diff --git a/.gitattributes b/.gitattributes
index 0963d5bff42d244004642bb86e9abd7b6d93f50d..4c3a7c1ebb7e3422e4352c1505143f67e2a24af6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4593,8 +4593,5 @@ dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/bottle_o
 dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/c1cb78b140be5616a016214ebf77c9a1/mesh/spatula_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/c1cb78b140be5616a016214ebf77c9a1/spatula_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/c96415bc77d9552db273087be9a64d5a/c96415bc77d9552db273087be9a64d5a.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/c96415bc77d9552db273087be9a64d5a/mesh/plate.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/c96415bc77d9552db273087be9a64d5a/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/c83d29863c9e54be8b9e2af360597bf5/mesh/spice_jar_021.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/c83d29863c9e54be8b9e2af360597bf5/spice_jar_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/bottle_opener_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/bottle_opener_018.urdf b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/bottle_opener_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cfa24f132cf5fad44e9456a4d23ceecd96a9cea6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/bottle_opener_018.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_018">
+   <link name="bottle_opener_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_018.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>b1cd453721fa540f85fce2d5dd80b254</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>winged corkscrew opener</name>
+         <color>brown,gray</color>
+         <shape>T-shape</shape>
+         <material>metal</material>
+         <description>wooden-handled metal corkscrew bottle opener with broad turning grip</description>
+         <min_height>0.0229</min_height>
+         <max_height>0.0229</max_height>
+         <real_height>0.0229</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185943</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059070 -0.039195 -0.011472</min>
+            <max>0.039318 0.039183 0.011436</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/bottle_opener_018.usd b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/bottle_opener_018.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/bottle_opener_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2bf0d90c0e7d3aa034bbd9c64ce375d3b09b0dde676189d724d3d71e1d10bb3
+size 5009752
diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018.glb b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf4e10ee16b6586065b2ade60722fb2553d02d54414c97b8d1ec707525ddcdcf
+size 13711352
diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018.mtl b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..429f06480e5ee9079551037049894f193be9bb57
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018.mtl
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+newmtl bottle_opener_018_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af47987d41e4f71389f562a79f7c380465bdfcca
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018_collision.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82c83641a16d3cd0eb83c59b9b046de89af6606c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018_collision.obj
@@ -0,0 +1,12071 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v 0.03966633 0.00075661 0.03146058
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/material.mtl b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/material.mtl
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/material_0.png b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eaae1947d49fc71f84ee92ffb165a678a4039dc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018.obj
@@ -0,0 +1,109950 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bottle_opener_018_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1847a5e90b9cb960a9f946b5ef667e5441c31bb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision.obj
@@ -0,0 +1,12071 @@
+# https://github.com/mikedh/trimesh
+
+o bottle_opener_018_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_0.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0396265014d0386afbea1a9847f28237a474d4ee
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_1.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..744ebf0b6e994dd9a66cfc755089b3737712fc52
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_10.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f5c83f5b4764933ea46999f1355495cb5a0b447
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_10.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_11.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f8e11d2656170493cb25b33b1fac788b4e02863
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_11.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_12.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbded9bdd8aace55e5e79afc2a4679fd415aaaba
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_12.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_13.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..272d5810fa3bc7c7e4a0dc3ed4ec3aff72fb288d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_13.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.00552573 -0.00308365 0.00331891
+v 0.00552573 -0.00301921 0.00229528
+v 0.00552573 -0.00295885 0.00385751
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+v 0.00475574 -0.00171335 0.00469972
+v 0.00528799 -0.00272394 0.00385751
+v 0.00264145 -0.00180224 -0.00079158
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+v 0.00338941 -0.00044741 -0.00333513
+v 0.00552573 -0.00201268 0.00130831
+v 0.00552573 -0.00092216 0.00537369
+v 0.00552573 -0.00081204 0.00541129
+v 0.00452845 -0.00081204 0.00488209
+v 0.00340861 0.00072304 0.00397596
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+v 0.00264145 -0.00072883 0.00096617
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+v 0.00552573 0.00465778 0.00230753
+v 0.00552573 0.00466513 0.00163545
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+
diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_14.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60adea517e3c04103c2a7f054f1bb8c40f32877b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_14.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.00563335 0.00079992 0.00558636
+v 0.00552574 0.00079992 0.00554332
+v 0.00563335 -0.00081228 0.00546799
+v 0.00725305 -0.00081228 0.00552103
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+v 0.00696617 0.00209545 0.00494841
+v 0.00570369 0.00254552 0.00502296
+v 0.00552574 0.00282670 0.00490998
+v 0.00552574 0.00252825 0.00500452
+v 0.00552574 -0.00081228 0.00541111
+v 0.00552574 -0.00092264 0.00537422
+v 0.00575487 -0.00232084 0.00490919
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+v 0.00725305 -0.00242545 0.00508597
+v 0.00809059 -0.00325074 0.00464632
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+
diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_15.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3e2c238b348f324878c0c3507500d4523e478ff
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_15.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.02153034 -0.00336158 -0.00079198
+v -0.02087605 -0.00331352 -0.00079198
+v -0.02090947 -0.00331432 0.00042449
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+v -0.01861305 -0.00031024 0.00398509
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+v -0.02153034 -0.00299708 -0.00209901
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+v -0.01923449 -0.00180345 -0.00328645
+v -0.01861305 -0.00152307 -0.00234163
+v -0.01861305 0.00067829 0.00443444
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_16.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cda90d7593dcb8c1edf678737c03cda03298f100
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_16.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_17.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40ec7320badc5467067a5a176e53263706b5bbe3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_17.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+v -0.00076311 -0.00507689 0.00076423
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+
diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_18.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be463a316730298e31dcfb365b3010ad4be2e9c1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_18.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_19.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..821178ee700aeb07064111dfe8223c394ee18968
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_19.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_2.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a6b3ca815cc915591d4bc7714d282c2f48c6c38
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_2.obj
@@ -0,0 +1,1495 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_20.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bac2e736cdafe6df025b6033ad1bffee4642c45
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_20.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_21.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac799c4854b4b0e96c03af4b367b120d14778fa2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_21.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_22.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e2ddfe0a1f05981b459f8da506ae5a083e56f6e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_22.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_23.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9ff95eb0516e67692604a1d31d0197b8ce4137f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_23.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_3.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a76fb0045374572b1bb69c9055b5199bcc0c30f3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_4.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aa33a235842965c9f87c58ff8faad9b642c168e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_4.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_5.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d658176a2ea0062bb1d2d23f84008f906c1fff99
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_5.obj
@@ -0,0 +1,721 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_6.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de99278b9076d22a2129a3fae5c816be628a9114
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_6.obj
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_7.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82efe241f665299409deaa0272cfbdbaa572f97f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_7.obj
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_8.obj b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0443238a1d83de00def0fc069f30669e977eb18d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_collision_8.obj
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diff --git a/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mjcf/mesh/bottle_opener_018_geometry_Looks_material_0.png
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