diff --git a/.gitattributes b/.gitattributes
index 3efc8be0f8d216efdfeb6691c2d6d5b9ac4be6c1..1ddd25ce213661d10251f045e70333b5b5fc6f13 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/kitchen_supplies/tableware/f9ed22f2ca4f5fff96d053e4e5b74143/mjcf/mesh/chopsticks_007.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/bottle_opener_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/bottle_opener_020.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/bottle_opener_020.urdf b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/bottle_opener_020.urdf
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diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/bottle_opener_020_collision.obj b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/bottle_opener_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..421c958237bf9f154ecd2e798b1b96eb4b2fc0e9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/bottle_opener_020_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/bottle_opener_020_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/bottle_opener_020_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d8b2fbe7ce50feaaaaf06c2f727638bc7ae476a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/bottle_opener_020_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:655954bbb3fff30c7b0f51945df83db79433b4efafe861cc7a87be07af18838d
+size 9758250
diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/material.mtl b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..020f9bcf46c3cfe79aa333876bc8155e6363f35b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_020_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_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/material_0.png b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d8b2fbe7ce50feaaaaf06c2f727638bc7ae476a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:655954bbb3fff30c7b0f51945df83db79433b4efafe861cc7a87be07af18838d
+size 9758250
diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/bottle_opener_020.xml b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/bottle_opener_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..155c740dfc23e494d770fe1af919d3048bebacb4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/bottle_opener_020.xml
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020.obj b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cd0242cfd2ffce413565d4e5f69b3bd4e4641c0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision.obj b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b13ee00eecf32576c267228e6071efb3be624016
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision.obj
@@ -0,0 +1,4386 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_0.obj b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0a5b32a024097a2e0c37c646e5890286762038f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_1.obj b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcab2428b73d71db743115ba4b11f1cc15bef906
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_2.obj b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16bcdb7ee39ce1a8e68a64e3c13d690a11049c65
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_3.obj b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5df58c0436d21bb0be0e7c98b3f6d2bdb2bcd58b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_4.obj b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff08ce7a9ed12c3f851a9f6f557a8767e3a16d35
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_4.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_5.obj b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaa836ff332a9a12bdbb72bb52def4d387e1d694
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_5.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_6.obj b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce25b09984d18014f6b60ceab63dcce24535658b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2dd8a3f592e35394b2914a01cae2a766/mjcf/mesh/bottle_opener_020_collision_6.obj
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