diff --git a/.gitattributes b/.gitattributes
index 4c1b9b24fff4df91caa99af9d8adb343b5135533..afa0c1723691751fd5a1cb0f90a620e08cc55daf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3891,3 +3891,5 @@ dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/mesh/wir
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 dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/fruit_knife_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/garlic_press_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/garlic_press_003.urdf b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/garlic_press_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8e7c13a33642f42f9408ef8781dd70e818391a2a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/garlic_press_003.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="garlic_press_003">
+   <link name="garlic_press_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_press_003.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/garlic_press_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5500" />
+         <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>ae205c266eda59d08d4ad8d2bf101db6</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>garlic_press</category>
+         <name>ergonomic garlic press</name>
+         <color>green,yellow</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>sturdy garlic press with ergonomic handle and integrated basket design</description>
+         <min_height>0.1140</min_height>
+         <max_height>0.1140</max_height>
+         <real_height>0.1140</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.7</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428002706</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>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/garlic_press_003.usd b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/garlic_press_003.usd
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003.glb b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003.glb
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003.glb
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003.mtl b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d9598abb481fa2e7e2b9223451b2ec2062730d7f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003.mtl
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+newmtl garlic_press_003_geometry_Looks_material_0
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+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988c5d2c6f610e9ea6db9db4290fd7416b11b50e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003_collision.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79f4b7630ae2724af3390636492abdb37623bef2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..71cbf9eb811f3ae4e405ce05c88d22be03baa6ad
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f64be1c6cb65283ad215eec229d726b493376b0fcef603e622ca310022176335
+size 12333394
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..337131a99fb6984158c2fbbc30908424f03aecfa
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl garlic_press_003_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd garlic_press_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f64be1c6cb65283ad215eec229d726b493376b0fcef603e622ca310022176335
+size 12333394
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/garlic_press_003.xml b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/garlic_press_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8271f768d74ee538b61b5131e18fdd218cc26603
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/garlic_press_003.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_20" file="mesh/garlic_press_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/garlic_press_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/garlic_press_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/garlic_press_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/garlic_press_003_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/garlic_press_003_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/garlic_press_003_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/garlic_press_003_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/garlic_press_003_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/garlic_press_003_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/garlic_press_003_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/garlic_press_003_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/garlic_press_003_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/garlic_press_003_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/garlic_press_003_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/garlic_press_003_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/garlic_press_003_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/garlic_press_003_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/garlic_press_003_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/garlic_press_003_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/garlic_press_003_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/garlic_press_003_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/garlic_press_003_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/garlic_press_003_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/garlic_press_003_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/garlic_press_003_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/garlic_press_003_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/garlic_press_003_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/garlic_press_003_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/garlic_press_003_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/garlic_press_003_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/garlic_press_003_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/garlic_press_003_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/garlic_press_003_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/garlic_press_003_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/garlic_press_003_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/garlic_press_003_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/garlic_press_003_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/garlic_press_003_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/garlic_press_003_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/garlic_press_003_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/garlic_press_003_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/garlic_press_003_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/garlic_press_003_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/garlic_press_003_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/garlic_press_003_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/garlic_press_003_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/garlic_press_003_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/garlic_press_003_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/garlic_press_003_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/garlic_press_003_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/garlic_press_003_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/garlic_press_003_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/garlic_press_003_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/garlic_press_003_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/garlic_press_003_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/garlic_press_003_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/garlic_press_003_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="garlic_press_003">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_75" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_76" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_77" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddfb7c4c691c4ab8efe14958cded6657681b1902
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003.obj
@@ -0,0 +1,126344 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_press_003_geometry_Looks_material_0
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+v 0.030321 0.041331 -0.004710
+v 0.030160 0.041565 -0.004431
+v 0.030160 0.041565 -0.004431
+v 0.030160 0.041565 -0.004431
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+v 0.030181 0.041173 -0.003216
+v 0.030181 0.041173 -0.003216
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+v 0.025098 -0.017624 -0.023572
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+v 0.025098 -0.017624 -0.023572
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+v 0.024639 -0.018971 -0.025097
+v 0.024639 -0.018971 -0.025097
+v 0.024639 -0.018971 -0.025097
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+v 0.024747 -0.017276 -0.022221
+v 0.024747 -0.017276 -0.022221
+v 0.024787 -0.007001 -0.039150
+v 0.024787 -0.007001 -0.039150
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+v 0.024528 -0.013412 -0.039067
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+v -0.001337 0.013879 -0.044983
+v -0.001337 0.013879 -0.044983
+v 0.017614 0.043004 -0.045002
+v 0.017614 0.043004 -0.045002
+v 0.016810 0.042637 -0.044901
+v 0.016810 0.042637 -0.044901
+v 0.019002 0.043747 -0.044942
+v 0.019002 0.043747 -0.044942
+v 0.003393 0.021415 -0.044956
+v -0.013725 0.021008 -0.044917
+v 0.004401 0.021058 -0.044925
+v -0.019840 0.021481 -0.044960
+v 0.017559 0.021300 -0.044943
+v -0.020256 0.021031 -0.044946
+v -0.023118 0.028451 -0.044603
+v -0.023118 0.028451 -0.044603
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+v -0.023192 0.014294 -0.044504
+v -0.023192 0.014294 -0.044504
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5027528056807420e4608152d80bb8409c3e46
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision.obj
@@ -0,0 +1,17858 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da155d3bdf8d92d76cc79acb134a5cd00c556ee4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9918f99cf2e82940ebefbbcf243279a4a10713e4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f5986d0875b964c58cecdbf170af714a07755ef
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_10.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae62101304e8a2bad6ab7b4db6016443c574946b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_11.obj
@@ -0,0 +1,382 @@
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd012b15077bf11b3413ff42283486ea5d865557
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_12.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01807898 -0.05288026 -0.01612190
+v 0.01807898 -0.05266665 -0.01780161
+v 0.01871228 -0.05264764 -0.01773429
+v 0.01871228 -0.05284000 -0.01612190
+v 0.01807898 -0.05286461 -0.01450798
+v 0.01807898 -0.05257159 -0.01812286
+v 0.02004525 -0.05256713 -0.01745281
+v 0.01871228 -0.05230879 -0.01886327
+v 0.02023938 -0.05261857 -0.01612190
+v 0.02019471 -0.05260852 -0.01386394
+v 0.01871228 -0.05281764 -0.01386394
+v 0.01807898 -0.05285790 -0.01386394
+v 0.01807898 -0.05232891 -0.01893059
+v 0.02134984 -0.05230880 -0.01612190
+v 0.01879410 -0.05001172 -0.02536790
+v 0.01983652 -0.05025104 -0.02407523
+v 0.02084387 -0.05208176 -0.01827278
+v 0.02130475 -0.05228644 -0.01386394
+v 0.01998472 -0.05255372 -0.01264471
+v 0.01871228 -0.05262641 -0.01249326
+v 0.01807898 -0.05272147 -0.01288488
+v 0.01807898 -0.04995133 -0.02536790
+v 0.01842005 -0.04998599 -0.02536790
+v 0.02234341 -0.05186929 -0.01612190
+v 0.02234341 -0.05185141 -0.01487819
+v 0.02234341 -0.05139623 -0.01843035
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+v 0.01807898 -0.05264542 -0.01245501
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+v 0.02053453 -0.04697210 -0.02536789
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+v 0.02234341 -0.04677752 -0.02075560
+v 0.02234341 -0.04189716 -0.01386390
+v 0.01807898 -0.04608978 -0.01386392
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6ff2ab2f263a9415d3517c742d7aecea718fea8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_13.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.01237552 0.05971450 -0.02084335
+v -0.01903260 0.05744409 -0.02054434
+v -0.01682098 0.05971450 -0.02083878
+v -0.01459825 0.06129805 -0.02009009
+v -0.01237552 0.06130172 -0.02009009
+v -0.01015650 0.06130245 -0.02009009
+v -0.00473674 0.06130172 -0.02009009
+v 0.00094603 0.06130025 -0.02009009
+v 0.01426759 0.05971450 -0.02083422
+v 0.01881308 0.05745584 -0.02057401
+v -0.01903260 0.05607186 -0.01974544
+v -0.01903260 0.05971450 -0.02079541
+v 0.01881308 0.05733549 -0.02053977
+v -0.01682098 0.06128704 -0.02007639
+v -0.01459825 0.06209717 -0.01837587
+v -0.01237552 0.06210891 -0.01837587
+v -0.01015650 0.06211478 -0.01837587
+v -0.00793748 0.06211551 -0.01837587
+v -0.00473674 0.06175668 -0.01913140
+v -0.00349572 0.06211478 -0.01837587
+v -0.00127299 0.06211405 -0.01837587
+v 0.00538779 0.06211184 -0.01837587
+v 0.00982584 0.06211038 -0.01837587
+v 0.00982584 0.06129805 -0.02008780
+v 0.01426759 0.06129585 -0.02008552
+v 0.01648662 0.05971450 -0.02082965
+v 0.01881308 0.05961690 -0.02081824
+v -0.01903260 0.05547894 -0.01837590
+v 0.01881308 0.05604691 -0.01977739
+v 0.01881308 0.05543932 -0.01837590
+v -0.01903260 0.06120706 -0.02000564
+v -0.01682098 0.06206781 -0.01837587
+v -0.01459825 0.06251763 -0.01612068
+v -0.01237552 0.06253451 -0.01612068
+v -0.01015650 0.06253964 -0.01612068
+v -0.00793748 0.06254038 -0.01612068
+v -0.00473674 0.06254038 -0.01612068
+v 0.00760311 0.06253818 -0.01611840
+v 0.00982584 0.06253744 -0.01611840
+v 0.01204857 0.06253451 -0.01611840
+v 0.01204857 0.06210597 -0.01837587
+v 0.01426759 0.06209643 -0.01837587
+v 0.01648662 0.06127970 -0.02007183
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+v -0.01903260 0.06231657 -0.01612981
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+v 0.01881308 0.05871570 -0.00116980
+v -0.01903260 0.05702133 0.00188428
+v 0.01881308 0.05706829 0.00179298
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..860ab0d5ca130cd917f14b3f2a41060e549f0798
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_14.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01490862 -0.02021269 -0.04346651
+v -0.01490862 -0.02021269 -0.04246651
+v -0.01490862 -0.01921269 -0.04346651
+v -0.01490862 -0.01921269 -0.04246651
+v -0.01295384 -0.02021269 -0.04346651
+v -0.01295384 -0.02021269 -0.04246651
+v -0.01295384 -0.01921269 -0.04346651
+v -0.01295384 -0.01921269 -0.04246651
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c603f36e2d61633252a56f9c2c90aff93dc0121d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_15.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
+v -0.01054634 -0.00095069 0.04933957
+v -0.01014594 -0.00095068 0.04762526
+v -0.01049959 -0.00095069 0.04988347
+v -0.00987562 0.00303730 0.05159607
+v -0.00915612 0.00919585 0.05068214
+v -0.00804435 0.02117506 0.04482668
+v -0.00751794 0.02117506 0.04256847
+v -0.00996098 -0.00095068 0.04704866
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_16.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02f5283857a27fab70587a3d30072ff77397433f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_16.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_17.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1432346e3e79a6ff633191c6e76afadb3e83a066
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_17.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_18.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db912599b5dae69a5505e1c2acbbd46fd6b8a846
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_18.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01570460 -0.02050458 0.00247518
+v -0.01570460 -0.02050458 0.01152639
+v -0.01570460 -0.00972048 0.00247518
+v -0.01570460 -0.00972048 0.01152639
+v -0.01470460 -0.02050458 0.00247518
+v -0.01470460 -0.02050458 0.01152639
+v -0.01470460 -0.00972048 0.00247518
+v -0.01470460 -0.00972048 0.01152639
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_19.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ebae5891d0108d37cda6274a537270844b0cbfe
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_19.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+v -0.02347505 0.05693792 -0.02536904
+v -0.02190905 0.05676616 -0.02536904
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d99f32f4c821df942dfe949c08393dc9547f1c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_2.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.02570593 0.01661289 -0.02063347
+v -0.02789788 0.01661289 -0.02061498
+v -0.02792596 0.02793788 -0.02061309
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+v -0.02416949 0.01661288 -0.01981258
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+v -0.02417023 0.02793787 -0.01979036
+v -0.02415619 0.02793787 -0.01976817
+v -0.02329744 0.02793787 -0.01837785
+v -0.02329670 0.02570724 -0.01837786
+v -0.02329596 0.02344003 -0.01837786
+v -0.02329448 0.01661288 -0.01837789
+v -0.02921334 0.01661288 -0.01979964
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+v -0.02923034 0.01890670 -0.01978854
+v -0.02923034 0.01661288 -0.01978670
+v -0.02976835 0.01661288 -0.01837789
+v -0.02976983 0.02570724 -0.01837786
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_20.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e28f2e6d99cdea91c764209b06c48e608627ce
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_20.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02537393 0.01245852 -0.02536920
+v 0.02299130 0.01249521 -0.04049070
+v 0.02335284 0.01196672 -0.02536921
+v 0.02549720 0.01237481 -0.02536920
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+v 0.02325776 0.01177314 -0.02536921
+v 0.02673993 0.01145923 -0.02536921
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+v 0.02246945 0.00983210 -0.02536921
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+v 0.02687537 0.00983210 -0.02536921
+v 0.02673219 0.00983211 -0.02740890
+v 0.02656468 0.00983212 -0.02946339
+v 0.02645965 0.00983212 -0.03059276
+v 0.02543639 0.00937175 -0.04049072
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+v 0.02131849 0.00802192 -0.04049072
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+v 0.02230305 0.00983211 -0.02740890
+v 0.02203218 0.00906303 -0.03063718
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_21.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa2c592aba1df0ef37d96d3d29b0d1cb446d51a0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_21.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_22.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dedd1ab7a27593a3c4f00c2d93c3f69cee38a6dc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_22.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_23.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4db37ff87f81198480bb2862710751e2a9d7685
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_23.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_24.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b92be6a5c4f8807dd8d5ad5f945e2234c0a922b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_24.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_25.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9cdc549d6190bc8f602a7faf83a81a56f8fd693
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_25.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_26.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdc67956eb5932b9043e0c7720bddca92fed599c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_26.obj
@@ -0,0 +1,601 @@
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_27.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a467671161a62999f1e67a377fc5d7454123755
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_27.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02631784 -0.03781143 -0.04296642
+v -0.02627032 -0.01759564 -0.04296658
+v -0.02610221 -0.03978922 -0.04296643
+v -0.02584120 -0.03776614 -0.04049237
+v -0.02631287 0.00757218 -0.04296649
+v -0.02627812 -0.01509698 -0.04296658
+v -0.02627315 -0.01718800 -0.04296658
+v -0.02061801 -0.04006098 -0.04296667
+v -0.02602987 -0.04006853 -0.04296643
+v -0.02535959 -0.03957786 -0.04049238
+v -0.02581637 0.00757217 -0.04049220
+v -0.02630294 0.00983683 -0.04296648
+v -0.01920724 -0.04006853 -0.04296667
+v -0.02522554 -0.04006854 -0.04097804
+v -0.02521206 -0.03991756 -0.04049238
+v -0.02572133 0.00983682 -0.04049219
+v -0.02617811 0.03705039 -0.04296638
+v -0.01908950 -0.04006853 -0.04296667
+v -0.02521702 -0.04006854 -0.04096205
+v -0.02468861 -0.04006854 -0.04049238
+v -0.02514397 0.01187501 -0.04049219
+v -0.02348424 0.03705038 -0.04106228
+v -0.02517163 0.03705038 -0.04145904
+v -0.02517872 0.03705038 -0.04146122
+v -0.01913702 0.03705039 -0.04296638
+v -0.02184862 -0.03983452 -0.04049238
+v -0.02175500 -0.04006854 -0.04091506
+v -0.01907531 -0.03100992 -0.04296663
+v -0.02150958 -0.03776614 -0.04049237
+v -0.02234016 -0.04006854 -0.04049238
+v -0.02332465 0.01251666 -0.04049218
+v -0.02192806 0.03703528 -0.04168140
+v -0.02192452 0.03705038 -0.04168406
+v -0.02217206 0.01145227 -0.04049219
+v -0.02177486 0.01004819 -0.04049219
+v -0.01911503 0.03477064 -0.04296639
+v -0.02160605 0.00753443 -0.04049220
+v -0.01907248 -0.00150152 -0.04296653
+v -0.01908808 0.02343229 -0.04296643
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 6 7
+f 1 7 2
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+f 2 7 6
+f 2 6 5
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+f 21 31 22
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+f 22 35 32
+f 25 33 32
+f 25 32 35
+f 25 35 37
+f 25 37 36
+f 26 30 27
+f 28 38 29
+f 29 38 39
+f 29 39 37
+f 36 37 39
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_28.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcd421cfb84ae3bc009724e6df322889fb5eb883
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_28.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.01870367 -0.04791378 -0.04296617
+v 0.01871225 -0.04791236 -0.04296617
+v 0.01871225 -0.04771780 -0.04049241
+v 0.01870367 -0.04771780 -0.04049435
+v 0.01870367 -0.04086814 -0.04296614
+v 0.02084980 -0.04720652 -0.04296616
+v 0.01870367 -0.04755164 -0.04049240
+v 0.02079616 -0.04663845 -0.04049240
+v 0.01870367 -0.04014100 -0.04296444
+v 0.01871225 -0.04013532 -0.04296614
+v 0.02253181 -0.04611296 -0.04296616
+v 0.01870367 -0.04356370 -0.04049239
+v 0.02224146 -0.04586870 -0.04185423
+v 0.02431894 -0.04352962 -0.04199369
+v 0.02491179 -0.03993650 -0.04049238
+v 0.01886815 -0.03340497 -0.04296611
+v 0.02344361 -0.04518699 -0.04296616
+v 0.02191822 -0.03340498 -0.04049235
+v 0.02382835 -0.04473820 -0.04296615
+v 0.02453562 -0.04383069 -0.04296615
+v 0.02509915 -0.04255109 -0.04296615
+v 0.02554540 -0.03777495 -0.04049237
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+v 0.02524719 -0.03340498 -0.04049235
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+v 0.02596948 -0.03340497 -0.04293438
+v 0.02530011 -0.03370038 -0.04049235
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_29.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99956a46895da3c7cb0e4dcfdf34d82b2e113a93
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_29.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.02018313 -0.01509804 0.00017531
+v 0.02234320 -0.01509804 -0.00106471
+v 0.02234320 -0.01329526 -0.00107049
+v 0.02234320 -0.01102907 -0.00109116
+v 0.02234320 0.00076531 -0.00123341
+v 0.02234320 0.00303150 -0.00127228
+v 0.02018313 -0.01405819 0.00014141
+v 0.02018313 -0.01736424 0.00007853
+v 0.02234320 -0.01963608 -0.00113504
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+v 0.02018313 -0.01963608 -0.00017793
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+v 0.02234320 0.01660606 -0.00382259
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+v 0.02018313 -0.04111684 -0.00778608
+v 0.02018313 0.01660608 -0.00768081
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+f 12 17 13
+f 15 19 16
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+f 17 18 21
+f 18 22 24
+f 18 24 21
+f 20 23 24
+f 20 24 22
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41791ca4b42c3a7ed7bfb24609fe4803380b2786
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_3.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.02066759 -0.03213868 0.05085678
+v -0.02126558 -0.03213868 0.05085678
+v -0.02066759 -0.03213866 0.04585570
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+v -0.02064459 0.02808913 0.01097624
+v -0.02064459 0.02912989 0.01202761
+v -0.02064459 0.03026586 0.01315949
+v -0.02064459 0.03278951 0.01519119
+v -0.02064459 0.03283713 0.01519119
+v -0.02064459 0.03466695 0.01497808
+v -0.02064459 0.03704097 0.01391252
+v -0.02064459 0.03708858 0.01388884
+v -0.02064459 0.03735387 0.01375150
+v -0.02071589 0.03735387 0.01381307
+v -0.02183674 0.03735387 0.01475077
+v -0.02214110 0.03391189 0.01674929
+v -0.02318604 0.03735386 0.01512017
+v -0.02348581 0.03735386 0.01514858
+v -0.02171944 -0.03213868 0.05082836
+v -0.02074042 -0.03213863 0.03695226
+v -0.02073966 -0.03096182 0.03579199
+v -0.02068906 -0.01509201 0.02902448
+v -0.02064459 0.02759940 0.00247536
+v -0.02064459 0.02623893 0.00489065
+v -0.02064459 0.02590561 0.00622617
+v -0.02064459 0.03735391 0.00247540
+v -0.02544690 0.03735387 0.01468920
+v -0.02492788 0.03391189 0.01674929
+v -0.02348657 -0.03213868 0.05069102
+v -0.02086232 -0.03213862 0.03579198
+v -0.02117051 0.02749056 0.00247536
+v -0.02116055 -0.03213862 0.03469799
+v -0.02135604 -0.03096181 0.03353771
+v -0.02164047 -0.03213861 0.03357559
+v -0.02196553 -0.03213861 0.03295993
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+v -0.02847671 0.03735391 0.00247540
+v -0.02645659 0.03735387 0.01397409
+v -0.02685678 0.03606144 0.01441925
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+v -0.02318451 0.02810957 0.00247536
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+v -0.02329568 -0.03213861 0.03238689
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+v -0.02685371 -0.01830954 0.04150822
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+v -0.02428389 -0.03213861 0.03251949
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+v -0.02673181 0.02928637 0.00326626
+v -0.02610546 0.02991219 0.00247537
+v -0.02683914 -0.02743146 0.04599306
+f 1 2 20
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_30.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47091b96c502cc1ace128a48b7cf95df38ae942a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_30.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.02409215 0.05681456 0.00247547
+v -0.02348313 0.05680884 0.00247547
+v -0.02530809 0.05663548 0.00247547
+v -0.02486022 0.05638400 0.00315471
+v -0.02348313 0.05637448 0.00314389
+v -0.01076702 0.05651546 0.00261932
+v -0.01076702 0.05660880 0.00247547
+v -0.02610128 0.05637829 0.00247547
+v -0.02634195 0.05614206 0.00274262
+v -0.02567433 0.05516282 0.00417086
+v -0.02500672 0.05418550 0.00544714
+v -0.02348313 0.05421027 0.00547309
+v -0.02348313 0.05534381 0.00427253
+v -0.01076702 0.05411311 0.00538603
+v -0.01076702 0.05519711 0.00419465
+v -0.01076702 0.05626398 0.00299896
+v -0.01076702 0.03955621 0.00247541
+v -0.02693004 0.05580485 0.00247546
+v -0.02776718 0.05507329 0.00247546
+v -0.02735907 0.05463131 0.00368198
+v -0.02648636 0.05388259 0.00518701
+v -0.02572875 0.05304053 0.00606904
+v -0.02570573 0.05125544 0.00729070
+v -0.02348313 0.05163456 0.00748485
+v -0.02348313 0.05291289 0.00650655
+v -0.01076702 0.05291289 0.00638324
+v -0.01076702 0.03988770 0.00296753
+v -0.01648676 0.03735389 0.00800018
+v -0.01484387 0.03735391 0.00247540
+v -0.02844317 0.05446556 0.00247546
+v -0.02884081 0.05387879 0.00281724
+v -0.02955446 0.05236804 0.00363654
+v -0.02807482 0.05312436 0.00441151
+v -0.02730885 0.05237184 0.00574510
+v -0.02569945 0.05001712 0.00800022
+v -0.02516368 0.05021335 0.00800022
+v -0.02348313 0.05080393 0.00800023
+v -0.02689237 0.04965515 0.00765519
+v -0.02570573 0.05012000 0.00793965
+v -0.02290550 0.05078869 0.00800023
+v -0.02126471 0.05160598 0.00746538
+v -0.01076702 0.05124211 0.00744861
+v -0.01076702 0.03998867 0.00311463
+v -0.01076702 0.04015442 0.00335528
+v -0.01076702 0.04118698 0.00407725
+v -0.01076702 0.04157943 0.00434873
+v -0.01076702 0.04276059 0.00495822
+v -0.01076702 0.04320638 0.00518805
+v -0.01076702 0.04934653 0.00770224
+v -0.01076702 0.05010857 0.00770224
+v -0.01880563 0.04872737 0.00800022
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+v -0.02847665 0.03735391 0.00247540
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+v -0.02936820 0.04997522 0.00557582
+v -0.02878849 0.05148788 0.00514103
+v -0.03055484 0.05151837 0.00247545
+v -0.03113456 0.05037340 0.00247545
+v -0.03126432 0.04953134 0.00307897
+v -0.03020115 0.05050865 0.00411028
+v -0.02784043 0.05057152 0.00641245
+v -0.02707863 0.04837492 0.00800022
+v -0.02712049 0.04837873 0.00796993
+v -0.02712677 0.04828538 0.00800022
+v -0.02126471 0.05072392 0.00800023
+v -0.02078127 0.05069534 0.00800023
+v -0.01955277 0.05038862 0.00800023
+v -0.01913630 0.05028003 0.00800022
+v -0.02784461 0.04384649 0.00800020
+v -0.03083319 0.04384650 0.00467646
+v -0.03156987 0.04384651 0.00354782
+v -0.03137105 0.04246150 0.00326877
+v -0.03106968 0.04095075 0.00254571
+v -0.03108224 0.04091836 0.00247541
+v -0.03096295 0.04071642 0.00247541
+v -0.03010488 0.03935427 0.00247540
+v -0.02971561 0.03877131 0.00247540
+v -0.02919031 0.03804928 0.00247540
+v -0.02864827 0.03747965 0.00247540
+v -0.03077459 0.04837874 0.00451424
+v -0.02966329 0.04837874 0.00584082
+v -0.03142128 0.04977329 0.00247544
+v -0.03169963 0.04892171 0.00247544
+v -0.03186078 0.04837875 0.00247544
+v -0.03147151 0.04837875 0.00338560
+v -0.02782996 0.04604879 0.00800021
+v -0.02980142 0.04611358 0.00599331
+v -0.03091063 0.04611358 0.00483438
+v -0.03169544 0.04611359 0.00370574
+v -0.03205960 0.04453616 0.00247542
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+v -0.03152174 0.04200999 0.00247541
+v -0.03112619 0.04102124 0.00247541
+v -0.03214750 0.04611359 0.00247543
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_31.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12530d5f95f6e3751a44905e563a8cbd1a1f3abb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_31.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.01903400 0.03631569 -0.00380815
+v -0.01903400 0.03631571 -0.00768445
+v -0.02262458 0.03631569 -0.00380815
+v -0.01903400 0.02175230 -0.00380820
+v -0.02262458 0.03631571 -0.00819605
+v -0.01903400 0.01661173 -0.00766734
+v -0.02262458 0.03068129 -0.00380817
+v -0.02135636 0.02552335 -0.00380819
+v -0.02262458 0.01661171 -0.00381939
+v -0.01903400 0.01661365 -0.00413296
+v -0.02262458 0.01661173 -0.00794956
+v -0.01903400 0.01661172 -0.00414757
+v -0.02211385 0.02797308 -0.00380818
+v -0.02262458 0.02102702 -0.00381507
+v -0.02138765 0.02560822 -0.00380819
+v -0.02262458 0.01876053 -0.00381723
+v -0.01904314 0.01661172 -0.00413339
+f 1 2 5
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+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 12
+f 1 12 6
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+f 3 14 7
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+f 6 17 9
+f 6 9 11
+f 7 14 13
+f 8 15 14
+f 8 14 16
+f 8 16 9
+f 9 17 10
+f 10 17 12
+f 13 14 15
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_32.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..159dcffd97e7f053693c967dee5e956e5a0fe64e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_32.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01908582 -0.04007293 -0.04296667
+v -0.02603034 -0.04007293 -0.04296667
+v -0.02174803 -0.04007294 -0.04091506
+v 0.01870182 -0.04014085 -0.04296424
+v 0.01858360 -0.04014875 -0.04296594
+v -0.00012194 -0.04013690 -0.04296667
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+v -0.02233477 -0.04007294 -0.04049238
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+v 0.01870182 -0.04086901 -0.04296594
+v -0.00012194 -0.04805900 -0.04296670
+v -0.02546112 -0.04230795 -0.04296668
+v -0.02462480 -0.04349656 -0.04202638
+v -0.02468610 -0.04007294 -0.04049238
+v 0.01870182 -0.04755199 -0.04049240
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+v -0.00223244 -0.04811192 -0.04296670
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+v 0.01870182 -0.04771783 -0.04049435
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+v -0.00350225 -0.04813008 -0.04296670
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+v -0.01681769 -0.04809849 -0.04296670
+v -0.01459772 -0.04813324 -0.04296670
+f 1 2 8
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+f 30 36 31
+f 31 36 34
+f 33 34 35
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+f 34 37 38
+f 34 38 39
+f 34 39 40
+f 34 40 35
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_33.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1786411bf820924c79a599f0928a56ca2aecb5c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_33.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00404354 -0.02256558 0.01741140
+v 0.00574466 -0.02377756 0.01741139
+v 0.00404354 -0.02235497 0.01888410
+v 0.00404354 -0.00572468 0.01741146
+v 0.00766465 -0.02395784 0.01741139
+v 0.00638565 -0.02311358 0.02128622
+v 0.00404354 -0.02180879 0.02073567
+v 0.00404354 -0.01055833 0.02431787
+v 0.00626281 -0.00928745 0.02350510
+v 0.00701324 -0.00928745 0.02350510
+v 0.00677799 -0.00701520 0.01935357
+v 0.00756192 -0.00652255 0.01741146
+v 0.00830118 -0.02353838 0.01741139
+v 0.00665738 -0.02311358 0.02128622
+v 0.00616752 -0.02104306 0.02360502
+v 0.00404354 -0.01965081 0.02432436
+v 0.00404354 -0.02140539 0.02204321
+v 0.00404354 -0.01270025 0.02481118
+v 0.00769518 -0.01042089 0.02376588
+v 0.00896301 -0.01107774 0.02363911
+v 0.00849325 -0.00956590 0.02314217
+v 0.00769518 -0.00887334 0.02233447
+v 0.00778526 -0.00662786 0.01741146
+v 0.00922284 -0.02261735 0.01741140
+v 0.00877615 -0.02083958 0.02346521
+v 0.00760807 -0.02102700 0.02361299
+v 0.00760807 -0.01963474 0.02387668
+v 0.00896301 -0.01197021 0.02363911
+v 0.01103712 -0.01832101 0.01926732
+v 0.01097086 -0.01165069 0.01901381
+v 0.00928835 -0.01042088 0.02233446
+v 0.00882156 -0.00928744 0.02163688
+v 0.00862502 -0.00723296 0.01741145
+v 0.00963751 -0.02196406 0.01741140
+v 0.01143690 -0.01909566 0.01741141
+v 0.01103712 -0.01867621 0.01926732
+v 0.00953924 -0.01963473 0.02225185
+v 0.00889080 -0.01963474 0.02356447
+v 0.01164907 -0.01271450 0.01741143
+v 0.01137362 -0.01120266 0.01741144
+v 0.00930622 -0.00808259 0.01741145
+v 0.01146296 -0.01859409 0.01741141
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_34.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee3cc3e4f8e7ccb80f9c18a6b01c13a206b886b5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_34.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_35.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17cf269b63c7b173a2824a23a9cffb642c2fb6cf
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_35.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+v -0.02266382 -0.04593087 -0.00254364
+v -0.02266382 -0.04138219 -0.00827167
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_36.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58a65bdef506f987392d8ef9a1b361342849f642
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_36.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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+v -0.01904213 -0.04684293 -0.00191060
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_37.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adc40e54316678b5479c1f1385728ff7fbb76ff4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_37.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_38.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfbb236a5b7c581eae6e68fe81c21642585ceba2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_38.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_39.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e457a596b52612a9c2bbf3c720e4b70c374425e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_39.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..709061438a34d1db2dc93a9fe79166e2c6603cd7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_4.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_40.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4980e5476741f181558e0dc21f56254e753cf4bf
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_40.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_41.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fd10d04edf4c253128e2758495236292b164f0e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_41.obj
@@ -0,0 +1,334 @@
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+f 78 99 110
+f 78 110 112
+f 78 112 111
+f 78 111 106
+f 78 106 92
+f 79 95 96
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+f 82 98 83
+f 84 99 85
+f 85 100 86
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+f 87 97 96
+f 87 96 88
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+f 90 93 91
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_42.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5642d3257ee801d6218f337eee85461be5cfb61d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_42.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01873700 -0.00145878 -0.04296600
+v 0.01873772 0.00077582 -0.04296599
+v 0.01875220 -0.01283421 -0.04296604
+v 0.02127301 0.04154360 -0.04049208
+v 0.01878116 0.04157475 -0.04296584
+v 0.01877537 -0.01963143 -0.04296606
+v 0.02131862 0.00802463 -0.04049220
+v 0.02139680 0.04388720 -0.04049207
+v 0.01879926 0.04613738 -0.04296582
+v 0.01878550 0.04394171 -0.04296583
+v 0.01878695 -0.02179595 -0.04296607
+v 0.02132296 0.00753411 -0.04049220
+v 0.01886803 -0.03340497 -0.04296611
+v 0.02154739 0.04613737 -0.04049206
+v 0.02612640 0.04613738 -0.04296582
+v 0.02169580 -0.02167139 -0.04049231
+v 0.02597726 -0.03340497 -0.04296611
+v 0.02191878 -0.03340498 -0.04049235
+v 0.02584695 0.04613737 -0.04049206
+v 0.02613074 0.04579480 -0.04296582
+v 0.02584913 0.04610623 -0.04049206
+v 0.02587881 0.04384049 -0.04049207
+v 0.02596930 -0.03340497 -0.04293438
+v 0.02613291 0.04157475 -0.04296584
+v 0.02524752 -0.03340498 -0.04049235
+v 0.02528878 -0.02870220 -0.04049234
+f 1 2 5
+f 1 5 10
+f 1 10 9
+f 1 9 15
+f 1 15 20
+f 1 20 24
+f 1 24 17
+f 1 17 13
+f 1 13 11
+f 1 11 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 4
+f 4 7 12
+f 4 12 16
+f 4 16 18
+f 4 18 25
+f 4 25 26
+f 4 26 22
+f 4 22 21
+f 4 21 19
+f 4 19 14
+f 4 14 8
+f 4 8 9
+f 4 9 10
+f 4 10 5
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+f 7 11 13
+f 7 13 12
+f 8 14 9
+f 9 14 19
+f 9 19 15
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+f 13 17 23
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+f 13 25 18
+f 13 18 16
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+f 15 21 22
+f 15 22 20
+f 17 24 22
+f 17 22 23
+f 20 22 24
+f 22 26 23
+f 23 26 25
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_43.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e444db514ec166fdf02fc9a048d693b6234a2c3b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_43.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01411447 0.05661157 0.00247547
+v 0.01411447 0.05626644 0.00300100
+v 0.01411447 0.03843937 0.00247540
+v -0.01076702 0.05660979 0.00247547
+v 0.01411447 0.05519193 0.00419496
+v -0.01076702 0.05651550 0.00261889
+v -0.01076702 0.05626466 0.00299895
+v -0.01076702 0.05519727 0.00419496
+v 0.01411447 0.03949608 0.00365658
+v -0.01076702 0.04015430 0.00335539
+v -0.01076702 0.03988745 0.00296765
+v -0.01076702 0.03955656 0.00247541
+v 0.01411447 0.05511722 0.00427794
+v -0.01076702 0.05411210 0.00538638
+v -0.00793692 0.05411210 0.00538586
+v 0.01411447 0.04933911 0.00770823
+v 0.00982792 0.04320878 0.00518913
+v -0.00793692 0.04320522 0.00518862
+v -0.01015813 0.04320522 0.00518862
+v -0.01076702 0.04320522 0.00518760
+v -0.01076702 0.04276048 0.00495864
+v -0.01076702 0.04157924 0.00434858
+v -0.01076702 0.04118788 0.00407762
+v 0.01204913 0.05410854 0.00538126
+v 0.01411447 0.05410676 0.00538023
+v -0.00571571 0.05411210 0.00538535
+v -0.01076702 0.05378477 0.00565888
+v 0.01411447 0.05011652 0.00770823
+v -0.01076702 0.04934800 0.00770208
+v 0.00316428 0.05291307 0.00637853
+v 0.01411447 0.05291307 0.00637392
+v 0.01411447 0.05402315 0.00544989
+v -0.01015813 0.05291307 0.00638314
+v -0.00571571 0.05291307 0.00638160
+v -0.01076702 0.05291307 0.00638314
+v 0.01411447 0.05124972 0.00744547
+v -0.01015813 0.05124083 0.00744855
+v -0.01076702 0.05124083 0.00744855
+v -0.01076702 0.05010762 0.00770208
+v -0.01076702 0.05245588 0.00667459
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+f 24 31 32
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+f 24 26 30
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+f 26 34 30
+f 27 35 33
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+f 28 37 38
+f 28 38 39
+f 30 36 31
+f 30 34 36
+f 33 35 36
+f 33 36 34
+f 35 40 36
+f 36 40 38
+f 36 38 37
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_44.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..845ba5cb752a4c9a663a9db8adf0ccc6725d3554
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_44.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.01406690 0.05510173 0.00247546
+v -0.01406690 0.05510176 -0.00488680
+v -0.01903400 0.05510173 0.00247546
+v -0.01406690 0.03893486 0.00247540
+v -0.01466937 0.05510176 -0.00488577
+v -0.01406690 0.05064466 -0.00666518
+v -0.01903400 0.04837656 -0.00759241
+v -0.01903400 0.05510176 -0.00487241
+v -0.01903400 0.02840435 0.00247536
+v -0.01553880 0.02841189 0.00247536
+v -0.01406690 0.01661925 -0.00401420
+v -0.01682202 0.05510176 -0.00488063
+v -0.01406690 0.04837656 -0.00756158
+v -0.01903400 0.04619135 -0.00802622
+v -0.01903400 0.02706685 0.00247433
+v -0.01695720 0.02729290 0.00247536
+v -0.01682202 0.02728537 0.00247536
+v -0.01462804 0.01661171 -0.00402551
+v -0.01460178 0.01661171 -0.00402551
+v -0.01406690 0.01661172 -0.00490236
+v -0.01406690 0.04610846 -0.00781858
+v -0.01406690 0.01661173 -0.00766552
+v -0.01457504 0.01661173 -0.00766655
+v -0.01903400 0.01661173 -0.00766655
+v -0.01903400 0.01661549 -0.00413242
+v -0.01682202 0.01661171 -0.00407691
+v -0.01903400 0.01661172 -0.00414681
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+f 18 20 19
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_45.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5ba35acc2ac0dc39dab48eccc30117df823a87
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_45.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00519596 -0.02275706 0.01741151
+v -0.00295482 -0.02323108 0.01741150
+v -0.00519596 -0.02217095 0.01999592
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+v -0.00247368 -0.02323501 0.01741150
+v -0.00241851 -0.02078826 0.02565995
+v -0.00519596 -0.02157303 0.02203474
+v -0.00519596 -0.00814328 0.01950158
+v -0.00336905 -0.00399515 0.01741158
+v 0.00151118 -0.02325861 0.01741150
+v 0.00201674 -0.02079023 0.02566163
+v -0.00207573 -0.02039293 0.02598564
+v -0.00254241 -0.02030442 0.02598564
+v -0.00519596 -0.01963765 0.02404167
+v -0.00519596 -0.00829473 0.02017559
+v -0.00292226 -0.00427249 0.01999598
+v -0.00127533 -0.00355852 0.01999599
+v -0.00127533 -0.00316907 0.01741158
+v 0.00258291 -0.02324288 0.01741150
+v 0.00209090 -0.02079023 0.02566163
+v 0.00170110 -0.02039490 0.02598564
+v -0.00305883 -0.01950588 0.02598564
+v -0.00371091 -0.01815267 0.02598564
+v -0.00387461 -0.01732266 0.02598565
+v -0.00410072 -0.01583964 0.02598565
+v -0.00519596 -0.01872109 0.02410378
+v -0.00519596 -0.01058417 0.02401903
+v -0.00267807 -0.00453803 0.02165708
+v 0.00094411 -0.00356245 0.01999599
+v 0.00094411 -0.00316710 0.01741158
+v -0.00072635 -0.00316514 0.01741158
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+v -0.00070735 -0.00455181 0.02376808
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+v 0.00368810 -0.01283624 0.02598566
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+f 1 15 8
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+f 58 60 62
+f 60 61 63
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_46.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34396eab9df6931cbfdc1b2bef9025be984f7baa
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_46.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02064311 -0.03213999 0.04586965
+v -0.02064311 -0.03326087 0.04650593
+v -0.02064311 -0.03214001 0.05086094
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+v -0.02064311 -0.03358529 0.04673782
+v -0.01216250 -0.03213999 0.04594741
+v -0.00009332 -0.04572216 0.05575038
+v -0.02064311 -0.03594675 0.05587343
+v -0.00988746 -0.03214003 0.05580981
+v -0.02064311 -0.04572216 0.05558919
+v -0.01130961 -0.03213999 0.04597852
+v -0.00009332 -0.03213999 0.04703334
+v -0.00009332 -0.04572218 0.06006721
+v -0.02064311 -0.03685754 0.05700318
+v -0.00794030 -0.03214003 0.05665819
+v -0.02064311 -0.04572218 0.06005448
+v -0.00009332 -0.03214003 0.05652952
+v -0.00009332 -0.04557990 0.06009832
+v -0.00468363 -0.04572218 0.06006721
+v -0.02064311 -0.03799172 0.05803254
+v -0.00571957 -0.04063768 0.05974201
+v -0.00349884 -0.04063635 0.05974201
+v -0.00127610 -0.04063635 0.05974201
+v -0.00009332 -0.04063768 0.05974201
+v -0.02064311 -0.03951548 0.05916088
+v -0.02064311 -0.04033187 0.05957800
+v -0.02064311 -0.04064965 0.05973919
+v -0.01904193 -0.04064832 0.05974060
+v -0.01904193 -0.04572218 0.06005872
+v -0.02064311 -0.04457471 0.06029204
+v -0.00009332 -0.04457471 0.06031183
+v -0.00349884 -0.04457471 0.06031183
+v -0.01356253 -0.04572218 0.06006297
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+v -0.00009332 -0.04336741 0.06025245
+v -0.00571957 -0.04457471 0.06031042
+v -0.01016103 -0.04457471 0.06030618
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+f 21 28 34
+f 22 34 35
+f 22 35 23
+f 23 35 24
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+f 28 37 34
+f 29 38 39
+f 30 39 36
+f 31 40 32
+f 32 41 38
+f 32 38 33
+f 32 40 34
+f 32 34 41
+f 34 42 41
+f 34 40 35
+f 34 37 42
+f 36 39 37
+f 37 39 42
+f 38 41 42
+f 38 42 39
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_47.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c643bbd832ec990c1e434ded9b98f6ff906b8aa
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_47.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.02234341 -0.04112251 -0.00307487
+v 0.02234341 -0.04112877 -0.00307257
+v 0.02234341 -0.04112249 -0.00827553
+v -0.00014453 -0.04112250 -0.00408598
+v -0.00014453 -0.04684138 -0.00192252
+v 0.02234341 -0.04307606 -0.00249294
+v 0.02234341 -0.04230671 -0.00914462
+v -0.00014453 -0.04112249 -0.00767746
+v -0.00014453 -0.04910870 -0.00225573
+v 0.01871135 -0.04684138 -0.00189795
+v 0.02234341 -0.04540280 -0.00200620
+v 0.02234341 -0.04316360 -0.00974115
+v -0.00014453 -0.04669749 -0.00974116
+v -0.00014453 -0.05048161 -0.00328067
+v 0.00094509 -0.05048161 -0.00327990
+v 0.00316615 -0.04910870 -0.00225573
+v 0.01426924 -0.04910870 -0.00227723
+v 0.02093241 -0.04684138 -0.00194172
+v 0.00760826 -0.04910870 -0.00225957
+v 0.01204818 -0.04910870 -0.00226341
+v 0.02234341 -0.04684138 -0.00225802
+v 0.02234341 -0.05057644 -0.00974118
+v -0.00014453 -0.05177108 -0.00974118
+v -0.00014453 -0.05090587 -0.00483534
+v 0.00094509 -0.05090587 -0.00483534
+v 0.00316615 -0.05048161 -0.00328067
+v 0.01426924 -0.05046701 -0.00330217
+v 0.01649030 -0.04910870 -0.00232713
+v 0.01204818 -0.05047431 -0.00328911
+v 0.02074311 -0.04918063 -0.00299660
+v 0.02234341 -0.04762843 -0.00262654
+v 0.01871135 -0.04910870 -0.00252597
+v 0.00982932 -0.05047639 -0.00328681
+v 0.02234341 -0.05013028 -0.00776885
+v 0.02214090 -0.05029499 -0.00795925
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+v 0.00316615 -0.05090483 -0.00483534
+v 0.01426924 -0.05087981 -0.00483534
+v 0.01649030 -0.05044199 -0.00334439
+v 0.01204818 -0.05089336 -0.00483534
+v 0.00760826 -0.05089962 -0.00483534
+v 0.00982932 -0.05089649 -0.00483534
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+v 0.01871135 -0.05034713 -0.00351559
+v 0.02234341 -0.04966119 -0.00577888
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+v 0.02091260 -0.05111851 -0.00974118
+v 0.00982932 -0.05176900 -0.00974118
+v 0.01204818 -0.05176795 -0.00974118
+v 0.01426924 -0.05176066 -0.00974118
+v 0.01649030 -0.05172313 -0.00974118
+v 0.01649030 -0.05083082 -0.00483534
+v 0.01379157 -0.05176274 -0.00974118
+v 0.02131983 -0.04997288 -0.00483533
+v 0.02234341 -0.04907222 -0.00398698
+v 0.01871135 -0.05064526 -0.00483534
+v 0.01871135 -0.05157302 -0.00974118
+v 0.02234341 -0.04942455 -0.00483533
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+f 1 21 31
+f 1 31 45
+f 1 45 57
+f 1 57 60
+f 1 60 47
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+f 1 34 22
+f 1 22 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
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+f 4 23 24
+f 4 24 14
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+f 35 47 48
+f 36 48 49
+f 38 50 51
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+f 39 52 53
+f 39 53 54
+f 39 54 40
+f 39 41 52
+f 40 54 46
+f 41 51 55
+f 41 55 52
+f 41 43 51
+f 42 51 43
+f 44 49 48
+f 44 48 56
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+f 44 57 45
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+f 44 59 49
+f 46 54 58
+f 47 60 48
+f 48 60 56
+f 53 59 54
+f 54 59 58
+f 56 60 57
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_48.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60ec8eb25d1a6ef0c00e661252b2f3efdd9d8cbc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_48.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00127556 0.05441991 -0.04296656
+v -0.00635863 0.05441991 -0.04296656
+v 0.02091627 0.05319001 -0.04049203
+v 0.00538637 0.05441748 -0.04296559
+v 0.00982474 0.05441586 -0.04296559
+v -0.00011773 0.05441910 -0.04296656
+v -0.01015668 0.05441829 -0.04296656
+v 0.01893392 0.05250088 -0.04049204
+v 0.02326703 0.05276437 -0.04049204
+v 0.01870586 0.05424317 -0.04296559
+v 0.01648668 0.05437694 -0.04296559
+v 0.01579373 0.05438992 -0.04296559
+v 0.01426749 0.05440694 -0.04296559
+v 0.01204831 0.05441424 -0.04296559
+v -0.01079700 0.05441748 -0.04296656
+v -0.01237587 0.05441505 -0.04296656
+v -0.01237587 0.05399913 -0.04216521
+v -0.01459943 0.05399669 -0.04217079
+v -0.01681862 0.05397237 -0.04219186
+v -0.01867817 0.05291598 -0.04109378
+v -0.01867817 0.05271816 -0.04092881
+v 0.02103469 0.05371700 -0.04296559
+v 0.02332843 0.05254548 -0.04296560
+v 0.02426259 0.05178338 -0.04296560
+v 0.02483712 0.05082347 -0.04296560
+v 0.02579321 0.04837989 -0.04296561
+v 0.02612214 0.04618684 -0.04296562
+v 0.02612653 0.04613738 -0.04296562
+v -0.00011773 0.04622981 -0.04296659
+v 0.01884182 0.05091426 -0.04049204
+v 0.02417488 0.05205335 -0.04049204
+v -0.01302495 0.05441343 -0.04296656
+v -0.01459943 0.05440613 -0.04296656
+v -0.01681862 0.05438019 -0.04296656
+v -0.01760805 0.05433398 -0.04296656
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+v -0.01867817 0.05391888 -0.04229942
+v -0.01867817 0.05057375 -0.04095182
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+v 0.01884182 0.05080400 -0.04049204
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+v 0.02492922 0.05078130 -0.04049204
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+v 0.01879358 0.04613738 -0.04296562
+v -0.01867817 0.04621683 -0.04296659
+v -0.01867817 0.05426993 -0.04296656
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+f 9 23 22
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+f 28 47 29
+f 35 48 36
+f 38 47 39
+f 39 47 46
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_49.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f64b6fc20e52ce90fca378aa1832ac367b9acd1d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_49.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01881259 0.05504445 0.00247546
+v 0.01881259 0.05504448 -0.00482420
+v 0.01379164 0.05504445 0.00247546
+v 0.01881259 0.02708515 0.00247536
+v 0.01379164 0.05504448 -0.00480457
+v 0.01881259 0.05064292 -0.00668269
+v 0.01379164 0.05064292 -0.00667133
+v 0.01379164 0.03891292 0.00247540
+v 0.01871182 0.02703624 0.00247536
+v 0.01881259 0.01661548 -0.00413011
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+v 0.01379164 0.04837820 -0.00756391
+v 0.01379164 0.01661171 -0.00401648
+v 0.01522985 0.02845828 0.00247536
+v 0.01862876 0.02703248 0.00247536
+v 0.01871182 0.01661172 -0.00412908
+v 0.01881259 0.01661173 -0.00754957
+v 0.01881259 0.04828039 -0.00762899
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+v 0.01379164 0.01661172 -0.00478508
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+v 0.01649062 0.01661171 -0.00407433
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+v 0.01427039 0.01661173 -0.00766734
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+f 19 28 29
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+f 21 31 30
+f 27 30 31
+f 27 31 28
+f 28 31 29
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511283ea1231e02d980ecee6d2ee8fbe4ed61e0e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_5.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v 0.02234414 -0.01510199 -0.00106418
+v 0.02537485 0.01436608 -0.00175164
+v 0.02537485 0.01661171 -0.00175638
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+v 0.02234340 0.01210035 -0.00796116
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+v 0.02537485 -0.02870314 -0.00167329
+v 0.02732791 0.01661171 -0.00274134
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+v 0.02269253 0.00076491 -0.00127110
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+v 0.02234414 0.01661171 -0.00382384
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_50.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77d1f07fa880aea66b34dda35b7fc73b5badb791
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_50.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_51.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ba1561167f5429b771d984a4a906b23b6091dc3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_51.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_52.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..614d4e781d86e96ece9f699a2517c91d9fb6f709
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_52.obj
@@ -0,0 +1,487 @@
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_53.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77ecc87adb936739b180000539e747b0034f6747
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_53.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.02315362 0.05679682 0.00247647
+v 0.02315362 0.05636555 0.00313101
+v 0.02456908 0.05637997 0.00314911
+v 0.02502181 0.05665114 0.00247647
+v 0.01411447 0.05661075 0.00247647
+v 0.01411447 0.05626603 0.00300131
+v 0.02315362 0.05533569 0.00425909
+v 0.01411447 0.05619102 0.00308476
+v 0.01411447 0.05519289 0.00419474
+v 0.02470785 0.05417746 0.00544349
+v 0.02537915 0.05517991 0.00418167
+v 0.02605045 0.05618093 0.00281028
+v 0.02575036 0.05645642 0.00247647
+v 0.02315362 0.05420198 0.00546862
+v 0.01411447 0.04206150 0.00247641
+v 0.01411447 0.05410678 0.00538115
+v 0.02315362 0.05291249 0.00649717
+v 0.02315362 0.05162877 0.00748148
+v 0.02537394 0.05129414 0.00730553
+v 0.02541904 0.05305961 0.00607790
+v 0.02618922 0.05391350 0.00521425
+v 0.02703745 0.05467076 0.00371013
+v 0.02674430 0.05576841 0.00247646
+v 0.02619095 0.05626747 0.00247647
+v 0.01411447 0.05291249 0.00637451
+v 0.01411447 0.04206149 0.00462703
+v 0.03123352 0.04206150 0.00247641
+v 0.02315362 0.05049506 0.00819534
+v 0.02093329 0.05160136 0.00746339
+v 0.02537394 0.05016043 0.00796509
+v 0.02658645 0.04970896 0.00768357
+v 0.02448235 0.04738672 0.00991360
+v 0.02696980 0.05240189 0.00576622
+v 0.02774345 0.05314039 0.00441795
+v 0.02922655 0.05236584 0.00362164
+v 0.02851709 0.05387745 0.00281931
+v 0.02810251 0.05450489 0.00247646
+v 0.02745897 0.05511213 0.00247646
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+v 0.01871297 0.05150905 0.00745534
+v 0.02160980 0.04206146 0.01241911
+v 0.01411447 0.04320818 0.00518505
+v 0.03157524 0.04327598 0.00247642
+v 0.03117454 0.04206150 0.00265136
+v 0.02315362 0.04859689 0.00932443
+v 0.02093329 0.05046765 0.00814909
+v 0.02455173 0.04292113 0.01220195
+v 0.02596372 0.04670881 0.00954360
+v 0.02655349 0.04519720 0.00993572
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+v 0.02751968 0.05058738 0.00641975
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+v 0.02845118 0.05146435 0.00512677
+v 0.02951624 0.05284615 0.00247645
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+v 0.02987010 0.05052103 0.00411933
+v 0.03094904 0.04957773 0.00311187
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+v 0.01411447 0.05124942 0.00744629
+v 0.02315362 0.04206146 0.01274688
+v 0.02185785 0.04291969 0.01219994
+v 0.01411447 0.05011571 0.00770770
+v 0.01411447 0.04934116 0.00770770
+v 0.03170360 0.04384572 0.00247642
+v 0.03126648 0.04384572 0.00358139
+v 0.03105832 0.04241488 0.00329082
+v 0.03098720 0.04206150 0.00312089
+v 0.02365666 0.04206146 0.01270868
+v 0.02501314 0.04206146 0.01238794
+v 0.02532537 0.04206147 0.01220395
+v 0.02591515 0.04206147 0.01183998
+v 0.02603310 0.04217686 0.01170626
+v 0.02933757 0.04838054 0.00583760
+v 0.03044773 0.04838054 0.00454964
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+v 0.02613892 0.04206147 0.01158159
+v 0.03059865 0.04611313 0.00486232
+v 0.03166891 0.04769975 0.00247644
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_54.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc949682c50fbaadbe54aedc1fe6db7747fb7da0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_54.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.01903400 0.03631617 0.00247477
+v -0.01903400 0.03631619 -0.00380815
+v -0.02262458 0.03631617 0.00247477
+v -0.01903400 0.02706411 0.00247474
+v -0.02262458 0.03631619 -0.00380815
+v -0.01903400 0.02175157 -0.00380820
+v -0.02262458 0.02794240 0.00247474
+v -0.01904314 0.02706411 0.00247474
+v -0.02262458 0.03068283 -0.00380817
+v -0.02116937 0.02749042 0.00247474
+v -0.02135636 0.02552283 -0.00380819
+v -0.02262458 0.02801655 0.00230006
+v -0.02211385 0.02797522 -0.00380818
+v -0.02138765 0.02560838 -0.00380819
+f 1 2 5
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+f 1 6 2
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+f 7 14 11
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_55.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ac620e7e1fed8b9883e53e2a6ef3eb2bbb18b75
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_55.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01204887 -0.05591129 0.04035520
+v 0.01204887 -0.05436775 0.04092843
+v 0.01426833 -0.05437172 0.04093863
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+v 0.00538851 -0.05591129 0.04035725
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+v 0.00094561 -0.05436708 0.04092742
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+v 0.01611090 -0.05737275 0.04107632
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+v 0.00760797 -0.05755808 0.04086927
+v 0.00538851 -0.05755742 0.04086927
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+v -0.00009133 -0.05710074 0.04842720
+v 0.02027661 -0.05686246 0.04976744
+v 0.01871123 -0.05647923 0.05077414
+f 1 2 3
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_56.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1981a0bb34c65b17235bdb7b0cb74bce7ff16d16
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_56.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02784546 0.04384527 0.00800071
+v -0.02757818 0.04152992 0.00800070
+v -0.02692413 0.04110747 0.01144022
+v -0.02783130 0.04604765 0.00800072
+v -0.02743923 0.04110748 0.00800070
+v -0.02670021 0.04110747 0.01200218
+v -0.02687191 0.04515909 0.00991909
+v -0.02712769 0.04828610 0.00800073
+v -0.02111733 0.04110748 0.00800070
+v -0.02615325 0.04110746 0.01236656
+v -0.02628866 0.04667038 0.00953008
+v -0.02707901 0.04837438 0.00800073
+v -0.02565674 0.04145301 0.01250564
+v -0.02085978 0.04110747 0.01096601
+v -0.01880469 0.04859462 0.00800073
+v -0.02565939 0.04110746 0.01266422
+v -0.02480798 0.04738330 0.00991498
+v -0.02561160 0.04823484 0.00903792
+v -0.02570011 0.05001762 0.00800073
+v -0.02488409 0.04293298 0.01220850
+v -0.02105449 0.04110747 0.01142893
+v -0.01880469 0.04872752 0.00800073
+v -0.02167933 0.04110746 0.01268424
+v -0.02348483 0.04110746 0.01324312
+v -0.02348483 0.04416707 0.01167630
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_57.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16e55a5a998b649d2ac434d2e062e5eaa8362fec
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_57.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_58.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2919b6c28fed9963213e79fa412c6b404e4ea32a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_58.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_59.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b72479945a2c8f6e6940ad2484dafe494b8e2c71
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_59.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71eed22f8a67a1b2a237421a03a17a290e4e3176
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_6.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_60.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bdd2e558858d35ef79907b8db3c684446fd092f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_60.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.01196127 -0.01271992 0.01741071
+v -0.01130765 -0.01164358 0.01903561
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_61.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8a30f9801d412ec961de6dc23b772b1aaa41c99
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_61.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_62.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d81b6fedab9cd33dc2f4174756f477cb69949de9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_62.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.02234443 0.03630560 0.00247483
+v 0.02234443 0.03630562 -0.00319873
+v 0.01881308 0.03630560 0.00247483
+v 0.02234443 0.02772269 0.00247480
+v 0.01881308 0.03630562 -0.00319873
+v 0.02234443 0.03172924 -0.00319874
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+v 0.01881308 0.02348397 -0.00319877
+v 0.02073154 0.02576588 -0.00319877
+v 0.02144500 0.02797500 -0.00319876
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+f 3 5 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 6
+f 7 9 8
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_63.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b8eed713b5b5e5996463f3293a2e6ba7d860e6b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_63.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.02266382 -0.04593080 -0.02050188
+v -0.02266382 -0.04525978 -0.02028280
+v -0.02198668 -0.04593080 -0.02045519
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+v -0.01885327 -0.04593082 -0.01629865
+v -0.01882163 -0.04593082 -0.01612027
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+f 10 12 15
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_64.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c356dc475fdc75d6609cd2d509eef5782b52cc8a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_64.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_65.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b114d0aae564cb7aeeeb998773f721a317908845
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_65.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02643018 0.04611752 -0.04296659
+v -0.02642866 0.04384526 -0.04296660
+v -0.02616535 0.04384525 -0.04049207
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+v -0.02606747 0.04157804 -0.04049208
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+v -0.02603256 0.04865442 -0.04296658
+v -0.02617825 0.03705207 -0.04296662
+v -0.02551733 0.03972720 -0.04049208
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+f 40 46 43
+f 40 43 47
+f 41 48 49
+f 41 49 42
+f 43 50 51
+f 43 51 47
+f 43 46 44
+f 48 51 49
+f 49 51 50
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_66.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b8cc28e44facb9f075a79cd6d07004633d0c04
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_66.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.02234443 0.02772214 0.00247536
+v 0.02234443 0.03079604 -0.00014451
+v 0.02444151 0.03121788 -0.00032810
+v 0.02457416 0.02883977 0.00247537
+v 0.02234443 0.03630686 0.00247539
+v 0.02234443 0.03120780 -0.00032810
+v 0.02339239 0.03113469 -0.00032810
+v 0.02584303 0.02981790 0.00247537
+v 0.02514458 0.02915741 0.00247537
+v 0.02559214 0.03263467 -0.00032809
+v 0.02773824 0.03630686 0.00247539
+v 0.02234443 0.03630687 -0.00032808
+v 0.02823079 0.03630099 -0.00032808
+v 0.02647688 0.03098342 0.00247537
+v 0.02823598 0.03630687 -0.00031985
+v 0.02664010 0.03148762 0.00247538
+v 0.02566193 0.03630687 -0.00032808
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 14
+f 1 14 16
+f 1 16 11
+f 1 11 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 6
+f 3 6 12
+f 3 12 17
+f 3 17 13
+f 3 13 10
+f 3 10 8
+f 5 11 15
+f 5 15 17
+f 5 17 12
+f 8 10 13
+f 8 13 14
+f 11 16 15
+f 13 17 15
+f 13 15 14
+f 14 15 16
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_67.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b287609c21dd55d567a0c90402580e5ff65e3961
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_67.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.02714025 0.04872058 -0.02536907
+v -0.02710120 0.05042699 -0.02536906
+v -0.02304919 0.04872058 -0.02536907
+v -0.02922873 0.04872056 -0.01978893
+v -0.02709339 0.05065727 -0.02536906
+v -0.02919526 0.05064660 -0.01974693
+v -0.02181306 0.05307712 -0.02536906
+v -0.01903400 0.05607065 -0.01974691
+v -0.02129317 0.04872055 -0.01622592
+v -0.02974527 0.04872056 -0.01837679
+v -0.02693608 0.05239163 -0.02536906
+v -0.02911828 0.05215069 -0.01963495
+v -0.02967387 0.05064660 -0.01837678
+v -0.02134338 0.05518152 -0.02536905
+v -0.01903400 0.05744298 -0.02054474
+v -0.01903400 0.05547833 -0.01837677
+v -0.02096852 0.04872054 -0.01420413
+v -0.03013128 0.04872055 -0.01612172
+v -0.02667837 0.05351238 -0.02536905
+v -0.02933471 0.05290939 -0.01840788
+v -0.02893643 0.05366144 -0.01918082
+v -0.03005876 0.05064659 -0.01612171
+v -0.02973411 0.05291470 -0.01612171
+v -0.02190900 0.05676681 -0.02536904
+v -0.01903400 0.05971510 -0.02079823
+v -0.01903400 0.05511361 -0.01612170
+v -0.01903400 0.05511361 -0.01611237
+v -0.01903400 0.05521210 -0.01386507
+v -0.01903400 0.05521343 -0.01385729
+v -0.01903400 0.05655112 -0.00948089
+v -0.02110574 0.04872054 -0.01384798
+v -0.03043139 0.04872052 -0.00948092
+v -0.02572896 0.05519217 -0.02536905
+v -0.02854819 0.05512294 -0.01840787
+v -0.02915621 0.05432829 -0.01767692
+v -0.02971515 0.05291469 -0.01386508
+v -0.02925773 0.05456255 -0.01386507
+v -0.02925885 0.05456256 -0.01612170
+v -0.02335041 0.05694385 -0.02536904
+v -0.01904404 0.06121386 -0.02000196
+v -0.01903400 0.06120720 -0.02000507
+v -0.01903400 0.06104743 -0.00948088
+v -0.02286957 0.04872052 -0.00948092
+v -0.02981667 0.05072243 -0.00948091
+v -0.02915510 0.05432961 -0.01252758
+v -0.02484649 0.05638081 -0.02536904
+v -0.02707777 0.05665765 -0.01988222
+v -0.02873227 0.05569528 -0.01612170
+v -0.02739127 0.05707826 -0.01837676
+v -0.02871776 0.05569527 -0.01386507
+v -0.02347648 0.05693719 -0.02536904
+v -0.02082795 0.06104747 -0.01979200
+v -0.01903400 0.06190600 -0.01838451
+v -0.01904404 0.06229199 -0.01386504
+v -0.02027459 0.06094760 -0.00948088
+v -0.01903400 0.06229199 -0.01386504
+v -0.02767129 0.05517880 -0.00948090
+v -0.02701306 0.05647392 -0.00948089
+v -0.02476839 0.05647931 -0.02536904
+v -0.02645859 0.05821232 -0.01837676
+v -0.02762220 0.05738705 -0.01612169
+v -0.02675758 0.05851978 -0.01612169
+v -0.02760770 0.05738572 -0.01386506
+v -0.02695393 0.05657109 -0.00948089
+v -0.02230841 0.06081720 -0.01943586
+v -0.02144713 0.06134030 -0.01856181
+v -0.01904404 0.06190733 -0.01837674
+v -0.01903400 0.06190867 -0.01837674
+v -0.01903400 0.06229332 -0.01387282
+v -0.01903400 0.06231862 -0.01612167
+v -0.01904404 0.06231729 -0.01612167
+v -0.02126416 0.06185008 -0.01386504
+v -0.02042967 0.06092098 -0.00948088
+v -0.02030583 0.06094494 -0.00948088
+v -0.02534853 0.05920795 -0.01837675
+v -0.02493574 0.05886720 -0.01989776
+v -0.02675870 0.05851845 -0.01386506
+v -0.02564863 0.05945950 -0.01386505
+v -0.02564752 0.05945552 -0.01612168
+v -0.02610382 0.05770515 -0.00948089
+v -0.02350437 0.06042454 -0.01856182
+v -0.02277697 0.06105546 -0.01793196
+v -0.02126416 0.06186340 -0.01612167
+v -0.02306481 0.06119387 -0.01386505
+v -0.02279259 0.06105011 -0.01232693
+v -0.02152522 0.06067740 -0.00948088
+v -0.02416372 0.06058958 -0.01612168
+v -0.02505846 0.05887115 -0.00948088
+v -0.02499375 0.05893238 -0.00948088
+v -0.02417487 0.06059223 -0.01386505
+v -0.02305365 0.06119787 -0.01612168
+v -0.02348764 0.05990938 -0.00948088
+v -0.02489669 0.05900160 -0.00948088
+f 1 2 5
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+f 1 11 19
+f 1 19 33
+f 1 33 46
+f 1 46 59
+f 1 59 51
+f 1 51 39
+f 1 39 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 31
+f 1 31 43
+f 1 43 32
+f 1 32 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
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+f 2 6 5
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+f 44 57 45
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+f 47 49 60
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+f 52 66 67
+f 52 67 53
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+f 54 72 73
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+f 54 74 55
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+f 59 75 76
+f 59 76 65
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+f 67 70 68
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+f 75 81 76
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+f 84 91 90
+f 84 90 85
+f 85 90 92
+f 85 92 86
+f 87 90 91
+f 89 93 90
+f 90 93 92
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_68.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e6297bc564b5d17f1f7652ec76e4493d141bf98
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_68.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00014453 -0.04111684 -0.00767799
+v 0.01977324 -0.04111684 -0.00778563
+v -0.00014453 -0.04111685 -0.00408590
+v -0.00014453 -0.02643463 -0.00768558
+v 0.02018313 -0.04111684 -0.00778639
+v -0.00014453 -0.01509801 -0.00768974
+v -0.00014453 -0.01398469 -0.00769011
+v -0.00014453 -0.01172415 -0.00769048
+v -0.00014453 -0.00603324 -0.00769008
+v -0.00014453 -0.00150086 -0.00768854
+v -0.00014453 0.00756957 -0.00768239
+v 0.00094587 -0.04111686 -0.00408322
+v -0.00014453 -0.03926322 -0.00388741
+v 0.02018313 -0.04111686 -0.00407101
+v 0.02018313 0.01660608 -0.00768084
+v -0.00014453 0.01660608 -0.00766480
+v 0.00094587 -0.03926322 -0.00388741
+v -0.00014453 0.01162722 -0.00388723
+v 0.01600060 -0.03274156 -0.00388739
+v 0.01205684 -0.03551637 -0.00388740
+v 0.00983027 -0.03696877 -0.00388741
+v 0.00778079 -0.03804253 -0.00388741
+v 0.00538708 -0.03872069 -0.00388741
+v 0.00316647 -0.03904282 -0.00388741
+v 0.02018313 -0.02675677 -0.00388737
+v 0.01814559 -0.03039059 -0.00388738
+v 0.02018313 0.01660607 -0.00414103
+v -0.00014453 0.01660606 -0.00390705
+v 0.00052603 0.01163287 -0.00388723
+v 0.02018313 0.01004484 -0.00388723
+v 0.01204888 0.01660606 -0.00398263
+v 0.00538708 0.01660606 -0.00391202
+v 0.00094587 0.01163287 -0.00388723
+v 0.00230092 0.01162722 -0.00388723
+v 0.00316647 0.01162157 -0.00388723
+v 0.00449167 0.01161026 -0.00388723
+v 0.00538708 0.01159896 -0.00388723
+v 0.00760768 0.01157071 -0.00388723
+v 0.00983027 0.01151419 -0.00388723
+v 0.01204888 0.01139551 -0.00388723
+v 0.01426949 0.01120902 -0.00388723
+v 0.01865100 0.01056476 -0.00388723
+v 0.00983027 0.01660606 -0.00394637
+v 0.00980241 0.01660606 -0.00394599
+v 0.00760768 0.01660606 -0.00392270
+v 0.01870671 0.01055346 -0.00388723
+f 1 2 5
+f 1 5 14
+f 1 14 12
+f 1 12 3
+f 1 3 13
+f 1 13 18
+f 1 18 28
+f 1 28 16
+f 1 16 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
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+f 2 10 11
+f 2 11 5
+f 3 12 13
+f 5 11 15
+f 5 15 27
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+f 5 30 25
+f 5 25 14
+f 11 16 15
+f 12 14 13
+f 13 14 17
+f 13 17 24
+f 13 24 23
+f 13 23 22
+f 13 22 21
+f 13 21 20
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+f 13 26 25
+f 13 25 30
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+f 13 41 40
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+f 13 33 29
+f 13 29 18
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 17
+f 14 25 26
+f 14 26 19
+f 15 16 28
+f 15 28 32
+f 15 32 45
+f 15 45 44
+f 15 44 43
+f 15 43 31
+f 15 31 27
+f 18 29 28
+f 27 31 30
+f 28 29 33
+f 28 33 34
+f 28 34 35
+f 28 35 36
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+f 28 42 32
+f 30 31 43
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+f 30 44 45
+f 30 45 46
+f 32 42 46
+f 32 46 45
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_69.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bd58b9a05bf0d34347c70b0f73262878171c911
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_69.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00473980 0.05509977 0.00247546
+v -0.00473980 0.05509980 -0.00489144
+v -0.01406550 0.05509977 0.00247546
+v 0.01379164 0.05504085 0.00247546
+v -0.00801470 0.05509980 -0.00489144
+v 0.01379164 0.05504088 -0.00480477
+v 0.01379164 0.05064548 -0.00667119
+v -0.01406550 0.05509980 -0.00488539
+v -0.01406550 0.03893811 0.00247540
+v 0.01379164 0.03891847 0.00247540
+v -0.01023433 0.05509980 -0.00489043
+v 0.00760450 0.05064548 -0.00667018
+v -0.01237761 0.05064548 -0.00666515
+v 0.01379164 0.04837708 -0.00756309
+v 0.00316524 0.04837708 -0.00756309
+v -0.01406550 0.04837708 -0.00756107
+v -0.01237761 0.05509980 -0.00488942
+v -0.01406550 0.05064548 -0.00666414
+v -0.01406550 0.03854924 0.00207833
+v 0.01379164 0.03503764 -0.00101658
+v -0.01406550 0.05009753 -0.00688082
+v 0.01379164 0.04659967 -0.00776365
+v -0.00349637 0.04610867 -0.00782009
+v -0.00473707 0.04737937 -0.00767597
+v -0.01406550 0.04611064 -0.00781807
+v -0.01406550 0.03564844 -0.00109519
+v -0.01193586 0.03564844 -0.00100953
+v 0.01045675 0.03503764 -0.00118891
+v 0.01379164 0.03503767 -0.00767299
+v 0.01379164 0.04610867 -0.00781807
+v 0.00760450 0.04610867 -0.00781908
+v 0.00982685 0.03503767 -0.00767601
+v 0.00734818 0.03503767 -0.00767601
+v -0.00473707 0.03503767 -0.00767198
+v -0.01323110 0.03564847 -0.00766795
+v -0.01406550 0.03564847 -0.00766593
+v -0.00473707 0.03503765 -0.00247887
+v 0.01204648 0.03503767 -0.00767501
+f 1 2 5
+f 1 5 11
+f 1 11 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 18
+f 3 18 21
+f 3 21 16
+f 3 16 25
+f 3 25 36
+f 3 36 26
+f 3 26 19
+f 3 19 9
+f 4 10 20
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+f 4 30 22
+f 4 22 14
+f 4 14 7
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+f 5 13 11
+f 7 14 15
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+f 7 16 12
+f 8 17 18
+f 9 19 20
+f 9 20 10
+f 11 13 17
+f 12 16 13
+f 13 16 21
+f 13 21 18
+f 13 18 17
+f 14 22 23
+f 14 23 15
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+f 15 24 16
+f 16 24 25
+f 19 26 27
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+f 20 32 38
+f 20 38 29
+f 20 27 26
+f 20 26 28
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 23 32 33
+f 23 33 25
+f 23 25 24
+f 25 34 35
+f 25 35 36
+f 25 33 34
+f 26 36 34
+f 26 34 37
+f 26 37 28
+f 29 38 30
+f 30 38 32
+f 30 32 31
+f 34 36 35
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..155f0748cee1e57cd9b426c983fc2ced6a4877e6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_7.obj
@@ -0,0 +1,1075 @@
+# https://github.com/mikedh/trimesh
+v -0.03153749 0.00982869 -0.04997928
+v -0.03138064 0.00982869 -0.04823977
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_70.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07a9e888d0099c8818740c0bff81d35775d81a73
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_70.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_71.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d8a0f82841e0b6eff25eee8dc552a9b29a25bf
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_71.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+v 0.02666680 0.04206101 0.01076844
+v 0.02613890 0.04206101 0.01158148
+v 0.02591433 0.04206101 0.01183967
+v 0.02532442 0.04148315 0.01251369
+v 0.02514510 0.03735387 0.01471200
+v 0.02534956 0.03735387 0.01458290
+v 0.02576685 0.03735387 0.01431603
+v 0.02607522 0.03765063 0.01395854
+v 0.02347593 0.03735386 0.01512783
+v 0.02459374 0.03842939 0.01448112
+v 0.02501439 0.04206100 0.01238832
+v 0.02532442 0.04206101 0.01220337
+f 1 2 7
+f 1 7 3
+f 1 3 9
+f 1 9 15
+f 1 15 25
+f 1 25 24
+f 1 24 23
+f 1 23 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 7 12
+f 3 12 19
+f 3 19 29
+f 3 29 40
+f 3 40 41
+f 3 41 32
+f 3 32 31
+f 3 31 30
+f 3 30 26
+f 3 26 20
+f 3 20 13
+f 3 13 9
+f 4 10 14
+f 4 14 22
+f 4 22 36
+f 4 36 35
+f 4 35 34
+f 4 34 38
+f 4 38 27
+f 4 27 17
+f 4 17 11
+f 4 11 8
+f 4 8 6
+f 4 6 5
+f 7 8 11
+f 7 11 12
+f 9 13 14
+f 9 14 15
+f 10 16 14
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 13 20 14
+f 14 21 22
+f 14 16 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 14 20 26
+f 14 26 21
+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 21 26 30
+f 22 37 36
+f 27 38 39
+f 27 39 29
+f 27 29 28
+f 29 39 40
+f 32 41 33
+f 33 41 40
+f 33 40 39
+f 33 39 34
+f 34 39 38
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_72.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad68bc5fd5f77e445c11b8d66014b39c74116a0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_72.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00982763 -0.02132089 0.03603944
+v 0.01098713 -0.02132089 0.03624812
+v 0.01138673 -0.02190435 0.03643857
+v 0.00982763 -0.02190435 0.03615897
+v -0.00127387 -0.02132090 0.03867331
+v 0.01143695 -0.02132089 0.03637576
+v 0.01112251 -0.02324280 0.03674449
+v 0.01541768 -0.02870464 0.04466229
+v 0.01541768 -0.03107870 0.04525796
+v 0.00982763 -0.02324174 0.03674449
+v 0.00866813 -0.02310515 0.03686607
+v -0.00688794 -0.02192555 0.04050486
+v -0.00688794 -0.02151363 0.04037924
+v -0.00688794 -0.02132091 0.04032049
+v 0.01192826 -0.02132090 0.03757721
+v 0.01541768 -0.03170346 0.04565505
+v 0.01541768 -0.03213761 0.04593870
+v 0.01425163 -0.03213761 0.04591844
+v 0.01541768 -0.02718830 0.04540587
+v 0.01209859 -0.02132090 0.03805334
+v 0.01248072 -0.03213761 0.04593060
+v 0.01204836 -0.03213761 0.04593465
+v 0.01095656 -0.03213761 0.04597112
+v -0.00685737 -0.03213761 0.04702669
+v -0.00688794 -0.03213761 0.04702872
+v -0.00688794 -0.03211537 0.04701048
+v -0.00688794 -0.03075362 0.04600557
+v -0.00688794 -0.02938446 0.04505535
+v -0.00688794 -0.02670014 0.04328661
+v -0.00688794 -0.02132096 0.05534774
+v 0.01541768 -0.03213763 0.05086404
+v 0.01541768 -0.02718830 0.04670052
+v 0.01219030 -0.02132091 0.03973091
+v -0.00688794 -0.03213765 0.05653294
+v -0.00688794 -0.03097180 0.05644786
+v -0.00571753 -0.03213765 0.05660183
+v 0.00646486 -0.03213765 0.05673757
+v 0.00760689 -0.02132096 0.05543486
+v 0.00962018 -0.03097180 0.05583396
+v 0.00955904 -0.03213765 0.05581369
+v 0.01541768 -0.02905304 0.04869820
+v 0.01010495 -0.02132096 0.05385251
+v 0.00936689 -0.02132096 0.05490201
+v 0.00912014 -0.02132096 0.05522820
+v 0.00917036 -0.02190442 0.05526467
+v 0.00934942 -0.02417152 0.05540851
+v 0.00948917 -0.02643863 0.05555235
+v 0.00957651 -0.02870468 0.05569417
+v 0.01541768 -0.02792001 0.04782903
+v 0.01217283 -0.02132091 0.04031239
+v 0.01202216 -0.02132091 0.04198794
+v 0.01196975 -0.02132092 0.04256941
+v 0.01173611 -0.02132092 0.04482644
+v 0.01154613 -0.02132093 0.04650199
+v 0.01147844 -0.02132093 0.04708143
+v 0.01075785 -0.02132095 0.05159548
+v 0.01031676 -0.02132096 0.05327306
+v 0.00760689 -0.03213765 0.05666464
+v 0.00760689 -0.03097180 0.05657955
+v 0.00795627 -0.02132096 0.05540244
+v 0.00858297 -0.03213765 0.05630197
+v 0.01541768 -0.02846747 0.04825856
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 30
+f 1 30 38
+f 1 38 60
+f 1 60 44
+f 1 44 43
+f 1 43 42
+f 1 42 57
+f 1 57 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 52
+f 1 52 51
+f 1 51 50
+f 1 50 33
+f 1 33 20
+f 1 20 15
+f 1 15 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 7
+f 4 7 10
+f 4 10 11
+f 4 11 5
+f 5 12 13
+f 5 13 14
+f 5 11 12
+f 6 15 8
+f 7 9 16
+f 7 16 17
+f 7 17 18
+f 7 18 10
+f 8 19 32
+f 8 32 49
+f 8 49 62
+f 8 62 41
+f 8 41 31
+f 8 31 17
+f 8 17 16
+f 8 16 9
+f 8 15 20
+f 8 20 19
+f 10 18 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 11
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 12
+f 12 29 28
+f 12 28 27
+f 12 27 26
+f 12 26 25
+f 12 25 34
+f 12 34 35
+f 12 35 30
+f 12 30 14
+f 12 14 13
+f 17 31 40
+f 17 40 61
+f 17 61 58
+f 17 58 37
+f 17 37 36
+f 17 36 34
+f 17 34 25
+f 17 25 24
+f 17 24 23
+f 17 23 22
+f 17 22 21
+f 17 21 18
+f 19 20 33
+f 19 33 32
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 31 39 40
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 39
+f 32 33 50
+f 32 50 51
+f 32 51 52
+f 32 52 53
+f 32 53 54
+f 32 54 55
+f 32 55 56
+f 32 56 57
+f 32 57 49
+f 34 36 35
+f 37 58 59
+f 37 59 38
+f 38 59 60
+f 39 48 61
+f 39 61 40
+f 41 62 42
+f 42 62 49
+f 42 49 57
+f 44 60 59
+f 44 59 45
+f 45 59 46
+f 46 59 47
+f 47 59 48
+f 48 59 58
+f 48 58 61
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_73.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05f9588fb5b1684d5df3589936ec50ffc727e9d9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_73.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.02234443 0.03630495 -0.00319873
+v 0.02234443 0.03630497 -0.00827708
+v 0.01881308 0.03630495 -0.00319873
+v 0.02234443 0.03173010 -0.00319874
+v 0.01881308 0.03630497 -0.00767404
+v 0.02234443 0.01661366 -0.00796147
+v 0.01881308 0.01661366 -0.00767163
+v 0.01881308 0.02348458 -0.00319877
+v 0.02144500 0.02797268 -0.00319876
+v 0.02234443 0.01661557 -0.00382123
+v 0.02234443 0.01661364 -0.00393358
+v 0.01881308 0.01661365 -0.00413095
+v 0.02073154 0.02576526 -0.00319877
+v 0.02225248 0.01661364 -0.00392016
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 13
+f 1 13 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 12
+f 3 12 8
+f 4 9 10
+f 6 11 14
+f 6 14 12
+f 6 12 7
+f 8 12 10
+f 8 10 13
+f 9 13 10
+f 10 12 14
+f 10 14 11
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_74.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc836d30963c94a9951b4c92cbc92a1b3a96b5d9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_74.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.02792583 0.03631890 -0.02061480
+v -0.02570514 0.03631890 -0.02061014
+v -0.02923456 0.03631889 -0.01979209
+v -0.02701488 0.04448349 -0.02536909
+v -0.02567174 0.04330585 -0.02536909
+v -0.02559785 0.04325000 -0.02536909
+v -0.02547943 0.04318444 -0.02536909
+v -0.02417171 0.03631889 -0.01978898
+v -0.02392070 0.04350495 -0.02536909
+v -0.02959893 0.03631889 -0.01883096
+v -0.02718999 0.04611155 -0.02536908
+v -0.02717987 0.04595008 -0.02536908
+v -0.02389236 0.03631889 -0.01933641
+v -0.02375470 0.04370770 -0.02536909
+v -0.02977100 0.03631889 -0.01837684
+v -0.02715254 0.04815846 -0.02536907
+v -0.02977100 0.04384366 -0.01837681
+v -0.02976999 0.04611153 -0.01837680
+v -0.02923456 0.04837819 -0.01979671
+v -0.02330024 0.03631889 -0.01837684
+v -0.02287311 0.04611155 -0.02536908
+v -0.03004429 0.03631888 -0.01684339
+v -0.02714849 0.04837821 -0.02536907
+v -0.03017283 0.03704367 -0.01612176
+v -0.03017182 0.04157821 -0.01612175
+v -0.02975784 0.04837819 -0.01837679
+v -0.03017081 0.04384365 -0.01612174
+v -0.03016676 0.04611152 -0.01612173
+v -0.02922848 0.04872056 -0.01978893
+v -0.02714039 0.04872058 -0.02536907
+v -0.02285287 0.03631888 -0.01612177
+v -0.02304923 0.04872058 -0.02536907
+v -0.02129312 0.04872055 -0.01622592
+v -0.02093482 0.04611151 -0.01386510
+v -0.02054614 0.04170686 -0.00948095
+v -0.03017283 0.03631888 -0.01612177
+v -0.03082467 0.04617705 -0.00948093
+v -0.02974469 0.04872056 -0.01837679
+v -0.03014449 0.04837818 -0.01612172
+v -0.03013235 0.04872055 -0.01612172
+v -0.02125466 0.03951548 -0.00948095
+v -0.02134980 0.03934551 -0.00948096
+v -0.02288121 0.03631888 -0.01539859
+v -0.02096923 0.04872054 -0.01420413
+v -0.02048541 0.04386183 -0.00948094
+v -0.03015765 0.03631887 -0.01386514
+v -0.03069207 0.04399659 -0.00948094
+v -0.03081556 0.04587718 -0.00948093
+v -0.03053620 0.04837815 -0.00948092
+v -0.03043093 0.04872052 -0.00948092
+v -0.02314234 0.03631885 -0.00948097
+v -0.02294194 0.03631887 -0.01386514
+v -0.02110486 0.04872054 -0.01384798
+v -0.02120810 0.04620862 -0.00948093
+v -0.02051780 0.04399052 -0.00948094
+v -0.02974165 0.03631886 -0.01160696
+v -0.03066171 0.04369672 -0.00948094
+v -0.02287007 0.04872052 -0.00948092
+v -0.02930440 0.03631885 -0.00948097
+v -0.02943395 0.03631886 -0.01007195
+f 1 2 8
+f 1 8 13
+f 1 13 20
+f 1 20 31
+f 1 31 43
+f 1 43 52
+f 1 52 51
+f 1 51 59
+f 1 59 60
+f 1 60 56
+f 1 56 46
+f 1 46 36
+f 1 36 22
+f 1 22 15
+f 1 15 10
+f 1 10 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 11
+f 3 11 12
+f 3 12 4
+f 4 12 11
+f 4 11 16
+f 4 16 23
+f 4 23 30
+f 4 30 32
+f 4 32 21
+f 4 21 14
+f 4 14 9
+f 4 9 7
+f 4 7 6
+f 4 6 5
+f 8 9 14
+f 8 14 13
+f 10 15 11
+f 11 15 17
+f 11 17 18
+f 11 18 19
+f 11 19 16
+f 13 14 20
+f 14 21 20
+f 15 22 17
+f 16 19 23
+f 17 22 24
+f 17 24 25
+f 17 25 18
+f 18 26 19
+f 18 25 27
+f 18 27 28
+f 18 28 26
+f 19 26 29
+f 19 29 30
+f 19 30 23
+f 20 21 31
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 31
+f 22 36 24
+f 24 36 37
+f 24 37 25
+f 25 37 27
+f 26 38 29
+f 26 28 39
+f 26 39 40
+f 26 40 38
+f 27 37 28
+f 28 37 39
+f 29 38 40
+f 29 40 50
+f 29 50 58
+f 29 58 53
+f 29 53 44
+f 29 44 33
+f 29 33 32
+f 29 32 30
+f 31 35 41
+f 31 41 42
+f 31 42 43
+f 33 44 34
+f 34 44 45
+f 34 45 35
+f 35 45 55
+f 35 55 54
+f 35 54 58
+f 35 58 50
+f 35 50 49
+f 35 49 37
+f 35 37 48
+f 35 48 47
+f 35 47 57
+f 35 57 59
+f 35 59 51
+f 35 51 42
+f 35 42 41
+f 36 46 47
+f 36 47 48
+f 36 48 37
+f 37 49 40
+f 37 40 39
+f 40 49 50
+f 42 51 52
+f 42 52 43
+f 44 53 54
+f 44 54 55
+f 44 55 45
+f 46 56 57
+f 46 57 47
+f 53 58 54
+f 56 60 57
+f 57 60 59
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_75.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74d8c4f2d6fda98614641f5cfe7f1cef82e2902e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_75.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01237975 -0.05591069 0.04033933
+v -0.01237975 -0.05756072 0.04085939
+v -0.01460047 -0.05756142 0.04086310
+v -0.01460047 -0.05591069 0.04034583
+v -0.02064311 -0.05100513 0.04217069
+v -0.01237975 -0.05436084 0.04091976
+v -0.00009332 -0.05436779 0.04092812
+v -0.00009332 -0.05518933 0.04062537
+v -0.00009332 -0.05591069 0.04035976
+v -0.00009332 -0.05755585 0.04087146
+v -0.01460047 -0.05811097 0.04256815
+v -0.01682120 -0.05731865 0.04113706
+v -0.01682120 -0.05591069 0.04087146
+v -0.01794967 -0.05706613 0.04141752
+v -0.02064311 -0.05413477 0.04247157
+v -0.02064311 -0.05177035 0.04982667
+v -0.00009332 -0.05193034 0.04982667
+v -0.00009332 -0.05372644 0.04256816
+v -0.00009332 -0.05406798 0.04169427
+v -0.00009332 -0.05809011 0.04256815
+v -0.01460047 -0.05790020 0.04482575
+v -0.02064311 -0.05716564 0.04870110
+v -0.02064311 -0.05717885 0.04720222
+v -0.01682120 -0.05772003 0.04256815
+v -0.02064311 -0.05706267 0.04640449
+v -0.02064311 -0.05699172 0.04617975
+v -0.02064311 -0.05621469 0.04482575
+v -0.02064311 -0.05518308 0.04327581
+v -0.02064311 -0.05687834 0.04982665
+v -0.00009332 -0.05660705 0.04982665
+v -0.00009332 -0.05783481 0.04482575
+v -0.01904193 -0.05717190 0.04872153
+v -0.01908820 -0.05688739 0.04982665
+v -0.01904193 -0.05688739 0.04982665
+v -0.00009332 -0.05710025 0.04842714
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 28
+f 5 28 27
+f 5 27 26
+f 5 26 25
+f 5 25 23
+f 5 23 22
+f 5 22 29
+f 5 29 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 7
+f 5 7 6
+f 7 19 18
+f 7 18 17
+f 7 17 30
+f 7 30 35
+f 7 35 31
+f 7 31 20
+f 7 20 10
+f 7 10 9
+f 7 9 8
+f 10 20 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 11 20 21
+f 12 14 13
+f 12 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 16 29 33
+f 16 33 34
+f 16 34 30
+f 16 30 17
+f 20 31 21
+f 21 32 22
+f 21 31 32
+f 22 32 29
+f 23 25 24
+f 29 32 33
+f 30 34 35
+f 31 35 32
+f 32 34 33
+f 32 35 34
+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_76.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5f1f8a33cb47f74d3fd264861ffd5c9b158d197
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_76.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.01881308 0.03630690 -0.00767394
+v 0.02282375 0.03630690 -0.00948097
+v 0.01881308 0.03630686 0.00247539
+v 0.01881308 0.03939588 -0.00793141
+v 0.02037629 0.04153117 -0.00948095
+v 0.02101447 0.03946700 -0.00948096
+v 0.02902135 0.03630690 -0.00948097
+v 0.02773841 0.03630686 0.00247539
+v 0.01881308 0.05282021 0.00247545
+v 0.02026182 0.04389599 -0.00948094
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diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_77.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d60b9125fa5dcb8e49e2541007aded552d3ebbd0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_77.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+v 0.01881425 0.05282024 -0.00491535
+v 0.01881425 0.06104466 -0.00948088
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+v 0.02004780 0.06092066 -0.00948088
+v 0.02735618 0.05517871 -0.00948090
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+v 0.02315460 0.05679714 0.00247547
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fa317315023063f09f77317a8f9f50abd0f6f6e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_8.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.02570522 0.01243733 -0.02536920
+v -0.02549950 0.01241638 -0.02536920
+v -0.02332556 0.01251595 -0.04049070
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+v -0.02704907 0.01142657 -0.02536921
+v -0.02363968 0.01197647 -0.02536921
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+v -0.02348539 -0.04098626 -0.04049090
+v -0.02570522 -0.04042071 -0.02536940
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2a16e7010b2328589adb22f004c747e48dfc16c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mjcf/mesh/garlic_press_003_collision_9.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02064459 0.02590360 0.00630380
+v -0.02064459 0.02590808 0.00622414
+v -0.01682290 0.02728334 0.00247656
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+v -0.02064459 0.02760277 0.00247656
+v -0.02064459 0.03735279 0.00247660
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