diff --git a/.gitattributes b/.gitattributes
index 4c3a7c1ebb7e3422e4352c1505143f67e2a24af6..ab60fe4d780962f0b3adb0335f7da9fa1ac9d96f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4595,3 +4595,7 @@ dataset/kitchen_supplies/utensils/c1cb78b140be5616a016214ebf77c9a1/mesh/spatula_
 dataset/kitchen_supplies/utensils/c1cb78b140be5616a016214ebf77c9a1/spatula_010.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
+dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/bottle_opener_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/bottle_opener_002.urdf b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/bottle_opener_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7ff07d4a4a3ebdcb3cb27347d36c1b1773a41140
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/bottle_opener_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_002">
+   <link name="bottle_opener_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>bf1d8f268ab650d5bd10031847e198b8</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>wing corkscrew</name>
+         <color>silver,black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>metal wing corkscrew with black handles and spiral tip</description>
+         <min_height>0.1594</min_height>
+         <max_height>0.1594</max_height>
+         <real_height>0.1594</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428012701</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>20</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/bf1d8f268ab650d5bd10031847e198b8/bottle_opener_002.usd b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/bottle_opener_002.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/bottle_opener_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93c2c92ab65e58bdc097913a8fd8ed82fb45f8ca944bd99c368e8a70cd00e528
+size 142445053
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.glb b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2a7507cd2f4a4d3469b28ab4d4a244593b88b4c7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 103111776
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.mtl b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a11b2ee67fff15bac75ae0a5607d9125703de1a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.mtl
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+newmtl bottle_opener_002_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc7792f41dccc495cb355d8eada3f8c0295c96d6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.obj
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002_collision.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002_collision.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..98769bcd8ea471c3b9828dce025b5ec421df92d4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:622fceeb87894f7047d012369d46f4747d572308c6f6b81bc7eaab51cc1c8a31
+size 11309005
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/material.mtl b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f616b895c644e3288a2de94f9e0beb45453c4630
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_002_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd bottle_opener_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/material_0.png b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..98769bcd8ea471c3b9828dce025b5ec421df92d4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:622fceeb87894f7047d012369d46f4747d572308c6f6b81bc7eaab51cc1c8a31
+size 11309005
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/bottle_opener_002.xml b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/bottle_opener_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0606c4b9b7e3ec34c148ace6e1be360342025c33
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/bottle_opener_002.xml
@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_002">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_002_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bottle_opener_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bottle_opener_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bottle_opener_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bottle_opener_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/bottle_opener_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/bottle_opener_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/bottle_opener_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/bottle_opener_002_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/bottle_opener_002_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/bottle_opener_002_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/bottle_opener_002_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bottle_opener_002_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/bottle_opener_002_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/bottle_opener_002_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/bottle_opener_002_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/bottle_opener_002_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/bottle_opener_002_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/bottle_opener_002_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/bottle_opener_002_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/bottle_opener_002_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/bottle_opener_002_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_002">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a366d7bf11780044b0a4013797285b1c0985b682
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:206efff2a4025a8573b19ca088645eb001840fa09fafb5367243875f13a7b9d1
+size 111760703
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc85c5a6f06e95b44245fcf4d3c3055da86d40c7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision.obj
@@ -0,0 +1,10338 @@
+# https://github.com/mikedh/trimesh
+
+o bottle_opener_002_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_0.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bbccb1d1f0d13ec2f040c1f05ade5034b7eb92b
--- /dev/null
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_1.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..351ce3d90bc9b2697ddeeda12ba8238b640f24f9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_10.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15acd7c2660e7fc811d1194dda3281c992e1d1fc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_10.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_11.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7dd45545f1df2f630a33d01194fe098d0ab7e34
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_11.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_12.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08326e2ad45f948f3858c024635e6175fe19b4d2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_12.obj
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_13.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..671d81e6e52e51fbce6520f31713da88fa7cb96a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_13.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+v 0.03330519 -0.00127428 -0.01602042
+v 0.03316975 0.00180049 -0.01602041
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_14.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eca3e8d0a081a330aa5815e5bffd3368d1873f0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_14.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.01152517 -0.00557556 -0.02397958
+v 0.01047275 -0.00484871 -0.02397958
+v 0.01156418 -0.00557556 -0.02397958
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_15.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42842d8d4d76c2d15d71b7657676e6e3db1dabbf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_15.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_16.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..466c49a88ceb0fc2f4af6742d186901f27e2273b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_16.obj
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_17.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c871b4f558e5c0ff455f867aaa094f657d579d62
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_17.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.01836932 0.00563799 0.08546651
+v 0.01679963 0.00560692 0.07982554
+v 0.01679963 0.00561245 0.08546651
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+v 0.01513433 0.00518603 0.07982554
+v 0.01603477 0.00543032 0.08546651
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+v 0.02109324 0.00513493 0.08178538
+v 0.02095940 0.00508830 0.07982554
+v 0.01417131 0.00443086 0.07982554
+v 0.00755531 0.00240413 0.08546650
+v 0.01032965 0.00373121 0.08546650
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+v 0.02249780 0.00442307 0.08442557
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+v 0.02357381 0.00305713 0.08178537
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+v 0.00633849 -0.00130727 0.08546649
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+v 0.02314792 0.00315264 0.07982553
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+v 0.00900158 -0.00303747 0.08546648
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+v 0.01250253 -0.00254549 0.07982551
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+v 0.02361900 -0.00320294 0.08546648
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+v 0.02254473 -0.00449338 0.08442553
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+v 0.02230137 -0.00414243 0.07982550
+v 0.01938970 -0.00570719 0.08546647
+v 0.01746714 -0.00567052 0.07982550
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+v 0.01938970 -0.00558834 0.07982550
+v 0.01938970 -0.00565165 0.08178534
+v 0.01984166 -0.00547174 0.07982550
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_18.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2099d4049cdaddd701bde4ea0a715f44381e703b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_18.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02271528 -0.00567482 0.07456314
+v -0.02271528 -0.00567482 0.07556314
+v -0.02271528 0.00562133 0.07456314
+v -0.02271528 0.00562133 0.07556314
+v 0.00568276 -0.00567482 0.07456314
+v 0.00568276 -0.00567482 0.07556314
+v 0.00568276 0.00562133 0.07456314
+v 0.00568276 0.00562133 0.07556314
+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/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_19.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f6b3675f31b1ebf03ffd70ee43008866617bfe4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_19.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.00374254 0.00533874 -0.03892326
+v -0.00376865 0.00533874 -0.03890890
+v -0.00567495 0.00715589 -0.04393426
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+v -0.00374254 0.01872524 -0.03190614
+v -0.00374254 0.01866969 -0.03176461
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_2.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8fed0b4f32691f106c52262f450e06e045b8220
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_2.obj
@@ -0,0 +1,826 @@
+# https://github.com/mikedh/trimesh
+v -0.01164495 0.00550736 -0.02376285
+v -0.01181973 0.00550736 -0.02376285
+v -0.01152421 0.00542475 -0.02376285
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+v -0.01438399 0.00548940 -0.02376285
+v -0.01058705 0.00476746 -0.02376285
+v -0.00965219 0.01314347 -0.02719837
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_20.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a7ce1be8ee0e27bcfdf2d3c6286999a23d25efa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_20.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00748483 -0.00462409 -0.03465124
+v 0.00748483 -0.00392960 -0.03493179
+v 0.00458029 -0.00318225 -0.01886316
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_21.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f12cc5b655fb4a2bc5f9de75dd71daa98d6308
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_21.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_22.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a88dce70cfd7db4cdea18f3340b76fc6c78c8a90
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_22.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_23.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca8c9cdec0a9ff0fcbb6ecd23d2bff49b8cd4d90
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_23.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_24.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fa4d9588a7bfc8faa079f7c84095a281de8de29
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_24.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_25.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5624b8193fa20cdfbe32a04c0f6e0a62f140b3a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_25.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_26.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e74e1371f808e06a33285b3c56a15e3692290b2f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_26.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.00125252 -0.00534146 -0.03744227
+v 0.00109277 -0.00534031 -0.03954234
+v 0.00125488 -0.00532425 -0.04490411
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_27.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6be411fe2a80ab4e0fb70e4d70f0c104e9c05d20
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_27.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00429792 -0.00318199 -0.05219662
+v 0.00431789 -0.00318199 -0.05217472
+v 0.00429730 -0.00318199 -0.05212725
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_28.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00b05c83123b2386bfffc23e0adc1aa6908af872
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_28.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.01947489 0.00563649 0.08546628
+v -0.01947489 0.00562982 0.08442574
+v -0.02127345 0.00517209 0.08442574
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+v -0.01688469 0.00562982 0.08546628
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_29.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef1e3e80040783018097bd89ca76a892b4798017
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_29.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_3.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87dfdc4ebcbbb40bb35c2f4666e2097ccabe57b3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_3.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_30.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..580071677a0190ce559144af205f83951bd43229
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_30.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_4.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0475cdcf7f728dc86bdce96192265555a5359c23
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_4.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_5.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02cb720abea7838b98a68bd0e16881dc7ef5d53b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_5.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
+v -0.02240985 0.00351479 -0.01602675
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_6.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0795a49e257878a1e285e05fd63aa7d115b25d18
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_6.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_7.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..599a455cbe3607bee7d3eb3e2bec8cbaa7ffce73
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_7.obj
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_8.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a967158e4789de79e6b8707324e866824893308
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_8.obj
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diff --git a/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_9.obj b/dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_9.obj
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