diff --git a/.gitattributes b/.gitattributes
index f426f5244d206a8e62652f213670e6ac1a7d3228..f41e4801f7e0e39903842cfb05cae68d82dfed86 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3872,3 +3872,5 @@ dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/fruit_kn
 dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/mesh/fruit_knife_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/fruit_knife_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/garlic_press_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/garlic_press_005.urdf b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/garlic_press_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a492f0e35a583d671acbefdd7257c94b96478d33
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/garlic_press_005.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="garlic_press_005">
+   <link name="garlic_press_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_press_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>4ae0b70eecb55315a060d64a00c7eb34</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>garlic_press</category>
+         <name>ergonomic garlic press</name>
+         <color>silver,black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>ergonomic garlic press with perforated chamber and dual handles</description>
+         <min_height>0.0502</min_height>
+         <max_height>0.0502</max_height>
+         <real_height>0.0502</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428002806</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>10</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/garlic_press_005.usd b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/garlic_press_005.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/garlic_press_005.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:16a387d601922a9162f7bd73c4db0cca4ff590355600b2e1665e60df49d0afd6
+size 5034673
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005.glb b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005.glb
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+version https://git-lfs.github.com/spec/v1
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+size 15425120
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005.mtl b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b712b59184aff587c576a917b2fcc707a5e91e2e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005.mtl
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+newmtl garlic_press_005_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/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4955e5f5d5d6d9d3d00916a20e6f9161adb313ef
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005.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/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005_collision.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aff9cd06c837e0ad23f792c5bc17208b691f833
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3659098563c685ff118b2f4fde631c43b2a9711
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0de0f2ffc54d1f5c0a328716a181bb8cf041ff63cd3dfb9f4ebb3dda28c8b09d
+size 11917062
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ffde6ec8b9d2f6ab02d853dbb54ed0c3c52310fc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl garlic_press_005_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_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3659098563c685ff118b2f4fde631c43b2a9711
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0de0f2ffc54d1f5c0a328716a181bb8cf041ff63cd3dfb9f4ebb3dda28c8b09d
+size 11917062
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/garlic_press_005.xml b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/garlic_press_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..28e92c2a44e3b8ab5399ea97f626d628a0e6f73b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/garlic_press_005.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="garlic_press_005">
+  <asset>
+    <material name="material_0" texture="texture_0_garlic_press_005_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_garlic_press_005_geometry_Looks_material_0" type="2d" file="mesh/garlic_press_005_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/garlic_press_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/garlic_press_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/garlic_press_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/garlic_press_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/garlic_press_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/garlic_press_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/garlic_press_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/garlic_press_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/garlic_press_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/garlic_press_005_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/garlic_press_005_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/garlic_press_005_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/garlic_press_005_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/garlic_press_005_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/garlic_press_005_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/garlic_press_005_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/garlic_press_005_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/garlic_press_005_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/garlic_press_005_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="garlic_press_005">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..704f585a22ecfc7a18aeb48c151622ab7c650384
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005.obj
@@ -0,0 +1,125684 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_press_005_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deb67572147c3c9d2601655ed0f57207a399a616
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision.obj
@@ -0,0 +1,7151 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3f8cabfd19351ab0b1c8c55da2932c37843a9b9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fee3fbb50688c68d1b72b5836407d496957d1b5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_1.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d5ad9533cd40ab8b820d4769e304dfab30c0701
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_10.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48961696eb35a68a0c8e2a26d2d65f40f0dd1ffc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_11.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e678e84cd2d13faab12c37ef6980a2fea8b517f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_12.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0662440a83b764eb3a4c5a552dd76573a85d7b44
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_13.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.01326828 -0.01035837 0.00817380
+v -0.02303410 -0.01035837 0.00924894
+v -0.01326828 -0.01035829 -0.01271408
+v -0.01326828 -0.00778855 0.00796093
+v -0.02308118 -0.01035837 0.00925324
+v -0.02308118 -0.01035829 -0.01246680
+v -0.01939233 -0.00778847 -0.01255280
+v -0.01326828 -0.00923074 -0.01270762
+v -0.01326828 -0.00778847 -0.01264312
+v -0.02308118 -0.00778855 0.00821036
+v -0.02308118 -0.01021749 0.00920378
+v -0.02308118 -0.00778847 -0.01241518
+v -0.02170266 -0.00778847 -0.01247754
+v -0.02107441 -0.00778847 -0.01250550
+v -0.01876408 -0.00778847 -0.01256355
+v -0.01414438 -0.00778847 -0.01263236
+v -0.01645471 -0.00778847 -0.01260226
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 16
+f 4 16 17
+f 4 17 15
+f 4 15 7
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+f 4 14 13
+f 4 13 12
+f 4 12 10
+f 4 10 11
+f 4 11 5
+f 5 11 10
+f 5 10 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 15 8
+f 8 16 9
+f 8 15 17
+f 8 17 16
+
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58c588a78dde00e693f3dd65e38f5690fc433b65
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_14.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.00967412 -0.00778822 -0.01280377
+v -0.01015160 -0.00778822 -0.01279951
+v -0.00967412 0.00245169 -0.01288456
+v -0.00967412 -0.00778830 0.00804098
+v -0.01605057 -0.00778822 -0.01260808
+v -0.01605057 -0.00174311 -0.01262082
+v -0.01605057 0.00047307 -0.01262081
+v -0.01605057 0.00245169 -0.01261655
+v -0.00967412 0.00245161 0.00687754
+v -0.00967412 0.00245060 0.00884503
+v -0.01605057 -0.00778830 0.00799205
+v -0.01605057 0.00245161 0.00800060
+v -0.01018094 0.00245161 0.00874080
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 12
+f 3 12 13
+f 3 13 9
+f 4 10 11
+f 5 11 12
+f 5 12 8
+f 5 8 7
+f 5 7 6
+f 9 13 10
+f 10 13 12
+f 10 12 11
+
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f95ad8d9dd6364d94c95c924eae937ea4acee32
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_15.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.04860934 0.00047349 0.00835305
+v -0.04860679 0.00143209 0.00835306
+v -0.04859915 -0.00035422 0.00835305
+v -0.04876715 0.00047349 0.00919162
+v -0.04876461 0.00143209 0.00919163
+v -0.02277072 0.00143209 0.00835306
+v -0.04858133 -0.00174337 0.00835304
+v -0.04876970 0.00143208 0.01143526
+v -0.04876715 0.00143208 0.01016287
+v -0.04873660 -0.00174337 0.00919161
+v -0.04874169 -0.00174338 0.01143524
+v -0.04876970 0.00047348 0.01143525
+v -0.02603904 0.00143207 0.01338645
+v -0.02649213 -0.00778742 0.01296131
+v -0.02370998 -0.00778740 0.00835302
+v -0.04854824 -0.00257018 0.00835304
+v -0.04863224 0.00143207 0.01240747
+v -0.04847188 -0.00395843 0.00835304
+v -0.04861443 -0.00395843 0.00919161
+v -0.04862206 -0.00395844 0.01143524
+v -0.04829115 -0.00395845 0.01367887
+v -0.04839297 -0.00174339 0.01367887
+v -0.04842351 0.00047347 0.01367888
+v -0.03022882 0.00143206 0.01704869
+v -0.02773175 -0.00778742 0.01407006
+v -0.03804327 -0.00778740 0.00835302
+v -0.04843370 0.00143207 0.01367889
+v -0.04834716 -0.00446842 0.00835303
+v -0.04801116 -0.00542521 0.00835303
+v -0.04807480 -0.00548478 0.00919160
+v -0.04807989 -0.00549111 0.01143523
+v -0.04792207 -0.00535212 0.01367886
+v -0.04771589 -0.00514993 0.01491445
+v -0.04780244 -0.00395846 0.01504906
+v -0.04785843 -0.00174340 0.01513815
+v -0.04787625 0.00047346 0.01516140
+v -0.03079899 0.00143206 0.01745636
+v -0.02891792 -0.00778743 0.01501224
+v -0.02857683 -0.00778742 0.01475564
+v -0.04186905 -0.00778740 0.00898146
+v -0.04186905 -0.00762583 0.00835302
+v -0.04788135 0.00143206 0.01517109
+v -0.04701590 -0.00603358 0.00835303
+v -0.04648899 -0.00645602 0.00919160
+v -0.04648899 -0.00656073 0.01143523
+v -0.04648899 -0.00626287 0.01367886
+v -0.04634136 -0.00547940 0.01576659
+v -0.04547591 -0.00516348 0.01713484
+v -0.04678681 -0.00395846 0.01617136
+v -0.04688099 -0.00174340 0.01626045
+v -0.04690390 0.00143206 0.01629339
+v -0.03145316 0.00143205 0.01770716
+v -0.03027718 -0.00778743 0.01579272
+v -0.04202177 -0.00778740 0.00905118
+v -0.04278540 -0.00751751 0.00835302
+v -0.04648899 -0.00629625 0.00835303
+v -0.04548864 -0.00672861 0.00835303
+v -0.04489301 -0.00714563 0.00919159
+v -0.04524682 -0.00724402 0.01143522
+v -0.04371957 -0.00755273 0.01320921
+v -0.04436356 -0.00709690 0.01384540
+v -0.04417775 -0.00621504 0.01592346
+v -0.04563373 -0.00395846 0.01723749
+v -0.04417775 -0.00531512 0.01728977
+v -0.04417775 -0.00395846 0.01768583
+v -0.04572536 -0.00174340 0.01729850
+v -0.04574827 0.00143206 0.01731111
+v -0.03257060 0.00143205 0.01794633
+v -0.03394005 0.00143205 0.01822909
+v -0.03724655 -0.00174341 0.01820873
+v -0.03721092 -0.00409747 0.01759189
+v -0.03955780 -0.00395847 0.01789306
+v -0.03262915 -0.00778743 0.01605320
+v -0.04219995 -0.00778740 0.00919159
+v -0.04373739 -0.00753737 0.00919159
+v -0.04340903 -0.00741551 0.00835302
+v -0.04409120 -0.00768541 0.01143522
+v -0.04352866 -0.00778741 0.01143522
+v -0.04186905 -0.00778742 0.01301554
+v -0.04186905 -0.00768723 0.01354522
+v -0.03658729 -0.00778743 0.01519429
+v -0.04186905 -0.00721786 0.01466752
+v -0.04417775 -0.00174341 0.01784173
+v -0.04186905 -0.00540990 0.01738661
+v -0.04186905 -0.00395847 0.01793954
+v -0.04186905 -0.00174341 0.01815354
+v -0.04417775 0.00143205 0.01785337
+v -0.03494040 0.00143205 0.01824167
+v -0.03494040 0.00047345 0.01822327
+v -0.03624620 0.00143205 0.01824555
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+v -0.03955780 -0.00174341 0.01819227
+v -0.03955780 -0.00535844 0.01732076
+v -0.04288722 -0.00778741 0.01021125
+v -0.04186905 0.00047345 0.01815355
+v -0.03955780 0.00047345 0.01819325
+v -0.04186905 0.00143205 0.01815162
+v -0.03955780 0.00143205 0.01819229
+f 1 2 6
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_16.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfda07b17a15ed780233e1a6b4e9a28c3d1ecb0c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_16.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01605057 0.00143209 0.00799654
+v -0.01605057 -0.00778740 0.00799206
+v -0.01605057 0.00143212 0.00079739
+v -0.02276904 0.00143209 0.00835306
+v -0.01605057 -0.00778737 0.00079735
+v -0.02346065 -0.00778740 0.00834266
+v -0.03599564 0.00143212 0.00079739
+v -0.02370924 -0.00778740 0.00835302
+v -0.04860711 0.00143209 0.00835306
+v -0.03576935 -0.00778737 0.00079735
+v -0.03616456 0.00047352 0.00079738
+v -0.04542318 0.00143211 0.00352971
+v -0.03804178 -0.00778740 0.00835302
+v -0.04835215 0.00143209 0.00694622
+v -0.04861030 0.00047349 0.00835305
+v -0.03677011 -0.00778738 0.00258807
+v -0.04186633 -0.00762583 0.00835302
+v -0.04278423 -0.00751751 0.00835302
+v -0.04340891 -0.00741551 0.00835302
+v -0.04324636 -0.00735413 0.00793141
+v -0.04648768 -0.00602817 0.00694619
+v -0.04769241 -0.00512282 0.00575681
+v -0.04648768 -0.00538007 0.00522425
+v -0.04529888 -0.00492062 0.00359699
+v -0.03581397 -0.00773682 0.00079735
+v -0.03638447 -0.00174334 0.00079737
+v -0.04542318 -0.00174335 0.00352895
+v -0.04592355 0.00143211 0.00394022
+v -0.03639403 -0.00195275 0.00079737
+v -0.03646733 -0.00395840 0.00079737
+v -0.03800672 -0.00778740 0.00693360
+v -0.04804299 0.00143210 0.00618806
+v -0.04779121 -0.00174336 0.00562072
+v -0.04834259 0.00047349 0.00694621
+v -0.04860074 -0.00035422 0.00835305
+v -0.04832028 -0.00174337 0.00694620
+v -0.03757964 -0.00778739 0.00441431
+v -0.03768163 -0.00778739 0.00470203
+v -0.04548691 -0.00672861 0.00835303
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+v -0.04701674 -0.00603358 0.00835303
+v -0.04789957 -0.00532592 0.00694619
+v -0.04775297 -0.00395842 0.00567471
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+v -0.04823422 -0.00395843 0.00694620
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+v -0.04657692 -0.00174336 0.00449939
+v -0.04657692 0.00047350 0.00448830
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+v -0.03646733 -0.00403964 0.00079737
+v -0.04780396 0.00143210 0.00560520
+v -0.04780077 0.00047350 0.00560963
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+v -0.04854975 -0.00257018 0.00835304
+v -0.04801112 -0.00542521 0.00835303
+v -0.04834577 -0.00446842 0.00835303
+v -0.04847008 -0.00395843 0.00835304
+v -0.04711235 0.00143210 0.00496909
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+f 1 7 12
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+f 1 59 52
+f 1 52 32
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_17.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..188bec7c900983ef3dd7eaa2378adfea0b8a658b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_17.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.00190706 0.00245157 0.01856995
+v -0.00028198 0.00245157 0.01848318
+v 0.00190706 0.00047295 0.01852135
+v 0.00190706 0.00245169 -0.01350357
+v -0.00028198 0.00047295 0.01843112
+v -0.00279524 0.00245157 0.01783075
+v 0.00190706 0.00035567 0.01851788
+v 0.00190706 0.00047307 -0.01368404
+v -0.00143942 -0.00065355 -0.01661653
+v -0.00161286 0.00047308 -0.01653324
+v -0.00197562 0.00245170 -0.01629725
+v -0.00028198 -0.00174323 0.01830270
+v -0.00284285 0.00245157 0.01779604
+v -0.00423042 -0.00778833 0.01516543
+v -0.00202891 -0.00174322 0.01761903
+v 0.00190706 -0.00174323 0.01830270
+v 0.00190706 -0.00174311 -0.01372569
+v -0.00139067 -0.00213100 -0.01664431
+v -0.00276803 0.00047308 -0.01684558
+v -0.00313080 0.00245170 -0.01680045
+v -0.00300723 0.00245170 -0.01676575
+v -0.00178064 -0.00321064 0.01739346
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diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89146de9a86661d015b35787325bd88d1be55fe9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7fdabc725101131f1d56c1ce9f39f2f08234432
--- /dev/null
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diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a26708ceda686012033f72356790b2b4fca6b8c6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_4.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd214414bc6e0d1189b032f030811f8057eea39
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_5.obj
@@ -0,0 +1,418 @@
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..655457c22020876a53e44e1db75e1b4041154d94
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_6.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.01605057 0.00989957 -0.01679030
+v -0.01645505 0.00994779 -0.01678686
+v -0.01605057 0.01100300 -0.01679030
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9370810a5abf77e780ae376b4155d10787bce6cd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_7.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04352867 -0.00843866 0.00395975
+v -0.04352867 -0.00843866 0.01424472
+v -0.04352867 -0.00743866 0.00395975
+v -0.04352867 -0.00743866 0.01424472
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+v -0.03724493 -0.00743866 0.00395975
+v -0.03724493 -0.00743866 0.01424472
+f 2 4 1
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+f 3 8 7
+f 7 6 5
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d6cb8b23861673a7ea9b5bb22abc560ebcea1a0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mjcf/mesh/garlic_press_005_collision_8.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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