diff --git a/.gitattributes b/.gitattributes
index 19871bf8561d198a40b07f826f1968e0b92e036c..c14b920929fac5cd87f19915aa831e75ece6e998 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4548,3 +4548,5 @@ dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_g
 dataset/kitchen_supplies/utensils/801c1d9277c95aa9b76ca84e774f2bb8/801c1d9277c95aa9b76ca84e774f2bb8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/801c1d9277c95aa9b76ca84e774f2bb8/mesh/plate.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/801c1d9277c95aa9b76ca84e774f2bb8/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/bottle_opener_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/bottle_opener_016.urdf b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/bottle_opener_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..276be0f8ef26c2d332825412abcf910d496295ea
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/bottle_opener_016.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_016">
+   <link name="bottle_opener_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>8e439fca2e6d5b9ab7585bc7e9940b1d</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>waiter corkscrew</name>
+         <color>black,gray</color>
+         <shape>irregular</shape>
+         <material>metal</material>
+         <description>folding metal bottle opener with corkscrew and curved black handle</description>
+         <min_height>0.0196</min_height>
+         <max_height>0.0196</max_height>
+         <real_height>0.0196</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185850</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.044230 -0.055608 -0.009832</min>
+            <max>0.067306 0.057049 0.009792</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/bottle_opener_016.usd b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/bottle_opener_016.usd
new file mode 100644
index 0000000000000000000000000000000000000000..98c5f29c9c64a27c021ba830c5e47bba0e982ff8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/bottle_opener_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:579fa4b03e015905db903b8f5de529f55af933d9e281c942ec9543cf55f8b6e3
+size 4986489
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016.glb b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3597b05dcbdf079adcc7895b809da2f469a38cbe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9514013d039b117d8c4cad3aa96deba2e8c7362640e78881af1119220664d0a9
+size 14001456
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016.mtl b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5108734962567d0ef394d26d026b996a07dd8703
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016.mtl
@@ -0,0 +1,6 @@
+newmtl bottle_opener_016_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/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69849b13872d2907b17a3ba9c741c245de5058f2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bottle_opener_016_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016_collision.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..215ce4f525fdec5d9432dd05dba68bb0674bbccb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/material.mtl b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/material.mtl
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+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/material.mtl
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/material_0.png b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/bottle_opener_016.xml b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/bottle_opener_016.xml
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index 0000000000000000000000000000000000000000..b7fa682a82eb73e855bb4dc057712675526b1450
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+    <mesh name="collision_mesh_0_25" file="mesh/bottle_opener_016_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/bottle_opener_016_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/bottle_opener_016_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/bottle_opener_016_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/bottle_opener_016_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/bottle_opener_016_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/bottle_opener_016_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/bottle_opener_016_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_016">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e1e83df82657d28ede15fcedda99667f401373e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016.obj
@@ -0,0 +1,115086 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bottle_opener_016_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6541cdd8f21409d4da7b4eecdae8a4705eda5f57
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision.obj
@@ -0,0 +1,11873 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_0.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2248dfd7dd28ea3c3725e4ad05b23ad8a116c3cc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_1.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..243ad3de11e123f8df32617cd741a98912aeebbc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_10.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dd4d1207813dd307077d80a2cc1c59b0dfe6092
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_10.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_11.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d45b3647e7fe6ab97537a59490c4d78c753952
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_11.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_12.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b1f73d1bfc93d8328c419d3814164ec5bc1bb4f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_12.obj
@@ -0,0 +1,136 @@
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_13.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18cfad9f0fd1a02b4079ecbcf5be45c303d4c062
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_13.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_14.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f1aacbecb50c00eb783665793f2483cd4220e0b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_14.obj
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_15.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c57c7cf9c2703a37dcb71b45445fd5b894625d25
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_15.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_16.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea0397f3602cefed459bb661b61eefc192a89101
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_16.obj
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_17.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8375243ae07c51b549f5406eef3da8bd0e9d70c7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_17.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_18.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2003633d47aaa06f47f0fd72fc92585d1d7a5c84
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_18.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_19.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..867b47796b0567c47c99f87217af8d21f188c4e4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_19.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_2.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..251d85516f83e982b7f391e0c2da5fbd3706ecbf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_20.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9aca751514875da5abdcf4e1d758bbed29e80e5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_20.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.04815418 -0.01690195 0.00387721
+v 0.04815418 -0.01505058 0.00379464
+v 0.04503290 -0.02090754 0.00369369
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+v 0.04529168 -0.02379316 0.00226235
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+v 0.04815418 -0.02140693 -0.00216833
+v 0.04815418 -0.01420375 0.00333589
+v 0.04679060 -0.01424946 0.00168986
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+v 0.04503290 -0.02386401 0.00237062
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+v 0.04588715 -0.02398629 0.00070899
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+
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_21.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1abcc64553bc18098a6fc637d7434b76cd8a2112
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_21.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.03096651 -0.01876833 0.00611099
+v 0.02937686 -0.01876833 0.00562782
+v 0.02970567 -0.02024579 0.00544429
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+
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_22.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13819839fc755f7d02c049992ab6f1430c5c6605
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_22.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.02580203 -0.02335583 -0.00223173
+v 0.02580203 -0.02306429 -0.00081338
+v 0.02580203 -0.02327822 -0.00262099
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+
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_23.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fb846dcaddac3cfde06cdf6a494a7d634551c29
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_23.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01086231 -0.01912561 -0.00262118
+v 0.01086231 -0.01861123 -0.00381946
+v 0.01336253 -0.01787784 -0.00352418
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+v 0.01545376 -0.01761691 0.00007640
+v 0.01545376 -0.01692046 0.00418027
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+v 0.01545376 -0.01558947 0.00425613
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+
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_24.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a99cb75828bdc552aa81fe9f8dd0379a3fd8a07a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_24.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.05840889 -0.02309564 -0.00253807
+v 0.05840889 -0.02308949 -0.00188481
+v 0.05840889 -0.02290706 -0.00299938
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+
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_25.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f746e29a562647eed5990ae9bb5d8624879370
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_25.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.01945273 -0.01876648 0.00605521
+v 0.01786136 -0.01875494 0.00566396
+v 0.01945273 -0.02062366 0.00571768
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+
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_26.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d108c3102e39bd2af084978b9bcd2a7bad92815
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_26.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_27.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2d165c82af1b5c26d9073a091b82894b4b3ee32
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_27.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.02166444 -0.02477752 0.00084960
+v 0.02015966 -0.02394516 0.00084960
+v 0.02153085 -0.02420352 -0.00096996
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+
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_28.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37144fe8aacc96987b1f0658838640b9fbed9d63
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_28.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.02282288 -0.02062359 0.00468189
+v 0.02282288 -0.02247468 0.00420145
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_29.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c1c20bb4496aa5d81bf71dc39b2d9424750a6a3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_29.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_3.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ee76594a23739bcc80948384f1fae1f501894f8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_3.obj
@@ -0,0 +1,1684 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_30.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c53d8525df7ed9a38662b81cc760127c22bde387
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_30.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_31.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e9f16c692d2e6cef21c9ce419c30e00ddfb9e55
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_31.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_32.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2deb557b35777ebdd11e2437752151e98d351a60
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_32.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_4.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..438114296971d33d0fd91a2eb4b991098c6f974b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_4.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_5.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8de312f523c4153d051f08f732616d2354913df
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_5.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_6.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f6bb812c76214baf3532d45ad74a36f71709544
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_6.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_7.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68704cd19fe9cd24a3433e36f5ffd518518eef79
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_7.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_8.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f34ae741f7c06d64786e6c92cfaaf28a990f30bf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_8.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_9.obj b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80cc0a0ace0f32c3feec9a3da22c2efe2e0f3356
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mjcf/mesh/bottle_opener_016_collision_9.obj
@@ -0,0 +1,556 @@
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