diff --git a/.gitattributes b/.gitattributes
index 4a856d50700e5d0708901c2f29ce3c8bbf56897f..8c4c1247132eac82a37d1cb6d121990316215425 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4587,3 +4587,5 @@ dataset/kitchen_supplies/utensils/ba8aca22b97455768b7e83706749e6e2/mesh/sponge_g
 dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/b76cd44e74395713893a8818b0d86557.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/mesh/spatula.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/mesh/spatula_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/bottle_opener_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/bottle_opener_012.urdf b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/bottle_opener_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..649d5f9de45dcc96ec0afc64ca1e925612a8ef20
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/bottle_opener_012.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_012">
+   <link name="bottle_opener_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_012.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>af7ce718c7d05ea2976f6551ea6fc808</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>waiter corkscrew</name>
+         <color>gray,black</color>
+         <shape>irregular</shape>
+         <material>metal</material>
+         <description>folding metal bottle opener with corkscrew and black grip</description>
+         <min_height>0.0211</min_height>
+         <max_height>0.0211</max_height>
+         <real_height>0.0211</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185735</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.049716 -0.066118 -0.010573</min>
+            <max>0.062341 0.045989 0.010518</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/bottle_opener_012.usd b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/bottle_opener_012.usd
new file mode 100644
index 0000000000000000000000000000000000000000..152bfdb7590aa1dd727352cd512a1d106e560185
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/bottle_opener_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc2b3b00fdf1f2cb94f60df2a86a16760a25c6ec6ceb0294c6ceec0418b119d
+size 4982631
diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012.glb b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ac7d2d9c72afa16e1c6cc36868fa73a9e4edad38
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:801b0e58414ea228a123623d337dfd5a2839e3d494947eea16a278945520f65c
+size 12759348
diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012.mtl b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bfd2e8c166edd223b272e161304cba6ea7a43a6d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012.mtl
@@ -0,0 +1,6 @@
+newmtl bottle_opener_012_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf22fc100779740247b22a4467b7c63a66b4623f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012.obj
@@ -0,0 +1,114372 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bottle_opener_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012_collision.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d4571d56cd7b85aace73cfa1afa4c9ae7067a48
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012_collision.obj
@@ -0,0 +1,10635 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a13f23bee52febb549dad5fca7fc9cdb87b80793
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76fb2c74e159ddf80a982464531a6ab8623cda556f4d07f5f68ab525472c4c8b
+size 9303256
diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/material.mtl b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..750db1c178460dfc548e72acc7eaf5566fdf11db
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/material_0.png b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a13f23bee52febb549dad5fca7fc9cdb87b80793
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76fb2c74e159ddf80a982464531a6ab8623cda556f4d07f5f68ab525472c4c8b
+size 9303256
diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/bottle_opener_012.xml b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/bottle_opener_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b5c89bc92ce5c4eb8f44a6864313755771cdf0fb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/bottle_opener_012.xml
@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_012">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_012_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_012_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_012_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bottle_opener_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bottle_opener_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bottle_opener_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bottle_opener_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/bottle_opener_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/bottle_opener_012_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/bottle_opener_012_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/bottle_opener_012_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/bottle_opener_012_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/bottle_opener_012_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/bottle_opener_012_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bottle_opener_012_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/bottle_opener_012_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/bottle_opener_012_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/bottle_opener_012_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/bottle_opener_012_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/bottle_opener_012_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/bottle_opener_012_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/bottle_opener_012_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/bottle_opener_012_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/bottle_opener_012_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_012">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..421790fdbafcc6b50ed00d6a678d66d32c5e0da1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012.obj
@@ -0,0 +1,114372 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bottle_opener_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0076c76645b46438bc60c4ec2ca9ff1280abd7a3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision.obj
@@ -0,0 +1,10635 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_0.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f0ddfcdacade3d93219b23d487170907e151032
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_0.obj
@@ -0,0 +1,1831 @@
+# https://github.com/mikedh/trimesh
+v 0.04804232 0.04656878 0.00083932
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+v 0.04618445 0.04626466 -0.00089035
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+v 0.04990019 0.04646035 0.00083932
+v 0.04990019 0.04646299 -0.00089035
+v 0.04804232 0.04621178 -0.00262261
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+v 0.04470966 0.04586270 0.00083932
+v 0.04495865 0.04578599 0.00200539
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_1.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9a66bffaf3101b2a5368b1ffa0ac31de8b60887
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_10.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ff39cf6cf3b1a31e9ffb371139d00adab94ea47
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_10.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_11.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf074bb04548fce2b3d5c96a7c44d408e768e9de
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_11.obj
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_12.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c89777d7cb60269421b956c2e3832291d41efe4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_12.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_13.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..529a79d878f24ae99e4cb487e3b583ede658f315
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_13.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_14.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a116665fb42695c5aaa9ce3b1b5ade2ffdc70b8d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_14.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_15.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99213b9bbb4585e69b8250c84586dcc2c85fc76b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_15.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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+v -0.02161724 -0.00744131 0.00151442
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+
diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_16.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbbb09e6ae2f220850fe9e80f5ac53dfa2553001
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_16.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.01267345 -0.02484873 -0.00162719
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_17.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cc31ede6cedbc5887f937015ec7514377d7b6e8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_17.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_18.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5a6f68b277855ff908b1e74c76e8dd6f18ca50d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_18.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_19.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d21dcace7408a277f149231d86a86f1c0204b18
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_19.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_2.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ffeee7be84e481552406657f7461ec6fe455c32
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_2.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_20.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d53f679c840bb13bdffd7e6bf844330d831e79
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_20.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_21.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..940110b4326e283448b4e06d8dde0411e8d68ab7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_21.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_22.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba29fa9a7cb1692c040ad9ddd3e2f91827078ab
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_22.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_23.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bed3a0bb727c0a6fda50371c5fca9205cf9c160
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_23.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_24.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11f7e224526309706912c807e668b93d1951ea30
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_24.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+v 0.02543467 -0.01657443 0.00411434
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_25.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae6b614230f3f042e9940fad56d92b3fafcdab23
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_25.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_26.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1c463cf39d63f9c3b7177c850e7b6d1fda0e242
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_26.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_27.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05a164a0c8b2c4465f763cf7458ee723d92fca16
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_27.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_28.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a853bd669ad56004b687ef717e15034457f633
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_28.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_29.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17156b431692a5403d54f52886b408732b47d53a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_29.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_3.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a35c9f0652191550cf7a7abe4d6292a9052b241
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_3.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_30.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43c677adea5b6c1208d64bb8c087d4734f487fc2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_30.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_4.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69e6e8274fc6c1cb9f753e9d6e888191b22661f7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_4.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_5.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8944a701121ed92b8967e51952eddb92b3744e38
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_5.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_6.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4984e163780e65c0332ce96d60cb88cd67680941
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_6.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_7.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82f3c2d47ba5017ce6bc54ffcdabfc8c0fe1e629
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_7.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_8.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a799dfc4b603364a6b4cc55679744952568390d6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_8.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_9.obj b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78783d50f3301df65cd1c7dce646e5aa7ee3c23b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mjcf/mesh/bottle_opener_012_collision_9.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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