diff --git a/.gitattributes b/.gitattributes
index 0449f07d2c261a04cc84f759c381c329cca3ba15..6ffeb241a4fc442b0bd0fba6a4284c593e2ecc98 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4616,3 +4616,5 @@ dataset/kitchen_supplies/utensils/f1e1397147cb582a8d9d8fea8a2a5c2c/mesh/spatula_
 dataset/kitchen_supplies/utensils/ec38d04d02985d99ab9c64156be62936/mesh/spatula_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/ec38d04d02985d99ab9c64156be62936/spatula_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/fcf659def3ef50d390174a7255c39691.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/bottle_opener_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/bottle_opener_015.urdf b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/bottle_opener_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0b9cab5efdb0a005257846732ecaa913347c116f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/bottle_opener_015.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_015">
+   <link name="bottle_opener_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_015.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_015_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>f728bf0359d250d19f5120de33cefe69</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>handled opener</name>
+         <color>black</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>dark handled bottle opener with textured grip and hanging hole</description>
+         <min_height>0.0127</min_height>
+         <max_height>0.0127</max_height>
+         <real_height>0.0127</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185833</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.055108 -0.020945 -0.006553</min>
+            <max>0.055173 0.019905 0.006180</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/f728bf0359d250d19f5120de33cefe69/bottle_opener_015.usd b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/bottle_opener_015.usd
new file mode 100644
index 0000000000000000000000000000000000000000..01b241216d3b033349ce30d2422220c0982adc42
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/bottle_opener_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f759ba38befc67cbbb32c3d939a867431acabd8bc50b66ca157330028c239f9
+size 4941415
diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015.glb b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2c13ca596e62a167311bf731be866ffeb387fb9d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5036954aa109527b7066df297cb8316c4456b6a6d685e90ccda427535496d998
+size 11679684
diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015.mtl b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..857530d565495f63dac4054601e7917d1c9e9dc6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015.mtl
@@ -0,0 +1,6 @@
+newmtl bottle_opener_015_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/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015.obj b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64e5e33198ccd081bfa1e1d95fc2bce409ce7e4f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015.obj
@@ -0,0 +1,106198 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bottle_opener_015_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015_collision.obj b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..926e8b72a3f51803b14f322fc294daf16c79205d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f45b5d59606af9749d645ef6bd3c67637483446
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/bottle_opener_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af274293d3551375b0b7b80890b3aa918df597755d5291805581f16dddf17067
+size 8307606
diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/material.mtl b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a7caa15916d383997f548112bcc2dccb3060686c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/material_0.png b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f45b5d59606af9749d645ef6bd3c67637483446
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af274293d3551375b0b7b80890b3aa918df597755d5291805581f16dddf17067
+size 8307606
diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/bottle_opener_015.xml b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/bottle_opener_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f7813f00f55ed483e9c87b475f6dac4801b0e9a2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/bottle_opener_015.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_015">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_015_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_015_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_015_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_015">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015.obj b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adebb7848709fc6b527740e77267a203f2435977
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015.obj
@@ -0,0 +1,106198 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl bottle_opener_015_geometry_Looks_material_0
+v 0.042627 0.007021 -0.004658
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diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision.obj b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6d7e5cb0949566299bfa4acd3734c207c9f4ccd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision.obj
@@ -0,0 +1,4767 @@
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diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_0.obj b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03dcf4a847773a398690923424c36889e13e11c9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_0.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_1.obj b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3858644a7d28c0f6e187af158d971758c6718fc8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_1.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_2.obj b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4966c2c1dc725c1366112f1addeb828f7b1a77e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_3.obj b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..806a812d7bb62554b46fd66e04477988bbc4d80f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_4.obj b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea262692ea20d2de993b8c4fd37a2d10879944a1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_4.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_5.obj b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40ae77bbae11c48cacafbe31832ac2d98dde049d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_5.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_6.obj b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c28235f47ca0a081bf01ab8c4969426915d260c7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_6.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_7.obj b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0fd23bc44b7d601871bf016c546e0ca0f238d55
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_7.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_8.obj b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccc3e86bea371a82acd2f8ece20a9793df72f5d3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_8.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_9.obj b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40ef14ab917542a2fa3d3e6de2ea329a2a8e4028
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/mjcf/mesh/bottle_opener_015_collision_9.obj
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