diff --git a/.gitattributes b/.gitattributes
index d598fd25a1b5589eb7caf81f79c45b2e34b1453d..4558add2020a0d16ba022996a321a35258b8b1eb 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/spice_jar_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/bottle_opener_003.usd filter=lfs diff=lfs merge=lfs -text
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+dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/bottle_opener_003.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/bottle_opener_003.urdf b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/bottle_opener_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b2dbf42d71ab4507b6a0187f32ba163abd62e4b8
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+ affordance/affordance_annot.json
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\ No newline at end of file
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/bottle_opener_003_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/bottle_opener_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc5716cbeb70db84fb6050251f9a3b492807131d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/bottle_opener_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:586b59387c1fe8e8f9246bc10e2ab65ce11fa54d1dd1253ccec1b4a9a9dbbf89
+size 12782038
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/material.mtl b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..975fb881a9ac999e5a922f9f74d38cc4a381b891
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/material_0.png b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc5716cbeb70db84fb6050251f9a3b492807131d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:586b59387c1fe8e8f9246bc10e2ab65ce11fa54d1dd1253ccec1b4a9a9dbbf89
+size 12782038
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/bottle_opener_003.xml b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/bottle_opener_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..42dca17e5140d98810eacdd2ce4b2120bc5b80ca
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/bottle_opener_003.xml
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a6112d1ea9ae20a36377e667aca4220d4206f3c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b2e17fa1908449921d4ecfd5133a25c4cf54fe8a99a4c09bb3b38e112596fcd
+size 111854086
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b4e8a09e312e93e31d50b234a22b349bd3b1429
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision.obj
@@ -0,0 +1,9744 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_0.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29d420ac35b7b3264a6787ec3b0e5081cca7e0f3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_0.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_1.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c0c14ace77a77ed58283b0b3087d8cae618db3c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_1.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_10.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3107cbe21eb45216067978a21b4899307a687395
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_10.obj
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_11.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d2acf42b9c5e39a5009bb63caf52d03a2622bd6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_11.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_12.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8404fcbc002cd144b2486e8be2f4f1b512774488
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_12.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.03090121 0.02168344 -0.00549740
+v 0.03221654 0.02108010 -0.00549740
+v 0.03534642 0.02055814 -0.00644281
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+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_13.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24a905751eda7121135c0f6598028a34f1911dd6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_13.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_14.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc510a8f479ad34f1067bf9c3fdd5d6a3e2c7a70
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_14.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_15.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..247a724c4aec508d9454c6e943d4dc01ba8c475e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_15.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_16.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a801cd9db892703b11a0892bb6f6925addfefb1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_16.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_17.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..190ceb4e7d7f19ce7ce726f1ac68a09bd5fa93b6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_17.obj
@@ -0,0 +1,334 @@
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+f 94 104 95
+f 95 104 96
+f 96 103 98
+f 98 103 105
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+f 98 107 102
+f 98 102 99
+f 100 102 108
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+f 102 107 110
+f 102 110 109
+f 102 109 108
+f 105 112 106
+f 106 112 111
+f 106 111 107
+f 107 111 110
+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_18.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78e989733c3dd2f605784626dcfda90a17a73abb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_18.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00050247 0.01951933 0.01052311
+v 0.00180000 0.01951933 0.01027053
+v 0.00581956 0.02106268 0.00943168
+v 0.00050247 0.02156028 0.01037219
+v 0.00050247 0.01064826 0.00927147
+v 0.00070025 0.01045377 0.00920576
+v 0.00581956 0.00727362 0.00776521
+v 0.00581956 0.01944609 0.00947582
+v 0.00383034 0.01951933 0.00987420
+v 0.00581956 0.02110815 0.00942552
+v 0.00458814 0.02245195 0.00915959
+v 0.00050247 0.02205031 0.01015657
+v 0.00050247 0.00992585 0.00916879
+v 0.00180000 0.00931710 0.00883201
+v 0.00050247 0.00931710 0.00908151
+v 0.00383034 0.00727362 0.00813279
+v 0.00581956 0.00552062 0.00744177
+v 0.00581956 0.02212610 0.00900866
+v 0.00581956 0.02332340 0.00806098
+v 0.00323440 0.02270454 0.00931771
+v 0.00050247 0.02310363 0.00964936
+v 0.00050247 0.00738476 0.00854657
+v 0.00581956 0.00449762 0.00720665
+v 0.00581956 0.02335371 0.00803120
+v 0.00050247 0.02416705 0.00834744
+v 0.00050247 0.00177972 0.00572503
+v 0.00581956 0.00319172 0.00653103
+v 0.00581956 0.02440198 0.00613479
+v 0.00112807 0.02464951 0.00732787
+v 0.00050247 0.02445501 0.00786487
+v 0.00050247 0.00138568 0.00432146
+v 0.00581956 -0.00032437 0.00236035
+v 0.00581956 0.00041319 0.00421569
+v 0.00581956 0.00176457 0.00560490
+v 0.00581956 0.00316393 0.00651358
+v 0.00581956 0.02478594 0.00003381
+v 0.00566238 0.02489708 0.00003381
+v 0.00505187 0.02463436 0.00537910
+v 0.00578157 0.02440703 0.00613171
+v 0.00248181 0.02459646 0.00691615
+v 0.00050247 0.02548057 0.00003381
+v 0.00050247 0.02467477 0.00741412
+v 0.00050247 0.00179994 0.00266120
+v 0.00581956 -0.00004652 0.00154100
+v 0.00581956 0.01019110 0.00003376
+v 0.00494205 0.02505621 0.00003381
+v 0.00050247 0.00545498 0.00003374
+v 0.00267646 0.00211064 0.00132231
+v 0.00052069 0.00530595 0.00003374
+v 0.00581956 0.00091082 0.00084897
+v 0.00581956 0.00106491 0.00079866
+v 0.00578677 0.00976674 0.00003376
+v 0.00129723 0.00510387 0.00003374
+v 0.00581956 0.00105228 0.00080276
+v 0.00182654 0.00539941 0.00003374
+v 0.00375799 0.00733174 0.00003375
+v 0.00570402 0.00946868 0.00003375
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 21
+f 1 21 25
+f 1 25 30
+f 1 30 42
+f 1 42 41
+f 1 41 47
+f 1 47 43
+f 1 43 31
+f 1 31 26
+f 1 26 22
+f 1 22 15
+f 1 15 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 8
+f 3 9 8
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+f 3 7 17
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+f 3 45 36
+f 3 36 28
+f 3 28 24
+f 3 24 19
+f 3 19 18
+f 3 18 10
+f 3 10 4
+f 4 11 12
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+f 5 13 6
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+f 6 14 7
+f 7 14 15
+f 7 15 16
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+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 13 15 14
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+f 19 24 21
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+f 23 26 27
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+f 26 34 35
+f 26 35 27
+f 28 36 37
+f 28 37 38
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+f 28 39 40
+f 28 40 29
+f 29 40 38
+f 29 38 41
+f 29 41 42
+f 29 42 30
+f 31 43 32
+f 32 43 44
+f 36 45 52
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+f 36 57 56
+f 36 56 55
+f 36 55 53
+f 36 53 49
+f 36 49 47
+f 36 47 41
+f 36 41 46
+f 36 46 37
+f 37 46 38
+f 38 40 39
+f 38 46 41
+f 43 48 44
+f 43 47 49
+f 43 49 48
+f 44 48 50
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+f 49 51 54
+f 49 54 50
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+f 51 55 56
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+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_19.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfa152355de4e1d949c4b619d5cb2acd39a07dd2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_19.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00050247 0.00240337 -0.00238905
+v 0.00055341 0.00234163 -0.00238905
+v 0.00050247 0.00240337 -0.00229893
+v 0.00050247 0.02523573 -0.00238897
+v 0.00058227 0.00230818 -0.00238905
+v 0.00844500 -0.00043686 0.00003372
+v 0.00050247 0.00316231 -0.00163987
+v 0.00050247 0.02535151 -0.00212169
+v 0.00085223 0.02525889 -0.00238897
+v 0.00716312 0.00085720 -0.00238906
+v 0.00938051 -0.00065810 0.00003372
+v 0.00052115 0.00530532 0.00003374
+v 0.00050247 0.00530275 0.00002734
+v 0.00050247 0.02554703 -0.00156153
+v 0.00279117 0.02531549 -0.00238897
+v 0.00803412 0.00084177 -0.00238906
+v 0.00985421 -0.00073271 0.00003372
+v 0.00050247 0.00545454 0.00003374
+v 0.00050247 0.02554445 -0.00030911
+v 0.00180132 0.02554960 -0.00156153
+v 0.00474879 0.02534636 -0.00238897
+v 0.00859101 0.00091380 -0.00238906
+v 0.01195275 -0.00001751 -0.00069505
+v 0.01195275 -0.00050632 0.00003372
+v 0.00050247 0.02548013 0.00003381
+v 0.00383195 0.02554446 -0.00156153
+v 0.00586257 0.02550587 -0.00156153
+v 0.00663170 0.02532063 -0.00238897
+v 0.01309370 0.00010083 -0.00060517
+v 0.00979478 0.00126883 -0.00238906
+v 0.01784767 0.00157497 -0.00111457
+v 0.01784767 0.00101927 0.00003372
+v 0.00494404 0.02505564 0.00003381
+v 0.00586257 0.02502219 -0.00007694
+v 0.00789320 0.02491157 -0.00026951
+v 0.00789320 0.02537980 -0.00156153
+v 0.00875061 0.02528461 -0.00238897
+v 0.01446895 0.02495531 -0.00238897
+v 0.01784767 0.00319318 -0.00157133
+v 0.01584421 0.00948333 -0.00238903
+v 0.01784767 0.01587381 0.00003378
+v 0.00566392 0.02489870 0.00003381
+v 0.00992212 0.02473663 -0.00046919
+v 0.01733152 0.02473664 -0.00238897
+v 0.01601569 0.02484983 -0.00238897
+v 0.01784767 0.01340150 -0.00238901
+v 0.01784767 0.02375388 -0.00207829
+v 0.01322443 0.02292805 -0.00035347
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+v 0.01784767 0.02443049 -0.00238897
+v 0.01784767 0.02436875 -0.00232090
+v 0.01769826 0.02461058 -0.00238897
+v 0.01765072 0.02463373 -0.00238897
+f 1 2 3
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+f 1 18 25
+f 1 25 19
+f 1 19 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
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+f 1 15 21
+f 1 21 28
+f 1 28 37
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+f 48 52 51
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+f 49 51 50
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+f 52 57 53
+f 54 56 55
+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_2.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..120ef394a81504637ad7e8f10a85ab4f8812b840
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_2.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.02462483 0.01711378 0.00544393
+v 0.02462483 0.01604866 0.00535126
+v 0.02516541 0.01643798 0.00530310
+v 0.02516541 0.01663141 0.00530310
+v 0.02513224 0.01799036 0.00529130
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+v 0.03090049 0.01305899 0.00353584
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+v 0.03090049 0.01073531 0.00337864
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+v 0.03090049 0.01952071 0.00270539
+v 0.02462483 0.01952070 0.00514228
+v 0.02462483 0.00523832 0.00379477
+v 0.02688360 0.00458700 0.00328594
+v 0.03090049 0.00523342 0.00260449
+v 0.03090049 0.01995411 0.00252458
+v 0.02782778 0.02093842 0.00347863
+v 0.02462483 0.02150893 0.00437997
+v 0.02462483 0.00400914 0.00348219
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+v 0.03090049 0.00319133 0.00217107
+v 0.03090049 0.02107554 0.00202485
+v 0.02551310 0.02270138 0.00347318
+v 0.02462483 0.02195946 0.00417190
+v 0.02462483 0.00302973 0.00266081
+v 0.03090049 -0.00054025 -0.00009320
+v 0.03090049 0.00079421 0.00088628
+v 0.03090049 0.00181524 0.00163045
+v 0.03090049 0.02158241 0.00039935
+v 0.02738548 0.02264017 0.00161780
+v 0.02618207 0.02282626 0.00230652
+v 0.02462483 0.02320578 0.00234742
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+v 0.03090049 0.01664614 -0.00345681
+v 0.03090049 0.01549532 -0.00351042
+v 0.03090049 0.00626918 -0.00383847
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+f 62 67 68
+f 62 68 69
+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_20.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09083262679761a0548c342a41d8e3592f7263ff
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_20.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.03817642 0.00913352 0.00158478
+v 0.03817642 0.00745260 0.00150139
+v 0.03938538 0.00827086 0.00138214
+v 0.03938538 0.00830891 0.00138214
+v 0.03817642 0.01747787 0.00079399
+v 0.03817642 0.00115074 0.00060923
+v 0.03835626 0.00115074 0.00057695
+v 0.04444835 0.00522935 -0.00003004
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+v 0.04498056 0.00723060 -0.00013583
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+v 0.04241743 0.01677378 -0.00033665
+v 0.03817642 0.01883529 -0.00001654
+v 0.03817642 -0.00090442 0.00015016
+v 0.03835626 -0.00089174 0.00016092
+v 0.04163277 -0.00218256 -0.00053666
+v 0.04038718 -0.00089174 -0.00010807
+v 0.04444835 -0.00293104 -0.00118312
+v 0.04498056 -0.00293104 -0.00128624
+v 0.04498056 -0.00239822 -0.00121092
+v 0.04498056 0.01339609 -0.00071413
+v 0.04498056 0.01558129 -0.00140093
+v 0.04386619 0.01664693 -0.00156232
+v 0.03950927 0.01855937 -0.00047920
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+v 0.03835626 -0.00232211 -0.00034837
+v 0.04491129 -0.00837341 -0.00240434
+v 0.04498056 -0.00837341 -0.00240524
+v 0.04038718 -0.00238871 -0.00041831
+v 0.04444835 -0.00497351 -0.00148978
+v 0.04498056 -0.00497351 -0.00158751
+v 0.04498056 0.01560667 -0.00147087
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_21.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c8095c7884aa71a48ce67e745e9e4e52cab429
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_21.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_22.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fc93e8f0519352bf4eb460a46b2d7a9c76ac9ca
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_22.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_23.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb350c80875ec2e0a066310466ec7a2c85fc6766
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_23.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.04879563 0.00048679 0.00855600
+v -0.04875037 0.00045898 0.00855600
+v -0.03776447 -0.00698994 0.00855909
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+v -0.04722137 -0.00698995 0.01070991
+v -0.04745334 -0.00698995 0.01079709
+v -0.04814075 -0.00659983 0.01104387
+v -0.05206297 0.00001613 0.01308962
+v -0.05210682 0.00048677 0.01303668
+v -0.04083096 0.00048679 0.00855600
+v -0.04802052 0.00001689 0.00855600
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+v -0.04288047 -0.00043984 0.00855600
+v -0.04241654 -0.00035933 0.00855600
+v -0.04091441 0.00034772 0.00855600
+v -0.03776447 0.00048679 0.00938737
+v -0.03776447 -0.00698996 0.01329976
+v -0.04690878 -0.00042667 0.00855600
+v -0.04658346 -0.00047863 0.00855600
+v -0.04807852 -0.00698995 0.01136457
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+v -0.05159621 -0.00103932 0.01412416
+v -0.05208136 -0.00001827 0.01412416
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+v -0.03776447 0.00048677 0.01436314
+v -0.04299645 0.00048676 0.01589744
+v -0.04373196 0.00048676 0.01605079
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+v -0.05205731 0.00004540 0.01518127
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+v -0.04561740 0.00048676 0.01629522
+v -0.04491160 -0.00698996 0.01469239
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+v -0.05212945 0.00048676 0.01532918
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+v -0.04797243 -0.00601577 0.01511431
+v -0.04719308 -0.00698996 0.01439502
+v -0.05101771 -0.00073777 0.01566702
+v -0.05100781 0.00048676 0.01614887
+v -0.04703325 -0.00507523 0.01527467
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+f 1 6 7
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+f 42 44 49
+f 42 49 43
+f 43 49 44
+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_24.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..854ad446293ffa7f362101f9734a1383a06b9dfb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_24.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.04623573 -0.01189546 0.01159617
+v -0.04623573 -0.01189546 0.01202712
+v -0.04616635 -0.01189546 0.01078384
+v -0.04605349 -0.01250365 0.01089748
+v -0.04406558 -0.02092929 0.00896082
+v -0.04407669 -0.02094802 0.01020258
+v -0.04396661 -0.02052463 0.01127958
+v -0.04599707 -0.01189547 0.01288903
+v -0.04594804 -0.01189546 0.01047797
+v -0.04422562 -0.01926615 0.00880523
+v -0.04196390 -0.02468599 0.00718513
+v -0.04217851 -0.02503452 0.00824230
+v -0.04371777 -0.02196789 0.01020258
+v -0.04587311 -0.01207793 0.01305912
+v -0.04189822 -0.02441466 0.01120711
+v -0.04222846 -0.02334800 0.01138560
+v -0.04569458 -0.01189547 0.01318955
+v -0.04460488 -0.01189545 0.00936436
+v -0.04436437 -0.01518197 0.00890821
+v -0.04433662 -0.01722406 0.00881134
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+v -0.03795109 -0.03286369 0.00580071
+v -0.04012215 -0.02902279 0.00692425
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+v -0.04109992 -0.02742749 0.00824229
+v -0.04022483 -0.02917952 0.00824228
+v -0.04296849 -0.02334800 0.01020257
+v -0.04408039 -0.01458551 0.01323988
+v -0.04084923 -0.02452460 0.01122008
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+v -0.04212948 -0.02483103 0.01020257
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+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_25.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ab520519acf6e1a8629a4abcf98cf4d3166f15d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_25.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01047770 -0.01918257 -0.00389173
+v -0.01035519 -0.01918257 -0.00388558
+v -0.01050944 -0.02374118 -0.00154310
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+v -0.00730850 -0.02034275 -0.00257288
+v -0.00715056 -0.02265732 -0.00083310
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+v -0.01413697 -0.01918257 -0.00167018
+v -0.00836244 -0.01918257 -0.00329859
+v -0.00726643 -0.01918257 -0.00262823
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+v -0.00686124 -0.01926423 -0.00156153
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+v -0.01300480 -0.02374119 0.00092445
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+v -0.00820745 -0.02345294 0.00234171
+v -0.00835506 -0.01963551 0.00180394
+v -0.00853146 -0.02374120 0.00240799
+v -0.01077809 -0.02374120 0.00296150
+v -0.01038545 -0.02374120 0.00303052
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 17
+f 1 17 28
+f 1 28 42
+f 1 42 43
+f 1 43 31
+f 1 31 30
+f 1 30 29
+f 1 29 19
+f 1 19 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 15
+f 3 15 25
+f 3 25 36
+f 3 36 47
+f 3 47 49
+f 3 49 48
+f 3 48 37
+f 3 37 27
+f 3 27 26
+f 3 26 16
+f 3 16 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 9 16 17
+f 9 17 10
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 19 29 21
+f 19 21 20
+f 21 23 22
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 23
+f 23 33 34
+f 23 34 24
+f 23 32 35
+f 23 35 33
+f 24 34 25
+f 25 34 36
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 31 35 32
+f 31 43 35
+f 33 35 44
+f 33 44 45
+f 33 45 34
+f 34 45 36
+f 35 43 46
+f 35 46 44
+f 36 45 47
+f 37 48 39
+f 37 39 38
+f 39 48 49
+f 39 49 47
+f 39 47 45
+f 39 45 44
+f 39 44 41
+f 39 41 40
+f 41 44 46
+f 41 46 43
+f 41 43 42
+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_26.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b3c7481a88b6a590960c43725822bd5f88b4dac
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_26.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.03776598 -0.00698991 -0.00064550
+v -0.03776598 -0.00693648 -0.00064370
+v -0.03776598 -0.00698992 0.00406782
+v -0.04084952 -0.00698991 -0.00009067
+v -0.03776598 -0.00622138 -0.00056623
+v -0.03776598 -0.00003654 0.00512977
+v -0.04083130 0.00048679 0.00855600
+v -0.04083585 0.00047801 0.00855600
+v -0.04091484 0.00034772 0.00855600
+v -0.04241711 -0.00035933 0.00855600
+v -0.04084952 -0.00698993 0.00467039
+v -0.03776598 -0.00497416 -0.00040681
+v -0.04493103 -0.00698991 0.00070194
+v -0.04788850 -0.00610355 0.00139278
+v -0.03776598 0.00048680 0.00520273
+v -0.04879685 0.00048679 0.00855600
+v -0.04288041 -0.00043984 0.00855600
+v -0.04694065 -0.00698993 0.00579085
+v -0.04491432 -0.00698993 0.00545939
+v -0.04486572 -0.00698993 0.00545039
+v -0.04399382 -0.00698993 0.00528196
+v -0.04303990 -0.00698993 0.00509732
+v -0.03776598 -0.00193809 0.00002013
+v -0.04530926 -0.00698991 0.00077579
+v -0.04698774 -0.00698991 0.00110365
+v -0.04728850 -0.00698991 0.00117480
+v -0.04866166 -0.00698992 0.00202325
+v -0.05202925 -0.00194029 0.00332928
+v -0.05213102 -0.00089216 0.00326804
+v -0.05215229 0.00048681 0.00325723
+v -0.05196393 0.00048681 0.00319058
+v -0.05034925 0.00048681 0.00280418
+v -0.04897153 0.00048681 0.00253578
+v -0.04694065 0.00048681 0.00214127
+v -0.03881864 0.00048682 0.00056506
+v -0.03776598 0.00048682 0.00040834
+v -0.04937102 0.00048679 0.00842000
+v -0.04802065 0.00001689 0.00855600
+v -0.04448141 -0.00060526 0.00855600
+v -0.04658369 -0.00047863 0.00855600
+v -0.04690875 -0.00042667 0.00855600
+v -0.04858267 -0.00698993 0.00561611
+v -0.03776598 0.00009011 0.00033268
+v -0.03815940 0.00048682 0.00045428
+v -0.04882419 -0.00698992 0.00221510
+v -0.05006976 -0.00615625 0.00319506
+v -0.05210368 -0.00206766 0.00432004
+v -0.05256849 -0.00089217 0.00432005
+v -0.05283735 0.00048680 0.00426060
+v -0.05267026 0.00048681 0.00385889
+v -0.05162216 0.00048679 0.00787238
+v -0.05224039 -0.00019538 0.00740312
+v -0.04996799 -0.00597693 0.00522973
+v -0.04879533 -0.00698993 0.00534320
+v -0.04885457 -0.00698992 0.00229976
+v -0.04946976 -0.00698993 0.00439387
+v -0.05006976 -0.00615625 0.00392372
+v -0.05212039 -0.00209181 0.00554228
+v -0.05328241 0.00048680 0.00572693
+v -0.05246520 0.00048679 0.00753642
+v -0.05325659 0.00048680 0.00637813
+v -0.04946520 -0.00698993 0.00446593
+f 1 2 5
+f 1 5 12
+f 1 12 23
+f 1 23 43
+f 1 43 36
+f 1 36 15
+f 1 15 6
+f 1 6 3
+f 1 3 11
+f 1 11 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 42
+f 1 42 54
+f 1 54 62
+f 1 62 56
+f 1 56 55
+f 1 55 45
+f 1 45 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 13
+f 1 13 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 5
+f 4 13 14
+f 4 14 12
+f 6 15 7
+f 7 15 36
+f 7 36 44
+f 7 44 35
+f 7 35 34
+f 7 34 33
+f 7 33 32
+f 7 32 31
+f 7 31 30
+f 7 30 50
+f 7 50 49
+f 7 49 59
+f 7 59 61
+f 7 61 60
+f 7 60 51
+f 7 51 37
+f 7 37 16
+f 7 16 38
+f 7 38 41
+f 7 41 40
+f 7 40 39
+f 7 39 17
+f 7 17 10
+f 7 10 9
+f 7 9 8
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 12 14 23
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 34
+f 14 34 35
+f 14 35 23
+f 16 37 38
+f 17 39 18
+f 18 39 40
+f 18 40 41
+f 18 41 42
+f 23 35 44
+f 23 44 43
+f 27 45 46
+f 27 46 28
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 29
+f 28 46 47
+f 29 50 30
+f 36 43 44
+f 37 51 42
+f 37 42 38
+f 38 42 41
+f 42 51 52
+f 42 52 53
+f 42 53 54
+f 45 55 46
+f 46 55 56
+f 46 56 57
+f 46 57 58
+f 46 58 47
+f 47 58 59
+f 47 59 48
+f 48 59 49
+f 51 60 52
+f 52 60 61
+f 52 61 53
+f 53 57 62
+f 53 62 54
+f 53 61 58
+f 53 58 57
+f 56 62 57
+f 58 61 59
+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_27.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b276026e64463c6d360577413af2d520d3d5516f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_27.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.03272557 0.02091151 0.00757041
+v -0.03312124 0.02090285 0.00757041
+v -0.03068688 0.02090573 0.00757041
+v -0.03033413 0.02213659 0.00606774
+v -0.03475626 0.02086817 0.00756176
+v -0.03475626 0.02085084 0.00757041
+v -0.03033413 0.02085084 0.00757041
+v -0.03033413 0.02100686 0.00741556
+v -0.03033413 0.02231574 0.00580734
+v -0.03678694 0.02075549 0.00750985
+v -0.03708078 0.02060813 0.00757041
+v -0.03033413 0.01098958 0.00757037
+v -0.03033413 0.02251510 0.00504087
+v -0.03475626 0.02148361 0.00628141
+v -0.03776374 0.02081039 0.00701502
+v -0.03776374 0.02067459 0.00743199
+v -0.03776374 0.02046945 0.00757041
+v -0.03751718 0.00392808 0.00757034
+v -0.03392347 -0.00698777 0.00330970
+v -0.03033413 0.00513293 0.00576749
+v -0.03033413 0.02252665 0.00432024
+v -0.03678694 0.02115423 0.00628141
+v -0.03776374 0.02095197 0.00622691
+v -0.03776374 0.00369982 0.00757034
+v -0.03469298 -0.00698777 0.00346801
+v -0.03233863 -0.00698777 0.00223698
+v -0.03033413 0.00414767 0.00536522
+v -0.03033413 0.02188235 0.00312035
+v -0.03776374 0.02081906 0.00490332
+v -0.03776374 -0.00698777 0.00406752
+v -0.03678694 -0.00698777 0.00387720
+v -0.03621890 -0.00698777 0.00376647
+v -0.03161495 -0.00698776 0.00039952
+v -0.03033413 0.00180155 0.00385821
+v -0.03033413 0.00319709 0.00487816
+v -0.03033413 0.02157319 0.00299059
+v -0.03390093 0.02060238 0.00330635
+v -0.03776374 0.02008229 0.00445259
+v -0.03776374 -0.00698776 -0.00064465
+v -0.03175823 -0.00698776 -0.00013944
+v -0.03033413 0.00191425 0.00103886
+v -0.03033413 0.00154440 0.00236073
+v -0.03033413 0.01951888 0.00235127
+v -0.03069488 0.01951888 0.00239972
+v -0.03272557 0.01951888 0.00272327
+v -0.03272557 0.01747902 0.00207962
+v -0.03776374 0.01951887 0.00412991
+v -0.03477517 -0.00698776 -0.00126406
+v -0.03776374 -0.00696753 -0.00064465
+v -0.03268048 -0.00698776 -0.00102270
+v -0.03033413 0.00319133 0.00049731
+v -0.03033413 0.01747902 0.00189017
+v -0.03069488 0.01747902 0.00190141
+v -0.03776374 0.01756859 0.00362296
+v -0.03475626 -0.00698776 -0.00126752
+v -0.03588652 -0.00379217 -0.00060311
+v -0.03665312 -0.00303805 -0.00034964
+v -0.03776374 -0.00193722 0.00002063
+v -0.03776374 0.00009108 0.00033294
+v -0.03776374 0.00643315 0.00132955
+v -0.03631855 -0.00497390 -0.00068617
+v -0.03776374 -0.00693575 -0.00064379
+v -0.03776374 -0.00621920 -0.00056592
+v -0.03776374 -0.00497390 -0.00040674
+v -0.03033413 0.00523408 0.00044369
+v -0.03033413 0.00487002 0.00043763
+v -0.03033413 0.01712652 0.00183999
+f 1 2 6
+f 1 6 11
+f 1 11 17
+f 1 17 24
+f 1 24 18
+f 1 18 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 7
+f 4 7 12
+f 4 12 20
+f 4 20 27
+f 4 27 35
+f 4 35 34
+f 4 34 42
+f 4 42 41
+f 4 41 51
+f 4 51 66
+f 4 66 65
+f 4 65 67
+f 4 67 52
+f 4 52 43
+f 4 43 36
+f 4 36 28
+f 4 28 21
+f 4 21 13
+f 4 13 9
+f 4 9 5
+f 5 10 11
+f 5 11 6
+f 5 9 10
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 10 16 11
+f 11 16 17
+f 12 18 19
+f 12 19 20
+f 13 21 22
+f 13 22 15
+f 13 15 14
+f 15 22 23
+f 15 23 29
+f 15 29 38
+f 15 38 47
+f 15 47 54
+f 15 54 60
+f 15 60 59
+f 15 59 58
+f 15 58 64
+f 15 64 63
+f 15 63 62
+f 15 62 49
+f 15 49 39
+f 15 39 30
+f 15 30 24
+f 15 24 17
+f 15 17 16
+f 18 24 19
+f 19 25 32
+f 19 32 31
+f 19 31 30
+f 19 30 39
+f 19 39 48
+f 19 48 55
+f 19 55 50
+f 19 50 40
+f 19 40 33
+f 19 33 26
+f 19 26 20
+f 19 24 25
+f 20 26 27
+f 21 23 22
+f 21 28 29
+f 21 29 23
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 33 40 41
+f 33 41 42
+f 33 42 34
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 37 45 46
+f 37 46 47
+f 37 47 38
+f 39 49 48
+f 40 50 51
+f 40 51 41
+f 43 52 53
+f 43 53 46
+f 43 46 44
+f 44 46 45
+f 46 54 47
+f 46 53 55
+f 46 55 56
+f 46 56 57
+f 46 57 58
+f 46 58 59
+f 46 59 60
+f 46 60 54
+f 48 61 56
+f 48 56 55
+f 48 49 62
+f 48 62 63
+f 48 63 64
+f 48 64 61
+f 50 55 65
+f 50 65 66
+f 50 66 51
+f 52 67 53
+f 53 67 55
+f 55 67 65
+f 56 61 57
+f 57 61 64
+f 57 64 58
+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_28.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd46b232d42dbefc5980b75fb4ad7673d6166554
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_28.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.03776374 0.01649596 0.01569097
+v -0.03349217 0.01815209 0.01515279
+v -0.03678694 0.01747860 0.01557968
+v -0.03776374 0.01747860 0.01567348
+v -0.03776374 0.00725753 0.01550890
+v -0.03033413 0.01543605 0.01456133
+v -0.03033413 0.01747861 0.01457404
+v -0.03349217 0.01860753 0.01515279
+v -0.03475626 0.01874278 0.01524978
+v -0.03776374 0.01817141 0.01555584
+v -0.03776374 0.00677449 0.01546516
+v -0.03033413 0.01375784 0.01426956
+v -0.03272557 -0.00699069 0.01230194
+v -0.03107455 -0.00699068 0.01163496
+v -0.03033413 0.01784020 0.01455418
+v -0.03033413 0.01952117 0.01425448
+v -0.03033413 0.01977787 0.01415590
+v -0.03678694 0.01881179 0.01535392
+v -0.03033413 0.02082675 0.01353981
+v -0.03776374 0.01877314 0.01535074
+v -0.03776374 0.00576425 0.01533081
+v -0.03033413 0.00319174 0.01240374
+v -0.03475626 -0.00699069 0.01271453
+v -0.03033486 -0.00699068 0.01020323
+v -0.03033413 0.02093164 0.01328304
+v -0.03069488 0.02079639 0.01352391
+v -0.03776374 0.01913198 0.01471317
+v -0.03776374 -0.00699069 0.01329962
+v -0.03736226 -0.00699069 0.01322172
+v -0.03033413 0.00150802 0.01170178
+v -0.03033995 -0.00699068 0.01018574
+v -0.03033413 0.00283017 0.00758385
+v -0.03033413 0.00172332 0.00800518
+v -0.03033413 0.00156599 0.00820154
+v -0.03033413 0.00077932 0.01020326
+v -0.03033413 0.02120767 0.01216373
+v -0.03225790 0.02064734 0.01334266
+v -0.03776374 0.01935832 0.01412410
+v -0.03776374 -0.00699067 0.00855924
+v -0.03113128 -0.00699067 0.00823012
+v -0.03126292 -0.00699067 0.00817447
+v -0.03255829 -0.00699067 0.00764979
+v -0.03776374 0.00369964 0.00757034
+v -0.03751718 0.00392597 0.00757034
+v -0.03033413 0.01098937 0.00757037
+v -0.03033413 0.02084885 0.00757041
+v -0.03068688 0.02090682 0.00757041
+v -0.03272557 0.02091234 0.00757041
+v -0.03312124 0.02090130 0.00757041
+v -0.03475626 0.02085161 0.00757041
+v -0.03708078 0.02060595 0.00757041
+v -0.03776374 0.02047070 0.00757041
+v -0.03478099 -0.00699067 0.00797812
+v -0.03275467 -0.00699067 0.00765456
+v -0.03475626 -0.00699067 0.00797335
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 27
+f 1 27 38
+f 1 38 52
+f 1 52 43
+f 1 43 39
+f 1 39 28
+f 1 28 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 6
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 6 12 22
+f 6 22 30
+f 6 30 35
+f 6 35 34
+f 6 34 33
+f 6 33 32
+f 6 32 45
+f 6 45 46
+f 6 46 36
+f 6 36 25
+f 6 25 19
+f 6 19 17
+f 6 17 16
+f 6 16 15
+f 6 15 7
+f 6 11 13
+f 6 13 14
+f 6 14 12
+f 7 15 8
+f 8 16 17
+f 8 17 9
+f 8 15 16
+f 9 18 10
+f 9 17 19
+f 9 19 18
+f 10 18 20
+f 11 21 13
+f 12 14 22
+f 13 21 23
+f 13 23 29
+f 13 29 28
+f 13 28 39
+f 13 39 53
+f 13 53 55
+f 13 55 54
+f 13 54 42
+f 13 42 41
+f 13 41 40
+f 13 40 31
+f 13 31 24
+f 13 24 14
+f 14 24 22
+f 18 19 20
+f 19 25 26
+f 19 26 20
+f 20 26 27
+f 21 28 29
+f 21 29 23
+f 22 24 30
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 30
+f 25 36 37
+f 25 37 26
+f 26 37 27
+f 27 37 38
+f 31 40 32
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 37
+f 37 51 52
+f 37 52 38
+f 39 43 53
+f 42 54 43
+f 43 54 55
+f 43 55 53
+f 43 52 51
+f 43 51 50
+f 43 50 49
+f 43 49 48
+f 43 48 47
+f 43 47 46
+f 43 46 45
+f 43 45 44
+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_29.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f355b30304797976374cfac1421d08d1aa398ede
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_29.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.03213992 -0.01021124 0.00718313
+v -0.03205346 -0.00905754 0.00719931
+v -0.03142802 -0.01021124 0.00718313
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_3.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a784e4edf42b84c459d28e5f6dfcfad01eba58f6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_3.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_30.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc3be9cdae783fc3d8be0846df5d13329ae80eb3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_30.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_31.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d2419ae3a56784fc38d8f90ed5269b70cb65010
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_31.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_32.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33d7a5679b90b29ab581da81cebc2c5b185c1f06
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_32.obj
@@ -0,0 +1,268 @@
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+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_33.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28edb486d26afa126bb4ae0cf7367558fbf1e15b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_33.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.01150132 -0.01829134 -0.00452436
+v -0.01150132 -0.01814319 -0.00452436
+v -0.01122709 -0.01829134 -0.00452436
+v -0.01047844 -0.01918257 -0.00389098
+v -0.01223170 -0.01918085 -0.00350566
+v -0.01407088 -0.01870882 -0.00302742
+v -0.01439448 -0.01722212 -0.00320217
+v -0.01122709 -0.01814319 -0.00452436
+v -0.01227283 -0.01736681 -0.00411858
+v -0.01048483 -0.01908840 -0.00395491
+v -0.00844637 -0.01918257 -0.00334113
+v -0.00934403 -0.01918257 -0.00361051
+v -0.01035595 -0.01918257 -0.00388501
+v -0.01223261 -0.01918257 -0.00350140
+v -0.01358641 -0.01918257 -0.00246394
+v -0.01413670 -0.01918257 -0.00167029
+v -0.01462758 -0.01890177 -0.00171035
+v -0.01566509 -0.01843894 -0.00115710
+v -0.01541005 -0.01722212 -0.00246222
+v -0.01407637 -0.01584509 -0.00293535
+v -0.01241635 -0.01571588 -0.00316722
+v -0.01048483 -0.01736682 -0.00398474
+v -0.00727266 -0.01814262 -0.00262591
+v -0.00836227 -0.01918257 -0.00329851
+v -0.01444658 -0.01878521 0.00039866
+v -0.01563858 -0.01840965 0.00039866
+v -0.01252787 -0.01918258 0.00039866
+v -0.01620076 -0.01722213 0.00039867
+v -0.01587808 -0.01722212 -0.00148188
+v -0.01581409 -0.01561483 -0.00120653
+v -0.01590824 -0.01331614 0.00072688
+v -0.01573730 -0.01331614 0.00057514
+v -0.01433506 -0.01331614 -0.00011706
+v -0.01038611 -0.01595304 -0.00292682
+v -0.00930563 -0.01616207 -0.00261482
+v -0.00851950 -0.01736625 -0.00298649
+v -0.00717028 -0.01803237 -0.00156117
+v -0.00689147 -0.01918257 -0.00163875
+v -0.00726626 -0.01918257 -0.00262761
+v -0.01549506 -0.01826898 0.00141822
+v -0.00911001 -0.01918259 0.00138071
+v -0.01614408 -0.01518129 0.00235936
+v -0.01621904 -0.01331615 0.00235937
+v -0.01621538 -0.01331615 0.00216415
+v -0.01610295 -0.01503312 0.00025972
+v -0.01572634 -0.01702689 0.00218716
+v -0.01281764 -0.01331614 0.00036458
+v -0.01279387 -0.01331614 0.00041403
+v -0.01200226 -0.01331615 0.00235937
+v -0.00718033 -0.01806224 -0.00031656
+v -0.00688233 -0.01918257 -0.00156117
+v -0.01444658 -0.01733239 0.00245313
+v -0.01444658 -0.01631196 0.00341728
+v -0.01547313 -0.01621664 0.00334908
+v -0.00835496 -0.01918259 0.00145061
+v -0.01560750 -0.01518129 0.00348803
+v -0.01578392 -0.01331615 0.00365427
+v -0.01582963 -0.01331615 0.00355709
+v -0.01275457 -0.01331615 0.00386824
+v -0.00691798 -0.01918258 0.00030660
+v -0.01444658 -0.01518129 0.00381964
+v -0.01330395 -0.01633379 0.00343347
+v -0.01454713 -0.01331616 0.00415467
+v -0.01444658 -0.01331616 0.00418281
+v -0.01300046 -0.01518129 0.00367131
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 4
+f 3 8 11
+f 3 11 12
+f 3 12 13
+f 3 13 10
+f 4 14 5
+f 4 10 13
+f 4 13 12
+f 4 12 11
+f 4 11 24
+f 4 24 39
+f 4 39 38
+f 4 38 51
+f 4 51 60
+f 4 60 55
+f 4 55 41
+f 4 41 27
+f 4 27 16
+f 4 16 15
+f 4 15 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 20 9
+f 7 19 20
+f 8 9 21
+f 8 21 22
+f 8 22 23
+f 8 23 11
+f 9 20 21
+f 11 23 24
+f 16 25 26
+f 16 26 18
+f 16 18 17
+f 16 27 25
+f 18 26 28
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 34 22
+f 21 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 23 36 35
+f 23 35 37
+f 25 40 26
+f 25 27 40
+f 26 40 28
+f 27 41 40
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 28 40 46
+f 28 46 42
+f 29 45 30
+f 30 45 31
+f 31 45 44
+f 31 44 43
+f 31 43 58
+f 31 58 57
+f 31 57 63
+f 31 63 64
+f 31 64 59
+f 31 59 49
+f 31 49 48
+f 31 48 47
+f 31 47 33
+f 31 33 32
+f 33 47 34
+f 34 47 35
+f 35 47 48
+f 35 48 49
+f 35 49 37
+f 37 50 51
+f 37 51 38
+f 37 49 50
+f 40 52 53
+f 40 53 54
+f 40 54 46
+f 40 41 52
+f 41 55 53
+f 41 53 52
+f 42 46 54
+f 42 54 56
+f 42 56 57
+f 42 57 58
+f 42 58 43
+f 49 59 50
+f 50 60 51
+f 50 59 60
+f 53 61 54
+f 53 55 62
+f 53 62 61
+f 54 63 56
+f 54 61 64
+f 54 64 63
+f 55 59 65
+f 55 65 62
+f 55 60 59
+f 56 63 57
+f 59 64 65
+f 61 62 65
+f 61 65 64
+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_34.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d225f35b38eaa7797f0648cd74f604624c6639a7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_34.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.03380363 -0.00699065 0.00322364
+v -0.03392324 -0.00699065 0.00331061
+v -0.03409346 -0.00754721 0.00327140
+v -0.03401065 -0.00750316 0.00322364
+v -0.04301090 -0.02002227 0.00322335
+v -0.04912506 -0.00699065 0.00322364
+v -0.03469614 -0.00699065 0.00346821
+v -0.03678786 -0.00701735 0.00387414
+v -0.04175035 -0.01846606 0.00322360
+v -0.04088697 -0.01727021 0.00322361
+v -0.04233002 -0.01926285 0.00322360
+v -0.04353997 -0.02062554 0.00322334
+v -0.04414418 -0.02002227 0.00322335
+v -0.04887664 -0.00818117 0.00322364
+v -0.04947011 -0.00699066 0.00439393
+v -0.03678786 -0.00699065 0.00387766
+v -0.04303698 -0.00699066 0.00509746
+v -0.04489867 -0.00915415 0.00515427
+v -0.04240823 -0.01926285 0.00323868
+v -0.04342036 -0.02002227 0.00331911
+v -0.04383134 -0.02032925 0.00335179
+v -0.04392335 -0.02032925 0.00335179
+v -0.04400309 -0.02043869 0.00322334
+v -0.04608102 -0.01673100 0.00322361
+v -0.04946551 -0.00699066 0.00446682
+v -0.04399083 -0.00699066 0.00528220
+v -0.04491094 -0.00699066 0.00545991
+v -0.04556729 -0.00853620 0.00536992
+v -0.04342189 -0.01926285 0.00343197
+v -0.04694133 -0.00699066 0.00579119
+v -0.04694133 -0.00701736 0.00578666
+v -0.04812367 -0.00832399 0.00541768
+v -0.04603808 -0.01658286 0.00345862
+v -0.04879536 -0.00699066 0.00534353
+v -0.04858220 -0.00699066 0.00561625
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 6
+f 1 6 15
+f 1 15 25
+f 1 25 34
+f 1 34 35
+f 1 35 30
+f 1 30 27
+f 1 27 26
+f 1 26 17
+f 1 17 16
+f 1 16 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 5
+f 5 11 12
+f 5 12 23
+f 5 23 13
+f 5 10 9
+f 5 9 11
+f 6 13 14
+f 6 14 15
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 11
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 11 18 19
+f 12 21 22
+f 12 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 15
+f 15 24 25
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 29 20
+f 19 28 29
+f 20 29 21
+f 21 28 30
+f 21 30 31
+f 21 31 22
+f 21 29 28
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 23 33 24
+f 24 33 25
+f 25 33 34
+f 27 30 28
+f 30 35 31
+f 31 35 32
+f 32 35 33
+f 33 35 34
+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_35.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad73d3a2eb7c223efde08702349676739522ecc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_35.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00494134 -0.02788000 -0.00351743
+v -0.00573495 -0.02788000 -0.00185261
+v -0.00528843 -0.02787999 -0.00456042
+v -0.00750698 -0.02374119 0.00039826
+v -0.00754075 -0.02374119 0.00067338
+v -0.00830716 -0.02374120 0.00228262
+v -0.00887469 -0.02538806 0.00194814
+v -0.00929401 -0.02648759 0.00148458
+v -0.01038500 -0.02684167 0.00181811
+v -0.00632407 -0.02788000 -0.00151625
+v -0.00555109 -0.02787999 -0.00503434
+v -0.00703607 -0.02624407 -0.00486192
+v -0.00844412 -0.02374119 -0.00118930
+v -0.00853136 -0.02374120 0.00240793
+v -0.01038500 -0.02538806 0.00278574
+v -0.01241593 -0.02703127 0.00189820
+v -0.01212700 -0.02788001 0.00098240
+v -0.00685408 -0.02787999 -0.00603776
+v -0.00644695 -0.02748053 -0.00548281
+v -0.00795163 -0.02686879 -0.00616872
+v -0.00930527 -0.02639154 -0.00647775
+v -0.00851916 -0.02608283 -0.00550260
+v -0.01050976 -0.02374118 -0.00154451
+v -0.01038500 -0.02374120 0.00303070
+v -0.01241593 -0.02538806 0.00243148
+v -0.01363168 -0.02674039 0.00159105
+v -0.01241593 -0.02788001 0.00102103
+v -0.00740191 -0.02787999 -0.00643253
+v -0.00784000 -0.02787999 -0.00655407
+v -0.00851916 -0.02750120 -0.00658799
+v -0.00948163 -0.02639154 -0.00647775
+v -0.01024804 -0.02593496 -0.00561660
+v -0.01230430 -0.02374119 -0.00119873
+v -0.01077805 -0.02374120 0.00296193
+v -0.01362230 -0.02538806 0.00159294
+v -0.01237841 -0.02374120 0.00206780
+v -0.01348534 -0.02428327 0.00145256
+v -0.01408383 -0.02538805 0.00039826
+v -0.01396563 -0.02742424 0.00037376
+v -0.01383805 -0.02788001 0.00011466
+v -0.00846851 -0.02787999 -0.00659458
+v -0.00990845 -0.02787999 -0.00658139
+v -0.00988594 -0.02742908 -0.00657385
+v -0.01090188 -0.02742908 -0.00636186
+v -0.01241593 -0.02600424 -0.00500890
+v -0.01241593 -0.02377887 -0.00119402
+v -0.01241405 -0.02374119 -0.00112335
+v -0.01271518 -0.02374120 0.00184168
+v -0.01300410 -0.02374119 0.00092400
+v -0.01309885 -0.02374119 0.00033231
+v -0.01357164 -0.02420466 0.00039826
+v -0.01406694 -0.02527136 -0.00155581
+v -0.01452379 -0.02742909 -0.00156242
+v -0.01429021 -0.02788000 -0.00156242
+v -0.01055666 -0.02787999 -0.00644666
+v -0.01241593 -0.02742908 -0.00556101
+v -0.01354350 -0.02627973 -0.00462826
+v -0.01356414 -0.02423464 -0.00089817
+v -0.01384837 -0.02591066 -0.00352214
+v -0.01416263 -0.02742909 -0.00352214
+v -0.01401910 -0.02788000 -0.00352214
+v -0.01425456 -0.02788000 -0.00223796
+v -0.01241593 -0.02787999 -0.00540461
+v -0.01358759 -0.02742908 -0.00468291
+v -0.01356414 -0.02787999 -0.00465652
+v -0.01390747 -0.02788000 -0.00396214
+f 1 2 10
+f 1 10 17
+f 1 17 27
+f 1 27 40
+f 1 40 54
+f 1 54 62
+f 1 62 61
+f 1 61 66
+f 1 66 65
+f 1 65 63
+f 1 63 55
+f 1 55 42
+f 1 42 41
+f 1 41 29
+f 1 29 28
+f 1 28 18
+f 1 18 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 11 12
+f 3 12 4
+f 4 13 23
+f 4 23 33
+f 4 33 47
+f 4 47 50
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+f 4 49 48
+f 4 48 36
+f 4 36 34
+f 4 34 24
+f 4 24 14
+f 4 14 6
+f 4 6 5
+f 4 12 13
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 11 18 19
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+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 21
+f 13 21 23
+f 14 24 15
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 18 28 20
+f 18 20 19
+f 20 28 21
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 23
+f 23 31 32
+f 23 32 33
+f 24 34 25
+f 25 35 26
+f 25 34 36
+f 25 36 37
+f 25 37 35
+f 26 35 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 29 41 30
+f 30 41 42
+f 30 42 43
+f 30 43 31
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 32 45 33
+f 33 46 47
+f 33 45 46
+f 35 37 38
+f 36 48 37
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 37 48 49
+f 38 51 52
+f 38 52 53
+f 38 53 39
+f 39 53 40
+f 40 53 54
+f 42 55 43
+f 43 55 44
+f 44 56 57
+f 44 57 45
+f 44 55 56
+f 45 57 46
+f 46 58 47
+f 46 57 58
+f 47 58 50
+f 50 58 51
+f 51 58 52
+f 52 59 53
+f 52 58 59
+f 53 59 60
+f 53 60 61
+f 53 61 62
+f 53 62 54
+f 55 63 56
+f 56 64 57
+f 56 63 65
+f 56 65 64
+f 57 64 60
+f 57 60 59
+f 57 59 58
+f 60 64 65
+f 60 65 66
+f 60 66 61
+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_36.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..703f61b192982cd76f0fb2ed40706153d9f69063
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_36.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.00326731 -0.03613194 -0.00548284
+v -0.00343847 -0.03613195 -0.00382182
+v -0.00353346 -0.03613194 -0.00618598
+v -0.00493771 -0.03153146 -0.00342982
+v -0.00453535 -0.03153146 -0.00156199
+v -0.00453624 -0.03153146 -0.00154413
+v -0.00398153 -0.03613195 -0.00315534
+v -0.00494936 -0.03153147 -0.00013127
+v -0.00513038 -0.03282717 -0.00030047
+v -0.00384621 -0.03613194 -0.00669923
+v -0.00522896 -0.03452774 -0.00654131
+v -0.00632404 -0.03153145 -0.00417432
+v -0.00639125 -0.03349462 0.00045531
+v -0.00695133 -0.03494930 -0.00009556
+v -0.00543596 -0.03613195 -0.00221813
+v -0.00496101 -0.03153147 -0.00012281
+v -0.00718433 -0.03280106 0.00144045
+v -0.00685814 -0.03613193 -0.00808483
+v -0.00652657 -0.03579776 -0.00784983
+v -0.00444842 -0.03574642 -0.00686844
+v -0.00632404 -0.03435163 -0.00681392
+v -0.00835469 -0.03153145 -0.00433224
+v -0.00835469 -0.03418590 -0.00700474
+v -0.00848642 -0.03561584 0.00013569
+v -0.00886011 -0.03613196 -0.00017734
+v -0.00528452 -0.03153147 0.00009058
+v -0.00718433 -0.03233223 0.00144045
+v -0.00768796 -0.03280106 0.00144045
+v -0.00836006 -0.03351038 0.00120827
+v -0.00782148 -0.03613193 -0.00816285
+v -0.00874809 -0.03153145 -0.00422414
+v -0.00991666 -0.03430706 -0.00679606
+v -0.00815216 -0.03579776 -0.00798143
+v -0.01039878 -0.03571583 -0.00001848
+v -0.00909490 -0.03613196 -0.00017734
+v -0.00637691 -0.03153147 0.00079278
+v -0.00643068 -0.03153147 0.00080876
+v -0.00768796 -0.03233223 0.00144045
+v -0.01050273 -0.03349282 0.00027012
+v -0.01159064 -0.03511594 -0.00035312
+v -0.01051080 -0.03566355 -0.00698594
+v -0.01110673 -0.03613194 -0.00667385
+v -0.00984049 -0.03153146 -0.00349562
+v -0.01127072 -0.03502900 -0.00634672
+v -0.01170535 -0.03424221 -0.00503915
+v -0.01077426 -0.03613196 -0.00037850
+v -0.01010843 -0.03613196 -0.00023092
+v -0.00841742 -0.03153147 0.00066399
+v -0.00990501 -0.03191023 -0.00002599
+v -0.01159064 -0.03413234 -0.00035312
+v -0.01194641 -0.03571582 -0.00142381
+v -0.01186397 -0.03613195 -0.00162122
+v -0.01147504 -0.03613196 -0.00101584
+v -0.01156735 -0.03613194 -0.00618410
+v -0.01193386 -0.03387922 -0.00352194
+v -0.00996594 -0.03153146 -0.00254901
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_37.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e39f3b066677b41c7ada8b2ec41091bfe2745bb6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_37.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_38.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9bac77492d1fdc7c4e875f0da795a06fc86d2c8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_38.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_39.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3dae6a597c74b420c41f69932a48261f1c4b4a2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_39.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v -0.00289294 -0.04031563 -0.00352272
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+v -0.00627925 -0.04414250 -0.00152041
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+v -0.00226237 -0.04414360 -0.00910041
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+v -0.01041470 -0.04414361 -0.00548280
+v -0.01038620 -0.04414362 -0.00394240
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+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_4.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3d2f4298f307d6c4a36d0a985eee1f91162bb9b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_4.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.01196678 0.00081438 -0.00145436
+v -0.01196678 0.00117957 0.00035157
+v -0.01196678 0.00168542 -0.00293484
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+v -0.01196678 0.01339873 -0.00365481
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+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_5.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21ed70100e9a7086c3927fc171e99d7f261bd84d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_5.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.01196678 -0.00071281 0.00628251
+v -0.01196678 -0.00067373 0.00655507
+v -0.01196678 -0.00026203 0.00483739
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+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_6.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aaabd3e3e62c93559a5c6f9d292209630ff701a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_6.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_7.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd37c8e5feb8e1fcfe4acd0c52a2762e618da53
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_7.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_8.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e40b6b4bcd404c7542eed4a0584ba41120c876
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_8.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.01784767 0.01959750 0.00711655
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_9.obj b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_collision_9.obj
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index 0000000000000000000000000000000000000000..4f5984ff1238be4d3d7dd02af1f1f8fb2039dc86
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc5716cbeb70db84fb6050251f9a3b492807131d
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/textures/material_0.png b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/video.mp4 b/dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/video.mp4
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