diff --git a/.gitattributes b/.gitattributes
index d41e500bcb8c5367435efb05995116cf16c9ad95..173bbaabfd7e7705a5a13cf50bab316b2c9e8610 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3884,5 +3884,5 @@ dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/fruit_kn
 dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4/garlic_press_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4/mesh/garlic_press_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/fruit_knife_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/garlic_press_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/garlic_press_002.urdf b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/garlic_press_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5e06411649c6e21190345c8c3d67fd71fcdf7174
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/garlic_press_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="garlic_press_002">
+   <link name="garlic_press_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_press_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>892ea004b1825cfe82d64ffb397fe6fb</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>garlic_press</category>
+         <name>garlic press</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>handheld garlic press with perforated chamber and dual handles</description>
+         <min_height>0.0259</min_height>
+         <max_height>0.0259</max_height>
+         <real_height>0.0259</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428002633</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>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/garlic_press_002.usd
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002.glb b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002.glb
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002.glb
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002.mtl b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002.mtl
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+newmtl garlic_press_002_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3bcf227ad6e9367f75660684fb9506e1eaa0a5f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002_collision.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d906cf8b8e2ba9aaf6684e45e935722ac37b953
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002_collision.obj
@@ -0,0 +1,8232 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f28b355a70fd26629a2618ba0c9cf853e6e4d262
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/garlic_press_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d720ec9dd103d82e8923826dd29ad828d15ab1584abc865dbead2540dbc3fe
+size 9580454
diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e9fe389588f118a7f177940052a39e3459efad2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl garlic_press_002_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 garlic_press_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f28b355a70fd26629a2618ba0c9cf853e6e4d262
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d720ec9dd103d82e8923826dd29ad828d15ab1584abc865dbead2540dbc3fe
+size 9580454
diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/garlic_press_002.xml b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/garlic_press_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..94b089b79d79bb19bf3da647de5d180940dee398
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/garlic_press_002.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="garlic_press_002">
+  <asset>
+    <material name="material_0" texture="texture_0_garlic_press_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_garlic_press_002_geometry_Looks_material_0" type="2d" file="mesh/garlic_press_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/garlic_press_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/garlic_press_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/garlic_press_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/garlic_press_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/garlic_press_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/garlic_press_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/garlic_press_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/garlic_press_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/garlic_press_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/garlic_press_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/garlic_press_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/garlic_press_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/garlic_press_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/garlic_press_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/garlic_press_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/garlic_press_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/garlic_press_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/garlic_press_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/garlic_press_002_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/garlic_press_002_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="garlic_press_002">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a0be7d0b9d45a376e3ffd1757720d500b5c6c82
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002.obj
@@ -0,0 +1,113958 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_press_002_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e333bbf18f549586a002cbe62d719a60b7b9f19
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision.obj
@@ -0,0 +1,8232 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..946bd0ff86e044692e859472bcfa5eba673b1321
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_0.obj
@@ -0,0 +1,1273 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7765505516ead2f3b0cc4534b71859f08140c74f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_1.obj
@@ -0,0 +1,1600 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0360a993145790e7b92a9b24422195feb3a0d729
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_10.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0aa446bbe9c089aa4477ddb784e0d1d4aa275cc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_11.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2f04394ee3a346de805278b8e694609ef5ea8d2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_12.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8666cb3ca3355256b5c0db833e21fcf720bdbe61
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_13.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27bbc04fba6c0b476f928ec48c61a3d32dd184e8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_14.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddd2356e911116b4725cfe8b43cc739769d9f71d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_15.obj
@@ -0,0 +1,619 @@
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_16.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b435bd15c9b2f9a5e088c0c093a43fb8c5e02c38
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_16.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00529625 0.01072198 -0.00762948
+v -0.00594730 0.01072198 -0.00699571
+v -0.00993071 0.01349045 -0.00721628
+v -0.00911965 0.01349045 -0.00737499
+v -0.00812250 0.01349045 -0.00752133
+v -0.00634095 0.01349045 -0.00757997
+v -0.00433040 0.01349045 -0.00758696
+v -0.00400865 0.01072198 -0.00760150
+v -0.00605340 0.01072197 -0.00655886
+v -0.00993071 0.01304326 -0.00647062
+v -0.00993071 0.01321969 -0.00677728
+v -0.00993071 0.01349044 -0.00473773
+v -0.00400865 0.01349045 -0.00756867
+v -0.00400865 0.01317471 -0.00757674
+v -0.00400865 0.01072196 -0.00221830
+v -0.00567019 0.01072197 -0.00454514
+v -0.00993071 0.01321834 -0.00531446
+v -0.00993071 0.01329070 -0.00484103
+v -0.00400865 0.01349043 -0.00213383
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 15
+f 1 15 16
+f 1 16 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 10
+f 3 10 17
+f 3 17 18
+f 3 18 12
+f 3 12 19
+f 3 19 13
+f 3 13 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 13 14
+f 7 14 8
+f 8 14 13
+f 8 13 19
+f 8 19 15
+f 9 16 10
+f 10 16 17
+f 12 18 15
+f 12 15 19
+f 15 18 16
+f 16 18 17
+
diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_17.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8191e4db7f4acef7378362285cb0c82ef7072675
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_17.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00400865 0.01072194 0.00205000
+v -0.00400865 0.01349041 0.00217109
+v -0.00400865 0.01072192 0.00723234
+v -0.00573918 0.01072193 0.00420335
+v -0.00993071 0.01327548 0.00436275
+v -0.00993071 0.01349040 0.00427539
+v -0.00400865 0.01349039 0.00718688
+v -0.00429040 0.01072192 0.00726912
+v -0.00603948 0.01072193 0.00555104
+v -0.00993071 0.01286245 0.00586218
+v -0.00993071 0.01298007 0.00542640
+v -0.00993071 0.01349039 0.00701063
+v -0.00569569 0.01349039 0.00721396
+v -0.00932894 0.01349039 0.00704741
+v -0.00561453 0.01072192 0.00713783
+v -0.00610094 0.01072193 0.00586217
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 16
+f 1 16 9
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+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 2 13 7
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+f 5 12 6
+f 7 13 8
+f 8 13 14
+f 8 14 12
+f 8 12 15
+f 9 16 10
+f 10 16 15
+f 10 15 12
+
diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_18.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0073866690bfc5738df4f848213b1ae2a7d8e704
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_18.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02677235 0.01210797 -0.00118102
+v -0.02677235 0.01210794 0.00738316
+v -0.02677235 0.01349029 -0.00118101
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+v -0.00993129 0.01349026 0.00701001
+v -0.00993129 0.01298019 0.00542639
+v -0.00993129 0.01286245 0.00586174
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+v -0.01678904 0.01210794 0.00783801
+v -0.01612965 0.01210794 0.00777675
+v -0.01284913 0.01210795 0.00628038
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+f 18 26 19
+
diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..704e8cc8bc7dbf911a506581653be0cb263c8ddf
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_2.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.00517739 -0.00087737 0.00749252
+v 0.00755043 -0.00877108 0.00642836
+v 0.00755043 -0.00693247 0.00593744
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+v 0.00292032 -0.00221649 0.00523931
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+v -0.00517739 -0.01660006 -0.00114849
+v -0.00517739 -0.01656356 0.00233788
+v -0.00517739 -0.01661001 0.00057559
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 22
+f 1 22 21
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d87afb14ca49c23b738e6f4471f9e2f064e6d025
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66fe42cc50f7b42375f67351a2f67729c8af3fb8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_4.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..088a571355e2357d25595477ac50a5e99d705653
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_5.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..230014db839f6d1643aece7fce3569885a445287
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_6.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ed3bea1767a0ca4f2f19b073f33c03ed0a48a6b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_7.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c2741987042f849aea06c0e5857686978988060
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_8.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f59254abf929bf4847c57c566ac4af2d881f5b1a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_collision_9.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.00618038 0.01483133 -0.00764475
+v -0.00618038 0.01349143 -0.00757475
+v -0.00618038 0.01530776 -0.00763784
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diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f28b355a70fd26629a2618ba0c9cf853e6e4d262
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/mjcf/mesh/garlic_press_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d720ec9dd103d82e8923826dd29ad828d15ab1584abc865dbead2540dbc3fe
+size 9580454
diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f28b355a70fd26629a2618ba0c9cf853e6e4d262
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d720ec9dd103d82e8923826dd29ad828d15ab1584abc865dbead2540dbc3fe
+size 9580454
diff --git a/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/video.mp4 b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc002c70dde09f189148e7d31d77bc91c0ffb746
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/892ea004b1825cfe82d64ffb397fe6fb/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:697ff9196d18c142af718924fd7588abbaa57020eec6604f07439138e8a5f365
+size 174604