diff --git a/.gitattributes b/.gitattributes
index bae06585c4931adc356c98987ba882c39d4d39e0..e6b11e2c793197faca270e49de9a45cfebb9a461 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5496,3 +5496,5 @@ dataset/kitchen_supplies/cutting_tools/35c1ed8fa9e552d59d9c9d5069496a61/mesh/kni
 dataset/kitchen_supplies/cutting_tools/35c1ed8fa9e552d59d9c9d5069496a61/mesh/knife_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/garlic_press_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/garlic_press_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/garlic_press_018.urdf b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/garlic_press_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eae582d443c9d5d9b339ee836a7fab3f1ffab68f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/garlic_press_018.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="garlic_press_018">
+   <link name="garlic_press_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_press_018.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_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7000" />
+         <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>6bcf473382f55ff9b7727e1969b6ccf3</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>garlic_press</category>
+         <name>electric garlic press</name>
+         <color>black,silver</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>black handheld electric garlic press with transparent metal grinding cup</description>
+         <min_height>0.1087</min_height>
+         <max_height>0.1087</max_height>
+         <real_height>0.1087</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518182601</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.064398 -0.032175 -0.040205</min>
+            <max>0.083683 0.032120 0.068499</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/garlic_press_018.usd b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/garlic_press_018.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/garlic_press_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018.glb b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13851688
diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018.mtl b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4f3d47c6c6df9ae99c5c94e6c861bcadc8d05df5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018.mtl
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+newmtl garlic_press_018_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/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018.obj b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2110049303358335d14ba8c88bfbc7599daacf32
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_press_018_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018_collision.obj b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e6dd815d9d6da7c2113707723ea1f80c0694e61
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a623af0caa4b17edd156dd357831b246acac9419
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64d2f5a411da9fecd80bf498d27ab725bba7a980760fe49e22e27c687820da07
+size 10415971
diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..990f61b1fffaf77a225dfdc23da9a47788edacd4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl garlic_press_018_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_018_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a623af0caa4b17edd156dd357831b246acac9419
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64d2f5a411da9fecd80bf498d27ab725bba7a980760fe49e22e27c687820da07
+size 10415971
diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/garlic_press_018.xml b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/garlic_press_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c633635b0efd468a1803523649b08f19ed864560
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/garlic_press_018.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="garlic_press_018">
+  <asset>
+    <material name="material_0" texture="texture_0_garlic_press_018_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_garlic_press_018_geometry_Looks_material_0" type="2d" file="mesh/garlic_press_018_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/garlic_press_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/garlic_press_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/garlic_press_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/garlic_press_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/garlic_press_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/garlic_press_018_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/garlic_press_018_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/garlic_press_018_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/garlic_press_018_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/garlic_press_018_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/garlic_press_018_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="garlic_press_018">
+      <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/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018.obj b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c16a65e30c9db5de47af6188490c0f6ba109e10d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018.obj
@@ -0,0 +1,125250 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_press_018_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision.obj b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b5dd9ede53a74445ef2bee092e30e886143074c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision.obj
@@ -0,0 +1,13086 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1ed357d5bfb10ed51c9058fd707ee95f93071dc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3fe0ac8eeabf4672fb70a83f7f7afedb364c350
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_1.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfea92dfdd2e39e590d1555d74c25cae9e50628f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f93186cb89eeccd59b24348f4ead95af4913f824
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9daaf3f238e138e419de9b529010184488f2498
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_4.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b40764f704956bef7f8dc9f5384816a478ed5687
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_5.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169789053657c133fa2232aa38d32e87f1783e05
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_6.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e0b97e8c81f547be0ba47672376a0d257f82216
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_7.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce3664344b46ffcdc025fc4eeb48a68102563e91
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_8.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcc06e2a01c08a4a7b75b812add01d0df8ed085e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mjcf/mesh/garlic_press_018_collision_9.obj
@@ -0,0 +1,508 @@
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