diff --git a/.gitattributes b/.gitattributes
index c9e2852ae96169f0116df9d8ff8d10f39861224f..da09d47a7fc92b01beb8bb507908ea8cf75e0edc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4485,3 +4485,5 @@ dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/spice_jar_014
 dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/1f0f51f7509c5779bd223bd244d7c1fc.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/1de86c64ba015643bbb086e7cacd6015/mesh/spatula_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/1de86c64ba015643bbb086e7cacd6015/spatula_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/bottle_opener_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/bottle_opener_017.urdf b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/bottle_opener_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e0edb0137e298fe989981a4576886a5f9eb48957
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/bottle_opener_017.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_017">
+   <link name="bottle_opener_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>1fbbd10d85bb529ea42e51c45e5afcb9</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>waiter corkscrew</name>
+         <color>gray,black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>folding metal waiter-style bottle opener with corkscrew and lever</description>
+         <min_height>0.0150</min_height>
+         <max_height>0.0150</max_height>
+         <real_height>0.0150</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185917</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.050488 -0.021156 -0.008296</min>
+            <max>0.067227 0.015183 0.006707</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/1fbbd10d85bb529ea42e51c45e5afcb9/bottle_opener_017.usd b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/bottle_opener_017.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a89a94b40a98588434a074be2f44eb2ce7ddf98f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/bottle_opener_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbb74932c1768ff1a9a0f2f3b9a12f78010ae493c6896ef50b4207224f4a7e1c
+size 4984146
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017.glb b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8e101b8d2b43561f1f017471d281105c2c80f627
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e10cbddf5980a94f034317e367a1f947cdfb67a721097c60b2a4f4d36ac76c23
+size 13039748
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017.mtl b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4de5f782de6f9860ac472f7eb2995fcfed975d05
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017.mtl
@@ -0,0 +1,6 @@
+newmtl bottle_opener_017_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/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48872537cd3f2e9b55f983e503ebdb3a609cf250
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bottle_opener_017_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017_collision.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09e2b857624a7dea29ec14b8c972c5ae0ca26a9f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017_collision.obj
@@ -0,0 +1,8125 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f73a0f8e3a2951e60cab86b463aa7d5ccc71fec3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e4f9844a0d9bb6737bb9d3caeede16b7b78598531c453c7f756088943abfc29
+size 9585940
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/material.mtl b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6e6dcafd009c523bad0d27c2e7699b09ef59e73
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_017_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_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/material_0.png b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f73a0f8e3a2951e60cab86b463aa7d5ccc71fec3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e4f9844a0d9bb6737bb9d3caeede16b7b78598531c453c7f756088943abfc29
+size 9585940
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/bottle_opener_017.xml b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/bottle_opener_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..884744c1db969b5bc84b88e8f5647efa27ba8e4b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/bottle_opener_017.xml
@@ -0,0 +1,72 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_017">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_017_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_017_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_017_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_017_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_017_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_017_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_017_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_017_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_017_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_017_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bottle_opener_017_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bottle_opener_017_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bottle_opener_017_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bottle_opener_017_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/bottle_opener_017_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/bottle_opener_017_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/bottle_opener_017_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/bottle_opener_017_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/bottle_opener_017_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/bottle_opener_017_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/bottle_opener_017_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bottle_opener_017_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/bottle_opener_017_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/bottle_opener_017_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/bottle_opener_017_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/bottle_opener_017_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/bottle_opener_017_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/bottle_opener_017_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/bottle_opener_017_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_017">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be41ec84f97828c492358dd8e641802dc2e73ab0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017.obj
@@ -0,0 +1,116530 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bottle_opener_017_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa76ba8d07cabbe2d2172b9051b9bed640447eef
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision.obj
@@ -0,0 +1,8125 @@
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+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_0.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e95e1a8d1a0c45693f5bb2651ebc5e58d90b841c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_0.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00015728 -0.01659005 -0.00058456
+v -0.00015728 -0.01724709 -0.00055087
+v -0.00015728 -0.01659007 0.00609484
+v 0.00121515 -0.01659005 -0.00034596
+v 0.00537474 -0.01878778 0.00005422
+v 0.00343207 -0.01878778 -0.00017476
+v 0.00148940 -0.01878778 -0.00026208
+v -0.00015728 -0.01878778 -0.00029921
+v -0.00015728 -0.01672359 0.00616497
+v 0.00537474 -0.01771133 0.00644001
+v -0.00002439 -0.01659007 0.00607971
+v 0.00317957 -0.01659005 0.00031896
+v 0.00682449 -0.01765642 0.00081059
+v 0.00741044 -0.01868764 0.00059399
+v 0.00882999 -0.01924497 0.00084290
+v 0.00882999 -0.01999116 0.00084290
+v 0.00731741 -0.02018309 0.00066069
+v 0.00537474 -0.02024502 0.00056098
+v 0.00343207 -0.02024282 0.00052729
+v -0.00015728 -0.01900693 -0.00018094
+v -0.00015728 -0.01766083 0.00639739
+v 0.00343207 -0.01767664 0.00643727
+v 0.00343207 -0.01846323 0.00643726
+v 0.00522251 -0.01896655 0.00643313
+v 0.00645601 -0.01878780 0.00639531
+v 0.00641735 -0.01781059 0.00639119
+v 0.00148457 -0.01659007 0.00590437
+v 0.00330159 -0.01659005 0.00043516
+v 0.00409896 -0.01659006 0.00169279
+v 0.00418111 -0.01659006 0.00193827
+v 0.00926008 -0.01848562 0.00370746
+v 0.01218496 -0.01971053 0.00281014
+v 0.01218496 -0.01974127 0.00281014
+v 0.01120396 -0.02006672 0.00241133
+v 0.00939056 -0.02044047 0.00179385
+v 0.00731741 -0.02091128 0.00193825
+v 0.00537474 -0.02094774 0.00193825
+v 0.00148940 -0.02022394 0.00051147
+v -0.00015728 -0.02019758 0.00050597
+v -0.00015728 -0.01801789 0.00639738
+v 0.00447348 -0.01971098 0.00635818
+v 0.00576859 -0.01974348 0.00637606
+v 0.00642219 -0.01974348 0.00637606
+v 0.01049237 -0.01997274 0.00476225
+v 0.01049237 -0.01952740 0.00476225
+v 0.01116530 -0.01935522 0.00354381
+v 0.00673147 -0.01767181 0.00547668
+v 0.00537474 -0.01723832 0.00547668
+v 0.00337408 -0.01659007 0.00532403
+v 0.00332575 -0.01659007 0.00537148
+v 0.00417386 -0.01659006 0.00370747
+v 0.01218496 -0.01971053 0.00284521
+v 0.01218496 -0.01974127 0.00284521
+v 0.00926008 -0.02094115 0.00370745
+v 0.00731741 -0.02107642 0.00370745
+v 0.00343207 -0.02089855 0.00193825
+v -0.00015728 -0.02028981 0.00072394
+v -0.00015728 -0.01895469 0.00600750
+v 0.00522251 -0.02016159 0.00565201
+v -0.00015728 -0.01985943 0.00525801
+v -0.00015728 -0.02002149 0.00512256
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+v 0.00537474 -0.02095959 0.00370745
+v -0.00015728 -0.02075800 0.00193825
+v 0.00148940 -0.02082784 0.00193825
+v -0.00015728 -0.02048966 0.00394261
+v -0.00015728 -0.02058189 0.00370745
+v 0.00148940 -0.02069564 0.00370745
+v 0.00343207 -0.02082828 0.00370745
+v -0.00015728 -0.02073780 0.00220916
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+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_1.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aadcc6c96fb289660b6853005513c5eab0615ed
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_1.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.05006711 0.00318227 -0.00391066
+v 0.04824674 0.00318227 -0.00372411
+v 0.05200931 0.00318227 -0.00382293
+v 0.05395152 0.00064048 -0.00262793
+v 0.05200931 0.00069958 -0.00263070
+v 0.04812373 0.00318227 -0.00368256
+v 0.05094714 0.00085414 -0.00253188
+v 0.05202942 0.00318227 -0.00382016
+v 0.05503972 0.00077459 -0.00252819
+v 0.05777323 -0.00143137 -0.00106814
+v 0.05777323 -0.00147853 -0.00104321
+v 0.05589490 -0.00143648 -0.00117896
+v 0.04674810 0.00318227 -0.00318017
+v 0.04692552 0.00267766 -0.00264269
+v 0.04648551 0.00318227 -0.00305550
+v 0.05456304 -0.00118532 -0.00101919
+v 0.05400474 0.00318227 -0.00317740
+v 0.05777323 -0.00004938 -0.00120943
+v 0.05777323 -0.00246274 0.00019428
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+v 0.04652928 0.00318226 -0.00014739
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+v 0.05441045 0.00233043 0.00483859
+v 0.05776140 -0.00013635 0.00511378
+v 0.05777323 -0.00013578 0.00511563
+f 1 2 6
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+f 46 49 47
+f 46 51 50
+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_10.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d6f17e0be4b57b60e099155cdfd5788d6a92f19
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_10.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.00263582 0.00148722 0.00195402
+v 0.00263582 0.00166008 0.00293733
+v 0.00263582 0.00239876 0.00064429
+v 0.01119453 0.00275193 0.00103056
+v 0.01119453 0.00223584 0.00177802
+v 0.01119453 0.00231046 0.00382139
+v 0.00263582 0.00182423 0.00366024
+v 0.00263582 0.00370822 0.00035165
+v 0.01119453 0.00922586 -0.00071299
+v 0.01119453 0.00342220 0.00077936
+v 0.01119453 0.00361493 0.00451360
+v 0.00263582 0.00281657 0.00410380
+v 0.00263582 0.00870481 -0.00071299
+v 0.01119453 0.01419137 -0.00071297
+v 0.00263582 0.00370820 0.00446705
+v 0.01119453 0.00558223 0.00442664
+v 0.00263582 0.01306720 -0.00071297
+v 0.00968402 0.01411427 -0.00071297
+v 0.00926011 0.01408566 -0.00039424
+v 0.01119453 0.01417023 0.00019872
+v 0.00263582 0.00481496 0.00436474
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+v 0.00263582 0.01307466 0.00016853
+v 0.00823048 0.01402473 -0.00071297
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+v 0.00823048 0.01402473 -0.00067869
+v 0.00926011 0.01388794 0.00049034
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+v 0.00263582 0.00558223 0.00428134
+v 0.00263582 0.00745752 0.00406648
+v 0.00263582 0.00668899 0.00415600
+v 0.01119453 0.00932161 0.00398360
+v 0.00263582 0.01288439 0.00071852
+v 0.00343171 0.01319155 0.00016853
+v 0.01119453 0.01414287 0.00032099
+v 0.00747648 0.01377478 0.00001403
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+v 0.00263582 0.01141823 0.00280230
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+v 0.00926011 0.01223525 0.00289234
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+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_11.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..862e417764850e86b3a7e6a3b49c86049e967891
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_11.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+v -0.02707606 -0.00947237 0.00195188
+v -0.02676132 -0.00947237 0.00370677
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+v -0.01945575 -0.01178584 -0.00004337
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+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_12.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b494be9633e4199c9a64fb44a43d402fc6fa68a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_12.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+v -0.03535462 -0.00566526 0.00567147
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+f 23 26 25
+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_13.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05b323ddb921a96e41ef352cd5a3af8695100094
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_13.obj
@@ -0,0 +1,829 @@
+# https://github.com/mikedh/trimesh
+v 0.00263527 0.01307477 0.00016776
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_14.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4732362352723f7b020ee5f1598cf37b501df686
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_14.obj
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_15.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a560f337baac7d79d5e15415d7e527dea43d931f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_15.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_16.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed073661059d7130fca185772f3c9e99ab78396
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_16.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_17.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe1b2b32f70f45c2d26004f3e1c5ab5cbf73fcbe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_17.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_18.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aedb22062e29c7284e43af4ea73bb5a4df84ff1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_18.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_19.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf50c6ff78430a69c27b4346b06371ffc47502d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_19.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_2.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758ad55d2547196b11c6c29d5f026c9bba4cba41
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_2.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+v 0.06576948 0.00318227 -0.00197080
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+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_20.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7e2f96111688eacd84436a13049dcae7d8b759e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_20.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.03119232 -0.01621683 -0.00337190
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_21.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..707183b87889f8b22b5f86ce032873155e0bee72
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_21.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_22.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27e8613d495fd408032e0066afa8267c0f261cae
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_22.obj
@@ -0,0 +1,349 @@
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+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_23.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e920902617f859e28287f190c43dc111a7dc7ab
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_23.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+v 0.01031866 -0.00838339 0.00112138
+v 0.00920466 -0.00767134 0.00147456
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+v 0.00418599 -0.00642986 -0.00273706
+v 0.00418599 -0.00757108 -0.00326120
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+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_24.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3991d4296720ce23751345b3b399c0e40b6ebb2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_24.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.04423754 -0.00937231 -0.00514090
+v 0.04432773 -0.00985075 -0.00338791
+v 0.04568052 -0.00991617 -0.00337138
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+v 0.05506914 -0.01403497 -0.00444049
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+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_25.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8509ee834287837da090b864cc76c75ec1711bba
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_25.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_26.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bc5ca3b4feef2de0fc85f018d17f4427eeab72c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_26.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.03889012 -0.01194189 -0.00074596
+v 0.03889012 -0.01249188 -0.00079354
+v 0.03889012 -0.00965248 -0.00190629
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+v 0.03889012 -0.00945791 -0.00331885
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+v 0.03693877 -0.00830223 -0.00226951
+v 0.03636076 -0.00951597 -0.00198916
+v 0.03640225 -0.01112984 -0.00178233
+v 0.03407374 -0.01354870 -0.00267745
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+v 0.03407374 -0.01493975 -0.00369580
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+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_27.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29d78b7e2427a7310c585ea527030ba16c617eda
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_27.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.04035099 -0.01633667 -0.00514041
+v 0.03909643 -0.01619256 -0.00514041
+v 0.04035099 -0.01610637 -0.00624561
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+
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_28.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..603144d14e8891f0756d9ec056e7941974eb17a3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_28.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.01509014 -0.00941505 0.00194919
+v 0.01385853 -0.00804951 0.00127652
+v 0.01377230 -0.00941505 0.00137970
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_3.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fc14a1ea9183f39d59edd441804bf82bfa3c915
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_4.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d6e3dc29d9432578560309edfb5e0c3c54357de
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_4.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_5.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce164d3e3fa81257a808283e971057d658a8326b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_5.obj
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_6.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98014d6067abf81956ce9779bb883cae2aae1c04
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_6.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_7.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11a83ab68342b379382c905a903290369124c1c0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_7.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_8.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0f561349369393f1551eb512d65fe5cee918560
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_8.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_9.obj b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f00e0449c7bcce67d61635203041b56407ef3f0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_collision_9.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f73a0f8e3a2951e60cab86b463aa7d5ccc71fec3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mjcf/mesh/bottle_opener_017_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/textures/material_0.png b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/textures/material_0.png
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+size 9585940
diff --git a/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/video.mp4 b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/video.mp4
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