06408705
+v 0.02356398 0.00918862 -0.06561633
+f 1 2 7
+f 1 7 15
+f 1 15 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 11 18
+f 3 18 17
+f 3 17 34
+f 3 34 39
+f 3 39 45
+f 3 45 44
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+f 3 43 57
+f 3 57 46
+f 3 46 28
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+f 3 12 4
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+f 4 14 5
+f 4 12 28
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+f 5 14 33
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+f 5 52 53
+f 5 53 35
+f 5 35 19
+f 5 19 8
+f 5 8 6
+f 7 10 16
+f 7 16 17
+f 7 17 18
+f 7 18 15
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
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+f 10 24 16
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+f 10 26 27
+f 10 27 24
+f 11 15 18
+f 13 29 30
+f 13 30 31
+f 13 28 29
+f 14 32 33
+f 16 24 34
+f 16 34 17
+f 19 35 36
+f 19 36 20
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+f 20 37 38
+f 20 38 21
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+f 21 25 22
+f 24 39 34
+f 24 27 39
+f 25 38 37
+f 25 37 40
+f 25 40 41
+f 25 41 42
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+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 45
+f 27 45 39
+f 28 46 47
+f 28 47 29
+f 29 48 30
+f 29 47 49
+f 29 49 48
+f 30 48 50
+f 30 50 51
+f 30 51 52
+f 30 52 33
+f 30 33 32
+f 30 32 31
+f 35 53 36
+f 36 53 54
+f 36 54 37
+f 37 54 40
+f 40 54 55
+f 40 55 41
+f 41 55 51
+f 41 51 56
+f 41 56 50
+f 41 50 49
+f 41 49 47
+f 41 47 46
+f 41 46 42
+f 42 57 43
+f 42 46 57
+f 48 49 50
+f 50 56 51
+f 51 55 54
+f 51 54 53
+f 51 53 52
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_4.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b5a0acaf2c15133f813bf85c6210a7bdaff6ecc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_4.obj
@@ -0,0 +1,562 @@
+# https://github.com/mikedh/trimesh
+v 0.06104695 -0.00052761 -0.05286191
+v 0.06104358 0.00050370 -0.05286191
+v 0.06098284 0.00011088 -0.05220670
+v 0.06098284 -0.00013223 -0.05220670
+v 0.06078038 -0.00146552 -0.05286192
+v 0.06064203 0.00185747 -0.05286190
+v 0.06031134 0.00117547 -0.05108583
+v 0.05917081 0.00138146 -0.04794574
+v 0.05833060 0.00138145 -0.04582763
+v 0.05833397 -0.00140029 -0.04581528
+v 0.05917756 -0.00140028 -0.04794576
+v 0.06031134 -0.00119554 -0.05108583
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_40.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed8bcc9533cdf4dbd66b4c2a408143a5e4c8a23f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_40.obj
@@ -0,0 +1,181 @@
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_41.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11264cdde97cb38fe1e3ba146323c1ad8bfa7577
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_41.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00929071 -0.01641730 -0.06311821
+v 0.00929071 -0.02253894 -0.06311823
+v 0.00929071 -0.01711837 -0.06561051
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+v 0.00929071 -0.01998426 -0.06561688
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+v -0.00597274 -0.01839408 -0.06561688
+v -0.00597274 -0.02347101 -0.06311824
+v 0.00731405 -0.02309656 -0.06311823
+v 0.00722740 -0.02365903 -0.06542733
+v 0.00929071 -0.02259811 -0.06330462
+v 0.00929071 -0.02295877 -0.06561689
+v -0.00597274 -0.02400187 -0.06561690
+v -0.00597274 -0.02370280 -0.06410303
+v -0.00498964 -0.02371497 -0.06311824
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+v 0.00432292 -0.02432850 -0.06542733
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+f 1 17 25
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+f 31 37 36
+f 31 34 32
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_42.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e71dd6e7b242ca51209f846144e2e94a21ed9b5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_42.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01258174 -0.01261006 -0.06104197
+v 0.01392516 -0.01261005 -0.06311796
+v 0.02041117 -0.01261006 -0.06104197
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+v 0.02409660 -0.00004338 -0.06104192
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+v 0.02467851 -0.00004337 -0.06251417
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_43.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71da100d6fafa1a61be96409f50873aae42ba262
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_43.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.00141851 0.00594868 -0.07064678
+v 0.00154685 0.00593372 -0.07064678
+v 0.00141851 0.00594753 -0.07066452
+v 0.00139551 0.00594753 -0.07064678
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+v -0.00372820 0.00337366 -0.07618182
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+v 0.00432179 0.00184382 -0.07489975
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+v 0.00432179 0.00045212 -0.07592382
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+v -0.00431297 -0.00411553 -0.07064739
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_44.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40ab61e8860e34bbf25bc1d27298c57d0a3a5958
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_44.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.00148331 0.02416210 -0.06311782
+v -0.00438669 0.02381312 -0.06311782
+v -0.00148331 0.02403325 -0.06251408
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_45.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..483952a1e28775f884909d521cf7f44f92a91732
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_45.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_46.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b68e0f4fe8b902363986dc90f01570112de519af
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_46.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_47.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cfbfcc192752000eb1dca0ee0df9e70c1cb6d18
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_47.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_48.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8afb5025274413ac28b1972ed676f87e21f62ef7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_48.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_49.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed1f71a430ad9697617118058601d21ab537da3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_49.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_5.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8be1f6628a3cebae7a25477fb9e942f5072b8d00
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_5.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_50.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e53e56e457fbe62c7e59faba409f32afdbed290e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_50.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_51.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..639591397af7a199faf8786c3b88753c0f86f5e3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_51.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_52.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..731ebf17836505996bee0c0f450c98770f87d826
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_52.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+v -0.02486247 -0.00197806 -0.06311792
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_53.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aade245b20e0f17735d87c6fc2341e952e8f3e73
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_53.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_54.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bdfcdd9e0c274f30d271079afc222732d521484
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_54.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+v -0.02185622 -0.00000455 -0.05569711
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+f 19 32 20
+f 20 32 35
+f 20 35 21
+f 21 35 48
+f 21 48 36
+f 22 37 23
+f 22 30 37
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+f 23 28 27
+f 23 27 24
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+f 26 37 38
+f 29 39 40
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+f 30 41 37
+f 31 35 32
+f 33 34 42
+f 33 42 61
+f 33 61 43
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 42
+f 36 48 43
+f 36 43 49
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+f 37 50 51
+f 37 51 52
+f 37 52 38
+f 39 53 40
+f 40 53 41
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 52
+f 41 52 50
+f 41 53 58
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+f 41 59 54
+f 42 47 60
+f 42 60 61
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+f 45 65 66
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+f 46 66 67
+f 49 68 69
+f 49 69 60
+f 49 60 70
+f 49 61 68
+f 50 52 51
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+f 53 72 73
+f 53 73 58
+f 54 74 75
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+f 55 76 56
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+f 55 78 79
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+f 59 83 84
+f 59 84 80
+f 60 85 86
+f 60 86 70
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+f 60 68 61
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+f 62 87 64
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+f 63 77 88
+f 63 88 84
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+f 67 92 86
+f 67 86 85
+f 70 86 93
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+f 71 81 72
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+f 89 91 90
+f 91 99 93
+f 91 93 92
+f 93 99 94
+f 95 100 96
+f 96 100 98
+f 96 98 97
+f 98 100 99
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_55.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1145168c080b4a1fbfbe5d818f561ed1260ec2a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_55.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00026105 0.01612572 -0.05860034
+v -0.00026105 0.01617514 -0.05871625
+v 0.01034616 0.01271294 -0.05860035
+v -0.00026105 0.02249499 -0.05860032
+v -0.00026105 0.01621299 -0.05880277
+v -0.00026105 0.01760081 -0.06104186
+v 0.01034616 0.01324704 -0.05942797
+v 0.01034616 0.02002950 -0.05860033
+v 0.00097556 0.02249394 -0.05860032
+v -0.00026105 0.02345280 -0.06104183
+v 0.01034616 0.01447821 -0.06104187
+v 0.01034616 0.02043113 -0.05933737
+v 0.01003051 0.02020719 -0.05860033
+v 0.00216856 0.02241929 -0.05860032
+v 0.00150509 0.02277887 -0.05934095
+v 0.00145940 0.02345070 -0.06104183
+v 0.01034616 0.02116289 -0.06104184
+v 0.01034616 0.02044690 -0.05937059
+v 0.00732680 0.02174010 -0.05959428
+v 0.00729357 0.02124385 -0.05860032
+v 0.00293378 0.02232993 -0.05860032
+v 0.00432405 0.02310585 -0.06104184
+v 0.01029113 0.02119128 -0.06104184
+v 0.01034616 0.02059304 -0.05970995
+v 0.00819897 0.02208075 -0.06104184
+v 0.00642556 0.02245925 -0.06056051
+v 0.00438843 0.02208180 -0.05860032
+v 0.00449849 0.02205026 -0.05860032
+v 0.00432405 0.02209652 -0.05860032
+v 0.00432405 0.02269896 -0.05999530
+v 0.00666437 0.02257069 -0.06104184
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 20
+f 1 20 28
+f 1 28 27
+f 1 27 29
+f 1 29 21
+f 1 21 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 11
+f 3 11 17
+f 3 17 24
+f 3 24 18
+f 3 18 12
+f 3 12 8
+f 4 9 10
+f 6 10 16
+f 6 16 22
+f 6 22 31
+f 6 31 25
+f 6 25 23
+f 6 23 17
+f 6 17 11
+f 6 11 7
+f 8 12 13
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 14 21 16
+f 14 16 15
+f 16 21 22
+f 17 23 24
+f 18 24 23
+f 18 23 25
+f 18 25 19
+f 19 25 26
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+f 19 27 28
+f 19 28 20
+f 21 29 30
+f 21 30 22
+f 22 30 26
+f 22 26 31
+f 25 31 26
+f 26 30 27
+f 27 30 29
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_56.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4194b782b73db6d2147f6a4ff6769c7299fe831
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_56.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01314351 -0.00891104 -0.05569648
+v -0.01985871 -0.00891104 -0.05569648
+v -0.01332328 -0.00891104 -0.05388216
+v -0.00011131 -0.01549939 -0.05569651
+v -0.01979879 -0.00909243 -0.05569648
+v -0.01980265 -0.00891104 -0.05550336
+v -0.01528913 -0.00891105 -0.05286194
+v -0.00011131 -0.01578492 -0.05421126
+v -0.00011131 -0.02086368 -0.05569653
+v -0.01931554 -0.00987765 -0.05569649
+v -0.01859260 -0.00891105 -0.05286194
+v -0.01582843 -0.00969978 -0.05286195
+v -0.00011131 -0.01809260 -0.05337390
+v -0.00011131 -0.01700078 -0.05376955
+v -0.00011131 -0.02007729 -0.05439440
+v -0.00148566 -0.02007846 -0.05439356
+v -0.00152626 -0.02086485 -0.05569653
+v -0.01831812 -0.01147383 -0.05569649
+v -0.01797405 -0.01192904 -0.05569649
+v -0.01687611 -0.01326544 -0.05569650
+v -0.01819054 -0.00939318 -0.05286194
+v -0.01586903 -0.00974542 -0.05286195
+v -0.00148566 -0.01809260 -0.05337279
+v -0.00438901 -0.01809260 -0.05351291
+v -0.00438901 -0.01988187 -0.05463495
+v -0.00438901 -0.02051145 -0.05569653
+v -0.01544957 -0.01477970 -0.05569650
+v -0.01503784 -0.01438768 -0.05469070
+v -0.01303333 -0.01531215 -0.05422014
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+v -0.01019571 -0.01531098 -0.05336251
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+v -0.00633360 -0.01965016 -0.05496069
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+v -0.01386838 -0.01615471 -0.05569651
+v -0.01201851 -0.01695397 -0.05487578
+v -0.00826852 -0.01931431 -0.05551312
+v -0.00810035 -0.01947931 -0.05569652
+v -0.01245924 -0.01720557 -0.05569651
+v -0.01034261 -0.01835590 -0.05569652
+v -0.00864738 -0.01925112 -0.05569652
+v -0.00839803 -0.01936931 -0.05569652
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+f 1 10 5
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+f 4 8 14
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+f 4 13 15
+f 4 15 9
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+f 5 11 6
+f 7 11 21
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+f 7 14 8
+f 9 15 16
+f 9 16 17
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 12 22 13
+f 13 23 16
+f 13 16 15
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+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 20 27 28
+f 20 28 21
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+f 21 29 30
+f 21 30 31
+f 21 31 23
+f 21 23 22
+f 23 31 24
+f 24 31 32
+f 24 32 25
+f 25 32 33
+f 25 33 26
+f 26 33 34
+f 27 35 28
+f 28 35 36
+f 28 36 29
+f 29 36 30
+f 30 37 33
+f 30 33 32
+f 30 32 31
+f 30 36 37
+f 33 37 38
+f 33 38 34
+f 35 39 36
+f 36 39 40
+f 36 40 41
+f 36 41 37
+f 37 41 42
+f 37 42 38
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_57.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..160b23192977fea10a9356ac1d9c48a0cf31f9bc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_57.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00154244 0.02085473 -0.05569614
+v -0.00309518 0.02066821 -0.05569614
+v -0.00148593 0.02006284 -0.05438291
+v -0.00011254 0.02006284 -0.05438291
+v -0.00011254 0.02085364 -0.05569614
+v -0.00438994 0.02049478 -0.05569614
+v -0.00438994 0.01986214 -0.05462863
+v -0.00438994 0.01807330 -0.05350068
+v -0.00148593 0.01807330 -0.05335887
+v -0.00011254 0.01807330 -0.05335794
+v -0.00011254 0.01548166 -0.05569616
+v -0.00550290 0.02024827 -0.05569615
+v -0.00632841 0.01962872 -0.05496037
+v -0.00729396 0.01825109 -0.05413672
+v -0.01019675 0.01529187 -0.05335865
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+v -0.00011254 0.01576308 -0.05420694
+v -0.01266099 0.01009660 -0.05402377
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+v -0.01266099 0.00971266 -0.05569618
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+v -0.00809244 0.01946292 -0.05569615
+v -0.00826320 0.01929604 -0.05551133
+v -0.01019675 0.01743630 -0.05438966
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+v -0.01124829 0.01789987 -0.05569615
+v -0.01266099 0.01664332 -0.05516659
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+f 16 31 35
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+f 16 21 20
+f 16 20 18
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+f 24 30 25
+f 25 30 26
+f 26 30 31
+f 28 30 32
+f 28 33 30
+f 29 34 30
+f 30 34 32
+f 30 33 35
+f 30 35 31
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_58.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a76ce7b263c102ee4b17772a7ca2f051ec83378
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_58.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.02492386 -0.00004337 -0.06311791
+v -0.02478975 -0.00004337 -0.06251417
+v -0.02478608 0.00138210 -0.06251416
+v -0.02491834 0.00138210 -0.06311790
+v -0.01907839 -0.00004337 -0.06311791
+v -0.02428640 -0.00004338 -0.06124512
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+v -0.02458768 0.00416429 -0.06311789
+v -0.01813966 -0.00004338 -0.06104192
+v -0.00615848 0.01759168 -0.06311785
+v -0.02420557 -0.00004338 -0.06104192
+v -0.02355894 0.00566080 -0.06104190
+v -0.02377387 0.00690065 -0.06247127
+v -0.02392267 0.00691210 -0.06311788
+v -0.00615848 0.01670247 -0.06104186
+v -0.00615848 0.02336919 -0.06311782
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+v -0.02309416 0.00779901 -0.06147208
+v -0.02357547 0.00823903 -0.06311788
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+v -0.02269553 0.00976075 -0.06247126
+v -0.02323745 0.00913740 -0.06311788
+v -0.00615848 0.02286500 -0.06142224
+v -0.00677389 0.02258081 -0.06104184
+v -0.00741685 0.02288792 -0.06235620
+v -0.00918776 0.02257395 -0.06311783
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+v -0.02080888 0.01356277 -0.06311786
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+v -0.00783753 0.02225768 -0.06104184
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+v -0.01859341 0.01507074 -0.06104186
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+v -0.01791003 0.01702561 -0.06311785
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+v -0.01152631 0.02065574 -0.06104184
+v -0.01439577 0.01989947 -0.06311784
+v -0.01427636 0.01926465 -0.06145558
+v -0.01744710 0.01640225 -0.06104186
+v -0.01736627 0.01659246 -0.06120544
+v -0.01780716 0.01712645 -0.06311785
+v -0.01365912 0.01945944 -0.06104185
+v -0.01521142 0.01931966 -0.06311784
+v -0.01612994 0.01817607 -0.06230134
+v -0.01580478 0.01781855 -0.06104185
+v -0.01453355 0.01884984 -0.06104185
+v -0.01406878 0.01919360 -0.06104185
+v -0.01731851 0.01654433 -0.06104186
+v -0.01716971 0.01667496 -0.06104186
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+f 61 69 70
+f 61 70 65
+f 62 71 63
+f 63 71 72
+f 63 72 68
+f 63 68 67
+f 63 67 64
+f 64 67 66
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_59.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f7e5b70bff288fa3cf21a4d25ca087539ce59d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_59.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00876697 0.01263340 -0.05585631
+v -0.00881261 0.01263340 -0.05671185
+v -0.00886092 0.01263339 -0.05569654
+v -0.01543318 -0.00000332 -0.05569659
+v -0.00926758 0.01263340 -0.05720488
+v -0.01570965 -0.00000331 -0.05668812
+v -0.01588412 -0.00000331 -0.05702036
+v -0.01598210 -0.00000331 -0.05720493
+v -0.01737385 0.01263339 -0.05569654
+v -0.02185646 -0.00000332 -0.05569659
+v -0.01837774 0.01263340 -0.05720488
+v -0.02247785 -0.00000331 -0.05720493
+v -0.01820193 0.01263340 -0.05690425
+v -0.01795364 0.01189238 -0.05569655
+v -0.02185646 0.00138221 -0.05569658
+v -0.01881124 0.01203218 -0.05720489
+v -0.02247651 0.00138222 -0.05720492
+v -0.01826769 0.01243918 -0.05678789
+v -0.01929708 0.00984379 -0.05569655
+v -0.02174507 0.00232980 -0.05569658
+v -0.01993726 0.01026440 -0.05720489
+v -0.02222822 0.00335040 -0.05720492
+v -0.02039089 0.00936876 -0.05720490
+v -0.02087942 0.00658039 -0.05569657
+v -0.02151289 0.00416438 -0.05569657
+v -0.02211817 0.00416439 -0.05720491
+v -0.02084318 0.00833704 -0.05720490
+v -0.02136794 0.00691193 -0.05720490
+v -0.02138807 0.00474581 -0.05569657
+v -0.02156925 0.00618330 -0.05720491
+f 1 2 5
+f 1 5 11
+f 1 11 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 14
+f 3 14 19
+f 3 19 24
+f 3 24 29
+f 3 29 25
+f 3 25 20
+f 3 20 15
+f 3 15 10
+f 3 10 4
+f 4 10 12
+f 4 12 8
+f 4 8 7
+f 4 7 6
+f 5 8 12
+f 5 12 17
+f 5 17 22
+f 5 22 26
+f 5 26 30
+f 5 30 28
+f 5 28 27
+f 5 27 23
+f 5 23 21
+f 5 21 16
+f 5 16 11
+f 9 13 14
+f 10 15 12
+f 11 16 13
+f 12 15 17
+f 13 18 14
+f 13 16 18
+f 14 18 16
+f 14 16 19
+f 15 20 17
+f 16 21 19
+f 17 20 22
+f 19 21 23
+f 19 23 24
+f 20 25 22
+f 22 25 26
+f 23 27 24
+f 24 27 28
+f 24 28 29
+f 25 29 26
+f 26 29 30
+f 28 30 29
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_6.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424874b7ffe34b3ae53f029e2b8b544e37b40366
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_6.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01587045 -0.00974270 -0.05286195
+v -0.01819125 -0.00939207 -0.05286194
+v -0.01582854 -0.00969697 -0.05286195
+v -0.01420559 -0.00588777 -0.01076756
+v -0.01462107 -0.00603260 -0.01076756
+v -0.01600576 -0.00648805 -0.01076756
+v -0.01835303 -0.00617171 -0.01076756
+v -0.01859864 -0.00890423 -0.05286194
+v -0.01450562 -0.00776085 -0.05286194
+v -0.01364525 -0.00418224 -0.01076756
+v -0.01398499 -0.00693000 -0.05286194
+v -0.01954138 -0.00451572 -0.01076756
+v -0.01963624 -0.00720060 -0.05286194
+v -0.01984435 -0.00407362 -0.01076755
+v -0.01361142 -0.00140003 -0.01076755
+v -0.01397984 0.00692961 -0.05286188
+v -0.01357318 0.00203391 -0.01076753
+v -0.02042602 -0.00575042 -0.05286193
+v -0.02044440 -0.00140003 -0.01076755
+v -0.02050323 -0.00543027 -0.05286193
+v -0.01433649 0.00852080 -0.05286188
+v -0.01364231 0.00416249 -0.01076752
+v -0.02044072 0.00138028 -0.01076753
+v -0.02108270 0.00138043 -0.05286190
+v -0.02108417 -0.00052710 -0.05286191
+v -0.02108417 -0.00139988 -0.05286192
+v -0.02075546 -0.00425832 -0.05286193
+v -0.01584913 0.00972134 -0.05286187
+v -0.01420265 0.00586802 -0.01076752
+v -0.01374158 0.00456458 -0.01076752
+v -0.01983405 0.00405006 -0.01076753
+v -0.02041499 0.00570048 -0.05286189
+v -0.02074516 0.00423886 -0.05286189
+v -0.01817140 0.00938786 -0.05286188
+v -0.01834274 0.00614243 -0.01076752
+v -0.01778901 0.00621866 -0.01076752
+v -0.01600576 0.00645686 -0.01076752
+v -0.01971419 0.00706490 -0.05286188
+v -0.02012893 0.00632362 -0.05286189
+f 1 2 8
+f 1 8 13
+f 1 13 18
+f 1 18 20
+f 1 20 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 33
+f 1 33 32
+f 1 32 39
+f 1 39 38
+f 1 38 34
+f 1 34 28
+f 1 28 21
+f 1 21 16
+f 1 16 11
+f 1 11 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 4 10 15
+f 4 15 17
+f 4 17 22
+f 4 22 30
+f 4 30 29
+f 4 29 37
+f 4 37 36
+f 4 36 35
+f 4 35 31
+f 4 31 23
+f 4 23 19
+f 4 19 14
+f 4 14 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 4 9 11
+f 4 11 10
+f 7 12 8
+f 8 12 14
+f 8 14 13
+f 10 11 15
+f 11 16 17
+f 11 17 15
+f 13 14 18
+f 14 19 20
+f 14 20 18
+f 16 21 22
+f 16 22 17
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 28 34 35
+f 28 35 36
+f 28 36 37
+f 28 37 29
+f 31 35 34
+f 31 34 38
+f 31 38 39
+f 31 39 32
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_60.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..384d6518efaae338cb42aefdc23438517062fdfe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_60.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.01611579 0.01070747 -0.07139293
+v 0.01619885 0.01070747 -0.07076951
+v 0.01620250 0.01070748 -0.07237492
+v 0.01951277 -0.00001017 -0.07125357
+v 0.01955932 -0.00001017 -0.07086984
+v 0.01958670 -0.00001017 -0.07064680
+v 0.01621527 0.01070747 -0.07064676
+v 0.01655844 0.01070748 -0.07345138
+v 0.01974276 -0.00001016 -0.07352615
+v 0.01962777 -0.00001016 -0.07239083
+v 0.02543877 -0.00001017 -0.07064680
+v 0.02302748 0.01070747 -0.07064676
+v 0.01779420 0.01070748 -0.07417858
+v 0.02074579 -0.00001016 -0.07405432
+v 0.02542417 -0.00001017 -0.07125357
+v 0.02543877 0.00138212 -0.07064679
+v 0.02302748 0.01070747 -0.07065799
+v 0.02350481 0.00963099 -0.07064676
+v 0.01884469 0.01070748 -0.07440432
+v 0.02174791 -0.00001016 -0.07458016
+v 0.02423586 -0.00001016 -0.07376391
+v 0.02542325 0.00138212 -0.07125356
+v 0.02511021 0.00416462 -0.07125355
+v 0.02519052 0.00358546 -0.07064679
+v 0.02362528 0.00932777 -0.07125354
+v 0.02301379 0.01070747 -0.07125353
+v 0.02363167 0.00934141 -0.07064677
+v 0.02087996 0.01070748 -0.07404266
+v 0.02174791 0.00694503 -0.07448875
+v 0.02174791 0.00416463 -0.07460221
+v 0.02299371 -0.00001016 -0.07417203
+v 0.02423404 0.00138213 -0.07376274
+v 0.02407797 0.00416463 -0.07366476
+v 0.02375580 0.00694503 -0.07338479
+v 0.02343362 0.00888711 -0.07302468
+v 0.02446312 0.00694502 -0.07125354
+v 0.02461280 0.00636585 -0.07064678
+v 0.02512481 0.00416462 -0.07064678
+v 0.02381421 0.00883149 -0.07064677
+v 0.02301105 0.01070747 -0.07126476
+v 0.02163018 0.01070748 -0.07367713
+v 0.02192771 0.00977998 -0.07379833
+v 0.02447681 0.00694502 -0.07064677
+f 1 2 7
+f 1 7 12
+f 1 12 17
+f 1 17 26
+f 1 26 40
+f 1 40 41
+f 1 41 28
+f 1 28 19
+f 1 19 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 14
+f 4 14 20
+f 4 20 31
+f 4 31 21
+f 4 21 15
+f 4 15 11
+f 4 11 6
+f 4 6 5
+f 6 11 16
+f 6 16 24
+f 6 24 38
+f 6 38 37
+f 6 37 43
+f 6 43 39
+f 6 39 27
+f 6 27 18
+f 6 18 12
+f 6 12 7
+f 8 13 9
+f 9 13 14
+f 11 15 16
+f 12 18 17
+f 13 19 20
+f 13 20 14
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 17 18 25
+f 17 25 26
+f 18 27 25
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 21 32 22
+f 21 31 30
+f 21 30 32
+f 22 33 23
+f 22 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 25 27 39
+f 25 39 36
+f 25 36 35
+f 25 35 26
+f 26 35 40
+f 28 41 42
+f 28 42 29
+f 29 34 33
+f 29 33 32
+f 29 32 30
+f 29 42 34
+f 34 42 35
+f 35 42 41
+f 35 41 40
+f 36 43 37
+f 36 39 43
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_61.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc6924f13d660301dfc1e47d0782626ccb5f0349
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_61.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01578768 -0.01148819 -0.07064684
+v -0.01578768 -0.01961898 -0.07064687
+v -0.01578768 -0.01173043 -0.06561685
+v -0.00011143 -0.01933095 -0.06561688
+v -0.00011143 -0.01928510 -0.07064687
+v -0.01578768 -0.01962945 -0.07025544
+v -0.01558667 -0.01977478 -0.07064687
+v -0.01578768 -0.01945664 -0.06561688
+v -0.00011143 -0.02469124 -0.06561690
+v -0.00011143 -0.02480644 -0.07064689
+v -0.01578768 -0.01963862 -0.06986598
+v -0.01528284 -0.02000653 -0.07064687
+v -0.01531813 -0.02003142 -0.06834015
+v -0.01578768 -0.01967267 -0.06834015
+v -0.01517850 -0.01993192 -0.06561688
+v -0.00148633 -0.02469648 -0.06561690
+v -0.00011143 -0.02477372 -0.06696302
+v -0.00011143 -0.02485752 -0.06834017
+v -0.00148633 -0.02486275 -0.06834017
+v -0.00148633 -0.02481037 -0.07064689
+v -0.01232743 -0.02186182 -0.07064688
+v -0.01169369 -0.02228996 -0.07005851
+v -0.01169369 -0.02228997 -0.06941253
+v -0.01283688 -0.02156854 -0.06840071
+v -0.01308393 -0.02122551 -0.06561689
+v -0.00167507 -0.02467553 -0.06561690
+v -0.00438957 -0.02453936 -0.06834017
+v -0.00438957 -0.02448567 -0.07064689
+v -0.01097095 -0.02253742 -0.07064688
+v -0.00729434 -0.02387554 -0.06834017
+v -0.01043542 -0.02275608 -0.06840071
+v -0.01156326 -0.02222843 -0.06747064
+v -0.01141135 -0.02215905 -0.06561689
+v -0.00438957 -0.02436654 -0.06561690
+v -0.00668975 -0.02396718 -0.07064689
+v -0.00986459 -0.02292890 -0.07064688
+v -0.00729434 -0.02382839 -0.07064689
+v -0.00457831 -0.02432333 -0.06561690
+v -0.00729434 -0.02369748 -0.06561690
+v -0.00997507 -0.02276526 -0.06561689
+f 1 2 6
+f 1 6 11
+f 1 11 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 20
+f 1 20 28
+f 1 28 35
+f 1 35 37
+f 1 37 36
+f 1 36 29
+f 1 29 21
+f 1 21 12
+f 1 12 7
+f 1 7 2
+f 2 7 6
+f 3 8 15
+f 3 15 25
+f 3 25 33
+f 3 33 40
+f 3 40 39
+f 3 39 38
+f 3 38 34
+f 3 34 26
+f 3 26 16
+f 3 16 9
+f 3 9 4
+f 4 9 17
+f 4 17 18
+f 4 18 10
+f 4 10 5
+f 6 7 11
+f 7 12 13
+f 7 13 14
+f 7 14 11
+f 8 14 15
+f 9 16 17
+f 10 18 19
+f 10 19 20
+f 12 21 22
+f 12 22 13
+f 13 23 24
+f 13 24 15
+f 13 15 14
+f 13 22 23
+f 15 24 25
+f 16 26 19
+f 16 19 17
+f 17 19 18
+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 23 32 24
+f 24 32 25
+f 25 32 33
+f 26 34 27
+f 27 34 30
+f 27 30 35
+f 27 35 28
+f 29 36 30
+f 30 36 37
+f 30 37 35
+f 30 34 38
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 31 40 32
+f 32 40 33
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_62.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5042cfea2d496901c43a6a0eaf74b5afd76ccc7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_62.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.02047213 -0.00714642 -0.05569648
+v 0.01992410 -0.00714642 -0.05403421
+v 0.01921891 -0.00985506 -0.05569649
+v 0.01384940 -0.00714642 -0.05569648
+v 0.01952113 -0.00714643 -0.05286194
+v 0.01810270 -0.00940923 -0.05286194
+v 0.01788107 -0.01190703 -0.05569649
+v 0.01382724 -0.00714642 -0.05361081
+v -0.00011131 -0.01549931 -0.05569651
+v 0.01407103 -0.00714643 -0.05286194
+v 0.01295885 -0.01530325 -0.05423041
+v 0.01495151 -0.01437127 -0.05470291
+v 0.01656539 -0.01350778 -0.05569650
+v 0.01702880 -0.01298673 -0.05569650
+v 0.01577960 -0.00974630 -0.05286195
+v 0.00141996 -0.01809247 -0.05337556
+v 0.01013205 -0.01530996 -0.05336251
+v 0.01013205 -0.01745056 -0.05439439
+v 0.01382926 -0.00714642 -0.05359666
+v -0.00011131 -0.02086424 -0.05569653
+v -0.00011131 -0.01578401 -0.05421126
+v 0.01425841 -0.00855782 -0.05286194
+v 0.01383530 -0.00714642 -0.05357696
+v -0.00011131 -0.01700069 -0.05376955
+v -0.00011131 -0.01809247 -0.05337390
+v 0.01193935 -0.01694563 -0.05487994
+v 0.01403880 -0.01594516 -0.05569651
+v 0.01535448 -0.01475266 -0.05569650
+v -0.00011131 -0.02007729 -0.05439440
+v 0.00141996 -0.02007595 -0.05439551
+v 0.00432533 -0.01809247 -0.05351734
+v 0.00722466 -0.01826705 -0.05414385
+v 0.00625352 -0.01964622 -0.05496513
+v 0.00818976 -0.01931049 -0.05552477
+v 0.00144816 -0.02086155 -0.05569653
+v 0.00854639 -0.01925006 -0.05569652
+v 0.01117775 -0.01790715 -0.05569652
+v 0.01237657 -0.01718735 -0.05569651
+v 0.01353106 -0.01635340 -0.05569651
+v 0.00432533 -0.01987586 -0.05463995
+v 0.00669476 -0.01992017 -0.05569652
+v 0.00803059 -0.01946493 -0.05569652
+v 0.00432533 -0.02049897 -0.05569653
+v 0.00543550 -0.02025590 -0.05569652
+v 0.00301368 -0.02067354 -0.05569653
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 13
+f 1 13 28
+f 1 28 27
+f 1 27 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 42
+f 1 42 41
+f 1 41 44
+f 1 44 43
+f 1 43 45
+f 1 45 35
+f 1 35 20
+f 1 20 9
+f 1 9 4
+f 1 4 8
+f 1 8 19
+f 1 19 23
+f 1 23 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 9 8
+f 5 10 22
+f 5 22 15
+f 5 15 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 11
+f 8 9 19
+f 9 20 29
+f 9 29 25
+f 9 25 24
+f 9 24 21
+f 9 21 19
+f 10 23 21
+f 10 21 24
+f 10 24 25
+f 10 25 22
+f 11 18 26
+f 11 26 12
+f 12 27 28
+f 12 28 13
+f 12 26 27
+f 15 22 25
+f 15 25 16
+f 16 25 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 34
+f 18 34 26
+f 19 21 23
+f 20 35 30
+f 20 30 29
+f 26 34 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 30 35 40
+f 30 40 31
+f 31 40 32
+f 32 40 33
+f 33 41 42
+f 33 42 34
+f 33 40 43
+f 33 43 44
+f 33 44 41
+f 34 42 36
+f 35 45 40
+f 40 45 43
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_63.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b978ee89b33c11b63132f787da81845a073ab83b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_63.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.02338775 -0.00601896 -0.06104194
+v 0.02334840 -0.00601896 -0.06093702
+v 0.02337154 -0.00607706 -0.06104194
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+v 0.02330210 -0.00601896 -0.06081657
+v 0.02320719 -0.00660164 -0.06104194
+v 0.01693618 -0.00601896 -0.06092292
+v -0.00025874 -0.01760601 -0.06104198
+v -0.00025874 -0.01622705 -0.05881292
+v 0.02324422 -0.00601896 -0.06068703
+v 0.02253819 -0.00690068 -0.05972774
+v 0.02289236 -0.00755684 -0.06104195
+v 0.01667923 -0.00601896 -0.06053170
+v -0.00025874 -0.01617237 -0.05868985
+v -0.00025874 -0.02347387 -0.06104201
+v 0.02264467 -0.00601896 -0.05945624
+v 0.02222105 -0.00601896 -0.05860042
+v 0.02197799 -0.00690751 -0.05860043
+v 0.02156594 -0.00802504 -0.05860043
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+v -0.00025874 -0.01613478 -0.05860046
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_64.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ae697002f9cb3ac4f6b51e1f59c747fd4c0930f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_64.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.01458875 -0.01286134 -0.07064685
+v 0.01458875 -0.01305277 -0.06561686
+v 0.01458875 -0.02034884 -0.07064687
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+v -0.00011143 -0.01933072 -0.06561688
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+v 0.01458875 -0.02038760 -0.06892753
+v 0.01160871 -0.02227943 -0.06994428
+v 0.01233969 -0.02177917 -0.07064688
+v -0.00011143 -0.02480659 -0.07064689
+v -0.00011143 -0.02469152 -0.06561690
+v 0.01301887 -0.02118381 -0.06561689
+v 0.01458875 -0.02039935 -0.06838101
+v 0.01160871 -0.02227943 -0.06957894
+v 0.01035827 -0.02274096 -0.06850067
+v 0.00722858 -0.02384365 -0.06834017
+v 0.01078564 -0.02255658 -0.07064688
+v 0.01153245 -0.02224303 -0.07064688
+v -0.00011143 -0.02485709 -0.06834017
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+v -0.00011143 -0.02477959 -0.06705263
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+f 24 37 26
+f 29 35 30
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+f 30 38 31
+f 30 35 33
+f 30 33 34
+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_65.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f9574ff8fb6aa5ee708ad39d408a6ed4d90a6de
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_65.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.02123315 -0.01261005 -0.06311796
+v 0.02108636 -0.01261005 -0.06254552
+v 0.02073654 -0.01353622 -0.06311796
+v 0.01392451 -0.01261005 -0.06311796
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+v 0.01994321 -0.01460749 -0.06311796
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+v -0.01067501 -0.01545203 -0.06311289
+v -0.01067501 -0.01434563 -0.06104197
+v 0.02050541 -0.01261006 -0.06125026
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+v 0.01993072 -0.01332084 -0.06104197
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+v -0.01067501 -0.01582272 -0.06311797
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_66.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9398c770e04b325a866844d16bd4c55ff4f13562
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_66.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01325921 -0.01838159 -0.05860047
+v 0.01394833 -0.01792533 -0.05860047
+v 0.01476432 -0.01692922 -0.05781586
+v 0.01325921 -0.01815706 -0.05821869
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_67.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe4d28363fc0f2f5b0b4a487a0c55dd99bca89cc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_67.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_68.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..250b1a2de53daf6d7e48ede447ccb6d9b6ea3ee6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_68.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+v -0.00024637 0.02234524 -0.05821171
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+
diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_69.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1073c8591bf466e088d85e083d186abd4386fec
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_69.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01057824 0.01149847 -0.05569641
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_7.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39f20d757bd34e63e7b8513e6c65ad40c7951c0e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_7.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_8.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f402f205790f87caa34c0610413bcedca344317
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_8.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_9.obj b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3c3ef87649789ec5b58d51f23b6fb4bf981ca5a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_collision_9.obj
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diff --git a/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006_geometry_Looks_material_0.png
new file mode 100644
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