diff --git a/.gitattributes b/.gitattributes
index 5a2f4db38f33bb8325b3226fe97fb20110e7199d..04225ccedc50a5a98f80a6c3b875a6824634aa91 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3863,7 +3863,5 @@ dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/garlic_press_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/mesh/garlic_press_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/peeler_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/0b6b5b1b65ab5647a1c8cf368244d8e4/mesh/peeler_023.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/0b6b5b1b65ab5647a1c8cf368244d8e4/peeler_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/garlic_press_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/garlic_press_010.urdf b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/garlic_press_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c850414136fad74d41c1057ea28396ea306d4f78
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/garlic_press_010.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="garlic_press_010">
+   <link name="garlic_press_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_press_010.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/garlic_press_010_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>23b4b76d0b19568a814d766277f49b3f</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>garlic_press</category>
+         <name>ergonomic garlic press</name>
+         <color>unknown</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>teal garlic press with ergonomic handle and perforated chamber</description>
+         <min_height>0.0368</min_height>
+         <max_height>0.0368</max_height>
+         <real_height>0.0368</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428003033</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>7</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/garlic_press_010.usd b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/garlic_press_010.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/garlic_press_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2f03a32409e22b62f1a45bf40a67f7e39ee7253abf757e75e782759b0432702
+size 4981368
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010.glb b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8026b0c7b2c498d81bb5d55ae8b79bf5b8c7df9f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69bc8efb7871d28cc1ae61219ca86b9e30ad704c016369b266ea68178c61e4b2
+size 14055704
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010.mtl b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0dff4ddc782bcd84c96dd3a146c96f0f29f4dc64
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010.mtl
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+newmtl garlic_press_010_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/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29ff00b689988bf33dbabf55d0d494f5bdd16eff
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010.obj
@@ -0,0 +1,110576 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_press_010_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010_collision.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f504016a3ea84afbe671907044dbd27d9d1f4e5a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010_collision.obj
@@ -0,0 +1,10233 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/material.mtl
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+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/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/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/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/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/garlic_press_010.xml b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/garlic_press_010.xml
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+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/garlic_press_010.xml
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4565d59371ec61cbbe9358e3d6c26389492d6762
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010.obj
@@ -0,0 +1,110576 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_press_010_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01b2a043bad79f39be11f1253136bbff16cbdada
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision.obj
@@ -0,0 +1,10233 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64bda294a6a484495485a3298e94dfe9e20bd289
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_0.obj
@@ -0,0 +1,592 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d50936f07d4c8946e70fc0b34c0f57ecc04a19b8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad37930fdfd37cf2c0e20373c6a73c2ff182d845
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_10.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7e65a125857d63e84b6515598c8c0d3a546e9f2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_11.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b9614f8c1059c629c28fbccd39e8ac6d97ed021
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_12.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec84663c182e27595ded010617878eab83d14152
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_13.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67370311c432013a69b7e959b39c4440e8e37667
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_14.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1293d93b4d676abe26aa999cc596026bdd5bac6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_15.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_16.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9894838a15cef97d92e92f00e9cb7cfd5ecbd042
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_16.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_17.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31464d53c5c0e77c918d882e46e9600e150479d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_17.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_18.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63351ff9a7179e16042691fc0967f6da1aaa5da8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_18.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_19.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d11f217b7eeb024fdb65ab35f794ad38e4e5ab6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_19.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb2a8cb6c08c2e5478af3445f061eef14283af50
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_2.obj
@@ -0,0 +1,667 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_20.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc436a8763384af17fd938ee294f475f7685e7c6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_20.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_21.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d073e7723f3e4c981405fc39ab6e7b5eb2938ea8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_21.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_22.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32964ae6a65146debbb62f4be0fa47a0f802b328
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_22.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_23.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f19a573dde59f2180b043bd84db26a438cf9b85
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_23.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_24.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60ecf402caa659ee8caecea379153a4cf2a6f11d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_24.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_25.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3ca0a7acac382c26f7868fd73b47f9244a3ffbe
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_25.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_26.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d271018710551d31027dfbdbba95732a647aa33f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_26.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_27.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8877772ee734a5c5e246e4093c2e860ea2a71733
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_27.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_28.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cbcc0cee9356c89bd947bffd0ab72fce5f5af1d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_28.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
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+v -0.01467563 -0.00061062 0.00244158
+v -0.01863110 -0.00061060 -0.00220100
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_29.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98f9a1b0a40338b962234ee873285a9dea9f5ab9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_29.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea990f399479836e2c04b516a67e278d6d649dbf
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_3.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_30.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f5896885ea8ab373311cd552582e362712bad8b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_30.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01887901 -0.00061063 0.00427228
+v -0.02018892 -0.00061063 0.00673211
+v -0.01780572 -0.00702243 0.00427225
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+v -0.02491940 -0.00702620 0.00427225
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_31.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10aadb7f35121fd5c8458f17f20f285041d7f780
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_31.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00956967 0.00724767 -0.00620432
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_32.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bdfbd8af777b60959fafac9d117fffb735f25b8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_32.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01880064 0.00477167 0.00934143
+v -0.01880064 0.00477167 0.01361197
+v -0.01880064 0.00577167 0.00934143
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+v -0.01780064 0.00477167 0.01361197
+v -0.01780064 0.00577167 0.00934143
+v -0.01780064 0.00577167 0.01361197
+f 2 4 1
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+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_33.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c09f201035dda4647f4191eedc3fcdda219626ca
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_33.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+f 54 64 65
+f 54 65 55
+f 55 65 56
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+f 57 61 58
+f 58 61 66
+f 59 66 60
+f 60 66 61
+f 61 65 62
+f 62 65 67
+f 64 67 65
+
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_34.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99c808852c29f3b8ae3770214e84a336be7558e3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_34.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.02478946 0.00126545 0.01497658
+v -0.02478946 -0.00040738 0.01496091
+v -0.02478946 0.00146609 0.01497450
+v -0.02642182 0.00126545 0.01515105
+v -0.02783913 0.00126545 0.01528792
+v -0.02658480 -0.00004778 0.01513434
+v -0.02478946 -0.00061066 0.01495150
+v -0.02645652 0.00146609 0.01514480
+v -0.02478946 0.00146613 0.00462716
+v -0.02764454 0.00146609 0.01525972
+v -0.02784223 0.00146609 0.01527226
+v -0.02954338 0.00146609 0.01528688
+v -0.02954338 0.00126545 0.01529941
+v -0.02978383 -0.00061067 0.01523150
+v -0.02776724 -0.00050903 0.01517926
+v -0.02766870 -0.00061067 0.01516046
+v -0.02478946 -0.00061063 0.00462715
+v -0.02614170 0.00146613 0.00462716
+v -0.03111934 0.00146609 0.01525032
+v -0.03111934 0.00126545 0.01525971
+v -0.03111934 -0.00025452 0.01524613
+v -0.03111934 -0.00061067 0.01523464
+v -0.02788561 -0.00061067 0.01517508
+v -0.03111934 -0.00061063 0.00462715
+v -0.03111934 -0.00035632 0.00462715
+v -0.03111934 0.00146612 0.00937666
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+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 3 9 18
+f 3 18 26
+f 3 26 19
+f 3 19 12
+f 3 12 11
+f 3 11 10
+f 3 10 8
+f 4 8 10
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+f 5 14 15
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+f 9 24 25
+f 9 25 18
+f 12 19 13
+f 13 20 21
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+f 13 22 14
+f 13 19 20
+f 14 23 15
+f 15 23 16
+f 18 25 26
+f 19 26 25
+f 19 25 24
+f 19 24 22
+f 19 22 21
+f 19 21 20
+
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_35.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3c35d3bb1867becf176a2788e35b4834c2aa3df
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_35.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.02943554 -0.00061061 -0.00073040
+v -0.03111934 -0.00061062 0.00291838
+v -0.02768296 0.00131374 -0.00073040
+v -0.02478946 -0.00061061 -0.00073040
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+v -0.02478946 0.00131374 -0.00073040
+v -0.02478946 -0.00061063 0.00462611
+v -0.02725659 0.00131374 0.00088137
+v -0.02607539 0.00131372 0.00462611
+v -0.02478946 0.00131372 0.00462611
+f 1 2 3
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+f 1 9 4
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+f 1 10 5
+f 1 5 2
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+f 2 7 6
+f 2 6 3
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+f 4 13 10
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+f 5 13 12
+f 5 12 7
+f 7 11 8
+f 7 12 11
+
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_36.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a809c7e0292c9dfba99445a04ddd1d6c088f6a3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_36.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.03111934 0.00261108 0.00462612
+v -0.03111934 0.00261397 0.00435294
+v -0.02768296 0.00131374 -0.00073040
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+v -0.02725659 0.00131374 0.00088137
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+v -0.02478946 0.00131374 -0.00073040
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+v -0.03111934 0.00620340 -0.00073038
+f 1 2 3
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+f 3 5 4
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+f 3 13 12
+f 3 12 9
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+f 9 12 11
+f 9 11 10
+
diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc53e8dc9e8507a36596d75f7039875c32a7c718
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_4.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
+v 0.05962792 0.00620916 -0.00325789
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+v 0.06044068 0.00620916 -0.00325789
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3d3f49ce2fe88eb2faba291d3ac5f0177b61b89
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_5.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d9fba74a1594a441c5fec931be80b8f8254628f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_6.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b1e2a3eaf59b6f39eb99619feb6b5728e6c6fbd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_7.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44f5e9366938ecb11a701a692f2173bc78d76856
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mjcf/mesh/garlic_press_010_collision_8.obj
@@ -0,0 +1,352 @@
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