diff --git a/.gitattributes b/.gitattributes
index df43bab369096bdcf87c66d60b2b611d5500ba19..f3ab5cb63cdd574268affd5f7fb398e262bf44d1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4530,6 +4530,12 @@ dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/6f7beae1fb2e5
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 dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
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-dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/mesh/wooden_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/mesh/spatula_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/spatula_025.usd filter=lfs diff=lfs merge=lfs -text
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+dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/bottle_opener_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/bottle_opener_001.urdf b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/bottle_opener_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6a811118c97828d224c0d9e4bde68f6f5058ae59
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/bottle_opener_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_001">
+   <link name="bottle_opener_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</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>63d8314f1ec85754a7015773519b820c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>wing corkscrew</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>metal wing corkscrew with spiral and dual levers</description>
+         <min_height>0.1549</min_height>
+         <max_height>0.1549</max_height>
+         <real_height>0.1549</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414152105</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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>NO: {"summary":"Functional parts are mislabeled across views; handle, arms, and body are inconsistently split.","merge_groups":[{"colors":["Red","Magenta"],"target_part":"top handle and central shaft","reason":"These form one continuous operating assembly."},{"colors":["Green","Blue"],"target_part":"lever arms","reason":"Both are same-function symmetric handles."}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/bottle_opener_001.usd b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/bottle_opener_001.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/bottle_opener_001.usd
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.glb b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.glb
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.glb
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+version https://git-lfs.github.com/spec/v1
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+size 71331264
diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.mtl b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3ea6d42ae3db5c57224d2e5369d0d7d917a27747
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+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.obj
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001.obj
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/bottle_opener_001_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/material.mtl b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/material.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/material_0.png b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/bottle_opener_001.xml b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/bottle_opener_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..303deabad308ad61afcc0edc5e2e0a2bd43f3635
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/bottle_opener_001.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_001">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_001_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_001_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_001_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bottle_opener_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bottle_opener_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bottle_opener_001_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bottle_opener_001_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/bottle_opener_001_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/bottle_opener_001_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/bottle_opener_001_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/bottle_opener_001_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/bottle_opener_001_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/bottle_opener_001_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/bottle_opener_001_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bottle_opener_001_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_001">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9700edd736959ae9435d3b0c0cc2b01f92b2a1b9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001.obj
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c02898b8c79724a7bc0298e82d842354eb741bb4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision.obj
@@ -0,0 +1,9489 @@
+# https://github.com/mikedh/trimesh
+
+o bottle_opener_001_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_0.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c15dab23ff397eea61162977eef56370648fad7a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_0.obj
@@ -0,0 +1,832 @@
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_1.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c971c64cab9283efa39ae2a47eb25f9ed0028eec
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_1.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_10.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4c7bc3e63dbe98af1cb0e27a31d37bfc69580ed
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_10.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_11.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98eafdfdc5b142baac5e42e2238614914f8a1a49
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_11.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_12.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0db0759efef65af9cc0b226d05890683eb7e1fcd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_12.obj
@@ -0,0 +1,763 @@
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_13.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab00534b1b91f1b3707e461fb857251a2261d50b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_13.obj
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_14.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3301d12a790aaa88e4250f400b8d549de5cd11b7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_14.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_15.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5d89da30e99beac674c2f2a742d093d86a8052f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_15.obj
@@ -0,0 +1,835 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_16.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66d81295be747abac1ceb24d6345d709fc86a76b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_16.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_17.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3cc5eef263cf5d2fe6a5d7f043191b643d0cafe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_17.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_18.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cea634bc5c7c57a553999e755873f8072e787121
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_18.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v 0.00416494 0.00598149 0.07198329
+v 0.00160957 0.00583830 0.07453906
+v 0.00416494 0.00581600 0.07453906
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+v 0.00927965 0.00587234 0.07198329
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+
diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_19.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e643a338ea3d726d67d817543920ac8caa4ac7e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_19.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01162681 -0.00637907 -0.02795870
+v 0.00946363 -0.00601803 -0.02795870
+v 0.01355675 -0.00546959 -0.02795870
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+
diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_2.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e44037d5fef635d3c4e01591b9b70983c1a1c4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_2.obj
@@ -0,0 +1,604 @@
+# https://github.com/mikedh/trimesh
+v 0.05273979 0.01334611 -0.02773561
+v 0.05278208 0.01283697 -0.02517421
+v 0.05505089 0.01272210 -0.02773561
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_20.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7ff049bb9a880dd8edd3b3ccce1605944b80e54
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_20.obj
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_21.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69c296c217558955ecea8c07aa4817cb4ea5fb6e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_21.obj
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_3.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e129205c3abdf0c5ef81a52135b1b57938dff2a4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_3.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_4.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ff28eee0d1ec7620f9853e52838cd90a3bac9c5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_4.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_5.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59ada2d2ec9298f2688e774d22d3060c398502ae
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_5.obj
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diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_6.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5c2fd37b33c6a3638de66c1bd86291f5816bf32
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_6.obj
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+
diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_7.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80cfb527ec1f6c5486dada84aad5a4be316683e9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_7.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00161102 0.00555167 -0.02796070
+v 0.00112271 0.00550352 -0.02796070
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+
diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_8.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fb40bec09505d8a6968a323e7a3d0af605292fe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_8.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01102165 -0.00639351 -0.02795870
+v -0.01329477 -0.00553177 -0.02795870
+v -0.00917899 -0.00587246 -0.02795870
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+
diff --git a/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_9.obj b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..558debb8809ae9bf6874311f21f688d82b000752
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bottle_opener_001_collision_9.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.04128980 -0.00108626 -0.00714970
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