diff --git a/.gitattributes b/.gitattributes
index d7d646e6f25b59254213f617c556338954ab2f82..f5125ce4645a7a73fd33d277ef1a5f7763189b58 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4641,3 +4641,7 @@ dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl.glb fil
 dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/mesh/wine_glass_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/wine_glass_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/bottle_opener_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/bottle_opener_008.urdf b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/bottle_opener_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6a24c5a6bb4545c1b1e2958839087bbfe5c69a2d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/bottle_opener_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_008">
+   <link name="bottle_opener_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>ffb1e93409ac5ca6a47f22d9d49db821</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>spiral opener</name>
+         <color>gray,black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>spiral corkscrew bottle opener with t-shaped handle</description>
+         <min_height>0.1573</min_height>
+         <max_height>0.1573</max_height>
+         <real_height>0.1573</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428013626</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/ffb1e93409ac5ca6a47f22d9d49db821/bottle_opener_008.usd b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/bottle_opener_008.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/bottle_opener_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7575cec3d9637a4e0c67fdb96860da395be5208cd6c0e99bc1eb8ae1afff6f04
+size 137743079
diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008.glb b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4e79820f0647d86f552f42bab789417d2dcc3848
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dacbfdbd1e0109db051d979028094e4803a42011370b1ab77c355a285231ce54
+size 93865828
diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008.mtl b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..27aa3c8ac2d55c2336db788ea79753fa77db4707
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008.mtl
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+newmtl bottle_opener_008_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/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7052953b20c9ca88c8131bf745112756adb752aa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4ef8d5a2c039af6452790d005bb367d1fc9ea89628f133419203b1f729eb00f
+size 115044441
diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008_collision.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008_collision.obj
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..acb5a0d2fe281b2805c0022d9a5db649cd8ef6b5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/bottle_opener_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e76cea9fc0c79e78bad6872856b51565251ed85a956ba2096e7792c14d68e092
+size 9619817
diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/material.mtl b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..412ecd0c50afa9407a82d8802cae092601fe51ea
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/material_0.png b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..acb5a0d2fe281b2805c0022d9a5db649cd8ef6b5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e76cea9fc0c79e78bad6872856b51565251ed85a956ba2096e7792c14d68e092
+size 9619817
diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/bottle_opener_008.xml b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/bottle_opener_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..83ddfd55519e6a81ff16d345dd3c518d9f58d4cb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/bottle_opener_008.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_008">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_008_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_008_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_008_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bottle_opener_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bottle_opener_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bottle_opener_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bottle_opener_008_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_008">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..775a18e437ee1077e40dd740784ad7f1d13ed2c6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:154dd64a386cb8428823bc3cad243e1d0e29cdc4eb0b1e1e5aa069e0d6ac0120
+size 110150512
diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..085b1039f8ea3c2e4fde786787c615a95869a63e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision.obj
@@ -0,0 +1,6922 @@
+# https://github.com/mikedh/trimesh
+
+o bottle_opener_008_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_0.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b13655e73833915cd21123aafeb24ba8d9dddad3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_1.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6824c9d52a0d06d25499fe8f6f8facc1939a8bf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_10.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ff177043d6784b46582104d54a9da4892e64fa7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_10.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+v -0.00362742 0.00552470 -0.01729362
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diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_11.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85ad0e8592ab1cdff1cd250f43b39e62f9af0657
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_11.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_12.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..357745c521645d4294b283fab60b082819e3a4db
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_12.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_13.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fda5396fe9b661ec6a4811c28b3a71e1e371603
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_13.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_2.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cda9538ffa676836ea6098b5bb67e5f8872f1739
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_2.obj
@@ -0,0 +1,763 @@
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diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_3.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd986dad279e0d6afc1eb269ff9f657f3eb2d7d7
--- /dev/null
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diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_4.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0ecec1873171a63bd3a7fc8b155d3289561103e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_4.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+v 0.00111793 0.00666153 -0.04952335
+v 0.00341555 0.00647811 -0.05163898
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+v -0.00145453 0.00655560 -0.04693569
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+
diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_5.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d893a7282293343a2596b3dfa59a8402695dda2e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_5.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.00577895 -0.00373484 -0.03947813
+v -0.00397704 -0.00129836 -0.03947812
+v -0.00493610 -0.00600130 -0.03947814
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+
diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_6.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71937b313b937b39053f6edcf1647c1bc9886783
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_6.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.00826161 -0.00127078 -0.04434772
+v -0.00806824 -0.00127078 -0.04264278
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diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_7.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee3a336edb764b3e2b4049f0c54315838275c300
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_7.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_8.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3767413cb53953d68497e5b1f632524543892b70
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_8.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_9.obj b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5f14c77bc03a385c3e5f270a0e625a89245e3f1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/mjcf/mesh/bottle_opener_008_collision_9.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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