diff --git a/.gitattributes b/.gitattributes
index 0f5719d6dd59b16bcd00bdf619a1a64b5bb3002d..ad87531f87f4406da60ae25b61ceed8adaefda16 100644
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dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/bottle_opener_004.urdf b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/bottle_opener_004.urdf
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mesh/bottle_opener_004_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mesh/bottle_opener_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..102c2d12c56e10928911bb78713b7f8a0ee726ce
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mesh/bottle_opener_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10450483
diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mesh/material.mtl b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ecc359aa49f3e4564178020005587cdafb43fd1c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_004_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mesh/material_0.png b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mesh/material_0.png
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/bottle_opener_004.xml b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/bottle_opener_004.xml
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_0.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f569d3f16103e792bc935c87dda6ab464fee80ee
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_1.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db628d1147eb13b06c706cbb61f61745422df130
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_1.obj
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+
diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_10.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa0de5b1a5099b98ef039ea13b9a99217faf985c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_10.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.00724437 -0.02654502 -0.00560287
+v -0.00928914 -0.02654503 -0.00321886
+v -0.00912329 -0.02654902 -0.00321886
+v -0.00651987 -0.04694907 -0.00321893
+v -0.00775502 -0.04694906 -0.00559711
+v -0.00801689 -0.04467795 -0.00560293
+v -0.02861297 -0.02654502 -0.00560287
+v -0.02881374 -0.02654503 -0.00321886
+v -0.02625832 -0.04694907 -0.00321893
+v -0.02416555 -0.04694906 -0.00560294
+v -0.02864789 -0.02654701 -0.00560287
+v -0.02864789 -0.02654502 -0.00556577
+v -0.02864353 -0.02657697 -0.00560287
+v -0.02531341 -0.04694906 -0.00560294
+f 1 2 3
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+f 4 10 5
+f 5 10 6
+f 7 11 12
+f 8 12 11
+f 8 11 9
+f 9 11 13
+f 9 13 14
+
diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_11.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fad390c51f94f532987854a70a3ae59ea838033
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_11.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01308147 -0.00763730 -0.00503487
+v 0.01308147 -0.00785583 -0.00496298
+v 0.01080865 -0.00773061 -0.00485924
+v 0.01080865 -0.00763730 -0.00488697
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+v 0.01784311 -0.01008776 0.00487200
+v 0.01535304 -0.00763734 0.00489358
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+
diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_12.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4213ea0becf5e5df4dcb8977e2e783c8d974fac5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_12.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
+v -0.03250858 0.00302463 -0.00556682
+v -0.03248565 0.00530254 -0.00556681
+v -0.03248565 0.00530255 -0.00774602
+v -0.03249998 0.00302464 -0.00774603
+v -0.03246844 0.00075212 -0.00556683
+v -0.03232222 -0.00152582 -0.00068651
+v -0.03233083 -0.00097933 -0.00068650
+v -0.03235376 0.00075210 -0.00068650
+v -0.03228209 0.00302461 -0.00068649
+v -0.03130727 0.01834240 -0.00437033
+v -0.03150511 0.01668672 -0.00556677
+v -0.03124993 0.01560999 -0.00884627
+v -0.03183482 0.00530256 -0.00992371
+v -0.03190076 0.00302465 -0.00992372
+v -0.03128434 0.01815304 -0.00688222
+v -0.03134455 0.01649735 -0.00766358
+v -0.03186349 0.00075214 -0.00992373
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+v -0.03234229 -0.00152580 -0.00556684
+v -0.03220467 -0.00380374 -0.00068651
+v -0.03208999 0.00530252 -0.00068648
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+v -0.02900214 0.02477577 -0.00886150
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_13.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82e016866ebca900e0b6413617c143958d521332
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_13.obj
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_14.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f10529a82cd01a18ff72878053a66ef855b559c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_14.obj
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+
diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_15.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24673c6ff35e697b06a9ebbfc8c5944558e8ab62
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_15.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.04286826 -0.03568467 -0.00120764
+v 0.04217506 -0.03358406 -0.00120763
+v 0.04193076 -0.03400716 0.00045935
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+v 0.04193939 -0.03782925 0.00105375
+v 0.04172876 -0.03929768 0.00038179
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+v 0.04127469 -0.03266648 -0.00338596
+v 0.03932287 -0.03223758 -0.00008154
+v 0.04019044 -0.03331194 0.00065872
+v 0.04035532 -0.03516782 0.00191587
+v 0.04151640 -0.03669931 0.00208478
+v 0.04151640 -0.03698138 0.00208477
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+v 0.03404924 -0.03340815 -0.00720080
+v 0.03404924 -0.03232715 -0.00693497
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+
diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_16.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b1e3efc745d1ea937039e3ab09968378d9c459c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_16.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.02650901 -0.02430865 -0.00057115
+v 0.02650901 -0.02243085 -0.00117555
+v 0.02593780 -0.02066576 0.00299315
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+
diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_17.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11f4e7cc4bbad9f7b8bfcd397d8772583d25a4b6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_17.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.00382839 0.00981868 0.00679657
+v 0.00531577 0.01054269 0.00650978
+v 0.00531577 0.01140212 0.00650978
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+v 0.00382839 0.01447872 0.00605800
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_18.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616ba0238636549418ff7b966b13f6bf39bf89d3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_18.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_19.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..307e27d6e8b4292198e8a6e203a5818ef3b0ee05
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_19.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_2.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc322297c1eef5492b5e00eb83b1cb5557ab6378
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_2.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_20.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bfd9e4fdac8079cddbd324b28a2d7667c201de9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_20.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_21.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f65459f1ccdb87de1343c32c1b079a5a03ebe9e7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_21.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.01958077 -0.01070111 0.00184457
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_22.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac2c4fcda56495c8430df8de17793bea34fe6b16
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_22.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_23.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f87c95210b2d9c486046a810607c6901d163001
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_23.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_3.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33c48772fc87a7a51e657c102bf1b82f45ba6abe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_3.obj
@@ -0,0 +1,880 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_4.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..912a957df390983976274bcd064a66894436706b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_4.obj
@@ -0,0 +1,775 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_5.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19f6b6708abba167a8ebda8055956dfafa43b122
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_5.obj
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_6.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fe21acde16801c6713af3d56ba642baf1481bb3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_6.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_7.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9ee53de6cab53a8142e27800da80ecbe3555ab8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_7.obj
@@ -0,0 +1,718 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_8.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b921c1eca270e57d4a15d4cecf0c960fb5c1fa54
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_8.obj
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diff --git a/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_9.obj b/dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004_collision_9.obj
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