diff --git a/.gitattributes b/.gitattributes
index 52371c1a27c3de097869fee85fbc204ceba5cdf3..5edec6d9095b3cc9c88a327335da18a614ebe7d7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4485,7 +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
-dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/spice_jar_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/spice_jar_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/bottle_opener_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/bottle_opener_011.urdf b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/bottle_opener_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6c2950435dd3784d5a0962a20c681218380b8364
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/bottle_opener_011.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_011">
+   <link name="bottle_opener_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>2a7ccf9593fd5d3ab750db4efc8a19f9</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>wing corkscrew</name>
+         <color>brown,silver</color>
+         <shape>T-shape</shape>
+         <material>wood</material>
+         <description>wooden handled wing corkscrew with central metal spiral</description>
+         <min_height>0.0179</min_height>
+         <max_height>0.0179</max_height>
+         <real_height>0.0179</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185708</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.046742 -0.041055 -0.008839</min>
+            <max>0.047956 0.041161 0.009013</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/2a7ccf9593fd5d3ab750db4efc8a19f9/bottle_opener_011.usd b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/bottle_opener_011.usd
new file mode 100644
index 0000000000000000000000000000000000000000..81d032843d1699d95a541374f705428a5e6a47a3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/bottle_opener_011.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e8a7fd81ba69ffb38ff265d9965450720dfac89ab4e069a2075cafee5bc2e49
+size 5005044
diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011.glb b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c81a75a002eb9f92c8710b95630ab6aab31150f5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d6211c3bea344f3f6bf51e2cb094c401729bb5ea95c6367a060d13e8c59396d
+size 13551964
diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011.mtl b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..08772c7208f5817516959ef12d82a54bd2898606
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011.mtl
@@ -0,0 +1,6 @@
+newmtl bottle_opener_011_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/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b3e28c61229b7398170ec71f3366ef92f68d3f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011.obj
@@ -0,0 +1,111952 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bottle_opener_011_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011_collision.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff141074a66e01a2db7e5bbd4f465d942424342b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011_collision.obj
@@ -0,0 +1,13041 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5fccf4479a79198b8aa9208a9bbde6d0a742deb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2af8bf9f0f43d247634bc50013e57cd7870ab506ff1ba75ba715b4148f2c6ea9
+size 10054366
diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/material.mtl b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8c929acfeedfe3a3ee2214977e006715a14867a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_011_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_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/material_0.png b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5fccf4479a79198b8aa9208a9bbde6d0a742deb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2af8bf9f0f43d247634bc50013e57cd7870ab506ff1ba75ba715b4148f2c6ea9
+size 10054366
diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/bottle_opener_011.xml b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/bottle_opener_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3d16dc5a9468d5fad7f5b5294b704dcb94f1b748
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/bottle_opener_011.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_011">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_011_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_011_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_011_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_011_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_011_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_011_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_011_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_011_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_011_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_011_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_011_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bottle_opener_011_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bottle_opener_011_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bottle_opener_011_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bottle_opener_011_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/bottle_opener_011_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/bottle_opener_011_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/bottle_opener_011_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/bottle_opener_011_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/bottle_opener_011_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/bottle_opener_011_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/bottle_opener_011_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bottle_opener_011_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_011">
+      <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/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..419597f0b2d517ab294536d5a3e7abad9ff264ca
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011.obj
@@ -0,0 +1,111952 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bottle_opener_011_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebca55828a366f39f3a9ff1c79e534b554d862b3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision.obj
@@ -0,0 +1,13041 @@
+# https://github.com/mikedh/trimesh
+
+o bottle_opener_011_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_0.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f498993d7ae97eeabe020b7747751dbd90af4d0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_0.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_1.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d1885bb403c716c78cd1188ebc0fe06dccda201
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_1.obj
@@ -0,0 +1,796 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_10.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0647c6d7333a9035a2c7f6a5d374bc756bae7a7f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_10.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_11.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78fdf538703ec0da729b71b665097088116c7de8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_11.obj
@@ -0,0 +1,811 @@
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_12.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5b7c5865e6fcd963d79acaa82447b0e583a9561
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_12.obj
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_13.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ec96f498886f74de335ec1ca10933b2b85da44c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_13.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_14.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab09d1b9cbad676b4c1d28735c16032ae2c9bec2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_14.obj
@@ -0,0 +1,736 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_15.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..826261d18031655485af9632b9dbee06e416c2f0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_15.obj
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_16.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e256b9f7b63f0880d10487cdd411e9a26255229
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_16.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_17.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..034d930429c501478b60b7b2206ffd173815fff5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_17.obj
@@ -0,0 +1,928 @@
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_18.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce084fe50aacd5584770b93a4467e09d703425a7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_18.obj
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_19.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99616efbd45de55d4064c32ec6eea408df348fc2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_19.obj
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_2.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64fb61d5888e8994d82914a894015f82fc6989ee
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_20.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2116bc5c5ad369ee8be401aeebed7c406049ffa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_20.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_21.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b5d7a5ce7c7cdd4820dc152cb2f34b6f512dc5e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_21.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.01545354 0.00239007 0.00423690
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+
diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_3.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e80b09949ca9edced17474e8b6f8da91e3b8381
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_3.obj
@@ -0,0 +1,844 @@
+# https://github.com/mikedh/trimesh
+v 0.03723756 0.04136366 -0.00354676
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_4.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7222590d31b9fa3c334f07ca8e5984e52c1f4175
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_4.obj
@@ -0,0 +1,829 @@
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_5.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71e271170c91e5a382f556dbf77924dc599a6aea
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_5.obj
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_6.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c027c5f16aecdaaac51f57f27bd5c9c2ab145422
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_6.obj
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_7.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c13034324cf097d3fcaff04fbd78400cf560fa5b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_7.obj
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diff --git a/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_8.obj b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fa64d979af35796d3d7b69c656cd244d982a307
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mjcf/mesh/bottle_opener_011_collision_8.obj
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