diff --git a/.gitattributes b/.gitattributes
index 184f567fad4f75b45b5674f9b8e45df598bb3061..2f2ce8dfe561f6cc57a242702eacacfc1ae3d613 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4288,3 +4288,6 @@ dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/bowl_006.usd
dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.obj filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/9dd34f3bd4425e21a9ae58772a0ccaa5.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/9dd34f3bd4425e21a9ae58772a0ccaa5.urdf b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/9dd34f3bd4425e21a9ae58772a0ccaa5.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f9a64e74eef9b186910b02eec763307142b95f67
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/9dd34f3bd4425e21a9ae58772a0ccaa5.urdf
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/9dd34f3bd4425e21a9ae58772a0ccaa5.usd b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/9dd34f3bd4425e21a9ae58772a0ccaa5.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/9dd34f3bd4425e21a9ae58772a0ccaa5.usd
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin.glb b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin.glb
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin.glb
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin.obj
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin.obj
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin_collision.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0991b3f961455a4f7c9ea507ca3048105dc781eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin_collision.obj
@@ -0,0 +1,15415 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin_gs.ply b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e08a8fb89fccee08f35f1ec6cf2f0790af1ece65
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb789875e637a836d913448aa153d66e755de8bf22f099886e6c49a461696551
+size 3691881
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/material.mtl b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/material_0.png b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b2b4e0eec5fa2292e94d1582d3e2c2404b6efed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1601159
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/9dd34f3bd4425e21a9ae58772a0ccaa5.xml b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/9dd34f3bd4425e21a9ae58772a0ccaa5.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d05dfc0de6ff45b3d23fbd31ef9bd042664f23d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/9dd34f3bd4425e21a9ae58772a0ccaa5.xml
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0d9626ae6951e10e3b4933dc750c1d6d32aa0ca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin.obj
@@ -0,0 +1,59683 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bbf9a0198fd3fd837d586c2b049a7ebca374e16
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision.obj
@@ -0,0 +1,15415 @@
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_0.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b2651df0fb6b8b6128e6b77fec6af5b7b117f42
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_0.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_1.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61eefdc9e82548bc34a21e9a9461c60d7fc13dfe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_1.obj
@@ -0,0 +1,403 @@
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+f 125 133 135
+f 125 135 134
+f 125 134 126
+f 132 135 133
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_10.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da68ef0c9a1ae3ce65e06a36804f4cbb906e4d72
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_10.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00805180 -0.07339548 -0.00554349
+v 0.00621694 -0.07340832 -0.00554349
+v 0.00805180 -0.07334672 -0.00690977
+v 0.00805180 -0.07305159 -0.00438461
+v 0.00621694 -0.07307213 -0.00437037
+v 0.00379741 -0.07309009 -0.00435799
+v -0.01554956 -0.07317735 -0.00429484
+v 0.00379741 -0.07341088 -0.00554349
+v -0.01554956 -0.07342372 -0.00554349
+v 0.00621694 -0.07333902 -0.00690357
+v 0.00805180 -0.07297202 -0.00696858
+v 0.00805180 -0.07178638 -0.00378720
+v 0.00621694 -0.07178638 -0.00376553
+v 0.00379741 -0.07178638 -0.00374449
+v -0.01554956 -0.07178638 -0.00362191
+v -0.01555649 -0.07317735 -0.00429484
+v -0.01555649 -0.07342115 -0.00554721
+v -0.01554956 -0.07324662 -0.00682867
+v -0.01555649 -0.07324406 -0.00682929
+v 0.00805180 -0.07178636 -0.00715429
+v 0.00805180 -0.06999761 -0.00295642
+v 0.00805180 -0.06850654 -0.00226925
+v 0.00805180 -0.06821141 -0.00213429
+v 0.00805180 -0.06723619 -0.00169104
+v 0.00805180 -0.06692052 -0.00154928
+v -0.01555649 -0.06954080 -0.00262336
+v -0.01555649 -0.07178638 -0.00362191
+v 0.00379741 -0.07178636 -0.00713200
+v 0.00621694 -0.07178636 -0.00714562
+v -0.01555649 -0.07178122 -0.00701500
+v -0.01554956 -0.07178636 -0.00701500
+v -0.00539540 -0.06010676 -0.00741735
+v 0.00805180 -0.06048916 -0.00741735
+v -0.01555649 -0.05980650 -0.00741735
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+v -0.01554956 -0.06692052 -0.00147623
+v -0.01555649 -0.06692052 -0.00147623
+v 0.00805180 -0.04730823 -0.00741730
+v -0.01555649 -0.05961402 -0.00741735
+v 0.00805180 -0.05619050 -0.00109299
+v -0.01071050 -0.06601717 -0.00109302
+v -0.01466217 -0.06603770 -0.00109302
+v -0.01554956 -0.06604026 -0.00109302
+v -0.01555649 -0.06604283 -0.00109426
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+v -0.01555649 -0.04840153 -0.00399327
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+v -0.01555649 -0.04737752 -0.00741234
+v -0.01554956 -0.04737752 -0.00741730
+v -0.01555649 -0.05588767 -0.00109423
+v -0.01416301 -0.05615457 -0.00109299
+v -0.01555649 -0.06110512 -0.00109300
+v -0.01555649 -0.04791648 -0.00554340
+f 1 2 3
+f 1 3 11
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+f 1 20 33
+f 1 33 40
+f 1 40 49
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+f 1 42 35
+f 1 35 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 2 8 3
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+f 3 9 10
+f 3 10 11
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
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+f 9 17 18
+f 9 18 10
+f 9 16 17
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+f 42 48 52
+f 42 52 53
+f 45 54 46
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+f 47 55 48
+f 47 51 50
+f 52 54 53
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_11.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11397dcbe0a2a38fc55a89ff9c598e2d16d2b05a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_11.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.00533062 0.01369142 0.01450478
+v -0.02028627 0.01579145 0.01431527
+v -0.02028627 0.01378181 0.01424370
+v -0.02028627 0.01369142 0.01424039
+v -0.00533062 0.01369143 0.01185223
+v -0.00533062 0.01579145 0.01455449
+v -0.02028627 0.02552602 0.01458831
+v -0.02028627 0.02319207 0.01453066
+v -0.02028627 0.02309105 0.01452800
+v -0.02028627 0.02066140 0.01446174
+v -0.02028627 0.01822643 0.01439215
+v -0.02028627 0.01369143 0.01175350
+v -0.02028627 0.04249110 0.00802560
+v -0.01071354 0.04309718 0.00802560
+v -0.00533062 0.04389466 0.00802560
+v -0.00533062 0.01822643 0.01459028
+v -0.02028627 0.03039065 0.01467514
+v -0.02028627 0.02795568 0.01463736
+v -0.02028627 0.05939767 0.00802566
+v -0.00533062 0.05822803 0.00802565
+v -0.00533062 0.02066140 0.01462077
+v -0.02028627 0.03282031 0.01470497
+v -0.02028627 0.06236961 0.00944902
+v -0.01796885 0.06264607 0.00936752
+v -0.01554895 0.06281619 0.00926083
+v -0.01313051 0.06297569 0.00916939
+v -0.00533062 0.06444837 0.00943048
+v -0.01796885 0.05953058 0.00802566
+v -0.00834781 0.05888728 0.00802566
+v -0.00533062 0.06313519 0.00909915
+v -0.00533062 0.02309105 0.01464529
+v -0.02028627 0.03525528 0.01472817
+v -0.02028627 0.06241745 0.00947221
+v -0.00533062 0.06675042 0.01053908
+v -0.01313051 0.05951463 0.00802566
+v -0.01554895 0.05955716 0.00802566
+v -0.01071354 0.05930728 0.00802566
+v -0.00533062 0.02552602 0.01465723
+v -0.02028627 0.04011990 0.01476331
+v -0.02028627 0.03779126 0.01474806
+v -0.02028627 0.03769025 0.01474739
+v -0.02028627 0.06389544 0.01054966
+v -0.00533062 0.06789347 0.01191870
+v -0.02028627 0.06395392 0.01059737
+v -0.00533062 0.02795568 0.01465989
+v -0.02028627 0.05471378 0.01479384
+v -0.02028627 0.04741418 0.01478520
+v -0.02028627 0.04497921 0.01477989
+v -0.02028627 0.04254956 0.01477326
+v -0.02028627 0.06578812 0.01320090
+v -0.02028627 0.06581470 0.01324794
+v -0.00533062 0.06800511 0.01265158
+v -0.02028627 0.06512356 0.01205983
+v -0.02028627 0.06517141 0.01212278
+v -0.00533062 0.03039065 0.01466056
+v -0.02028627 0.05714344 0.01479451
+v -0.02028627 0.06581470 0.01377739
+v -0.00533062 0.06768080 0.01376879
+v -0.00533062 0.03093825 0.01465990
+v -0.02028627 0.05957841 0.01478922
+v -0.00533062 0.03282031 0.01465726
+v -0.02028627 0.06450151 0.01433202
+v -0.00533062 0.06727675 0.01389270
+v -0.02028627 0.06444303 0.01435455
+v -0.00533062 0.04254956 0.01460429
+v -0.00533062 0.06200806 0.01441086
+v -0.02028627 0.06200806 0.01476074
+v -0.00533062 0.03525528 0.01465064
+v -0.00533062 0.03769025 0.01464005
+v -0.00533062 0.04011990 0.01462548
+v -0.00533062 0.06695775 0.01396228
+v -0.01313051 0.06444303 0.01444997
+v -0.02028627 0.06211439 0.01474682
+v -0.00533062 0.06444303 0.01435124
+v -0.00829511 0.06444303 0.01442810
+v -0.01071354 0.06444303 0.01446389
+v -0.00533062 0.06499064 0.01430817
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+f 52 57 58
+f 55 59 56
+f 56 59 61
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+f 57 62 58
+f 58 62 64
+f 58 64 63
+f 60 65 66
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+f 74 77 75
+f 75 77 76
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_12.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f9b48450aba1a954ffbd9bae52b22fa673a80
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_12.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02969103 0.06650679 -0.00721159
+v -0.02727119 0.06650488 -0.00721159
+v -0.02280843 0.06289827 -0.00938702
+v -0.02522252 0.06289254 -0.00938702
+v -0.02647992 0.06286769 -0.00938702
+v -0.02764236 0.06284284 -0.00938702
+v -0.02885948 0.06281418 -0.00938702
+v -0.03123904 0.06275301 -0.00938702
+v -0.03203606 0.06643034 -0.00721159
+v -0.02483120 0.06648195 -0.00721159
+v -0.00962733 0.06284667 -0.00938702
+v -0.01071496 0.06285431 -0.00938702
+v -0.01313193 0.06286769 -0.00938702
+v -0.03247917 0.06270332 -0.00938702
+v -0.03363587 0.06264789 -0.00938702
+v -0.03430629 0.06628126 -0.00721159
+v -0.02238546 0.06645327 -0.00721159
+v -0.01498494 0.06630802 -0.00721159
+v -0.01251330 0.06625450 -0.00721159
+v -0.00962733 0.06618570 -0.00721159
+v -0.00962733 0.05505050 -0.00938705
+v -0.01992246 0.06640932 -0.00721159
+v -0.03489902 0.06255042 -0.00938702
+v -0.03655637 0.06611307 -0.00721159
+v -0.03489902 0.06623921 -0.00721159
+v -0.00962733 0.04724861 -0.00721166
+v -0.01071496 0.04698294 -0.00721166
+v -0.03006221 0.05574812 -0.00938705
+v -0.03568166 0.06218918 -0.00938702
+v -0.03673764 0.06166548 -0.00938702
+v -0.03802669 0.06515933 -0.00721159
+v -0.02764236 0.05082272 -0.00721164
+v -0.03247917 0.05595837 -0.00938704
+v -0.03070098 0.05579209 -0.00938705
+v -0.03682971 0.05945030 -0.00938703
+v -0.03902225 0.06376408 -0.00721160
+v -0.03006221 0.05178984 -0.00721164
+v -0.03287337 0.05607113 -0.00938704
+v -0.03601830 0.05832073 -0.00938704
+v -0.03720664 0.05679934 -0.00721162
+v -0.03787707 0.05827867 -0.00721162
+v -0.03885824 0.06106917 -0.00721161
+v -0.03900498 0.06217962 -0.00721160
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+v -0.03697070 0.05652029 -0.00721162
+v -0.03385454 0.05366673 -0.00721163
+v -0.03532774 0.05471603 -0.00721163
+v -0.03485874 0.05424585 -0.00721163
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+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 16
+f 1 16 25
+f 1 25 24
+f 1 24 31
+f 1 31 36
+f 1 36 43
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+f 1 44 37
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+f 1 22 17
+f 1 17 10
+f 1 10 2
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+f 3 5 4
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+f 45 49 48
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_13.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5d19a9925af295a66bdec673311740639a5dbb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_13.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v -0.02280865 0.06289964 -0.00938723
+v -0.02522392 0.06263598 -0.01004363
+v -0.02522392 0.06289231 -0.00938723
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+v -0.02522392 0.06153245 -0.01143637
+v -0.02764189 0.06151536 -0.01143880
+v -0.03005986 0.06149583 -0.01143686
+v -0.02764189 0.06258470 -0.01004363
+v -0.02764189 0.06284349 -0.00938723
+v -0.02648018 0.06286790 -0.00938723
+v -0.01021358 0.06285081 -0.00938723
+v -0.02280865 0.06262132 -0.01004363
+v -0.02764189 0.05957931 -0.01204871
+v -0.01071339 0.06253587 -0.01004363
+v -0.00962733 0.06203050 -0.01066032
+v -0.00962733 0.06141526 -0.01141893
+v -0.00962733 0.06059495 -0.01169023
+v -0.00962733 0.05957931 -0.01202497
+v -0.01313406 0.05957931 -0.01203320
+v -0.01555203 0.05957931 -0.01203853
+v -0.01797001 0.05957931 -0.01204289
+v -0.02038798 0.05957931 -0.01204483
+v -0.03005986 0.05957931 -0.01204483
+v -0.03248054 0.06144700 -0.01142330
+v -0.03005986 0.06252367 -0.01004363
+v -0.02885763 0.06281419 -0.00938723
+v -0.00962733 0.06284593 -0.00938723
+v -0.01797001 0.05714766 -0.01271772
+v -0.02038798 0.05714766 -0.01271626
+v -0.00962733 0.06252611 -0.01004363
+v -0.00962733 0.05848800 -0.01232920
+v -0.00962733 0.05714766 -0.01270173
+v -0.01555203 0.05714766 -0.01271432
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_14.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c8c58f4ac098bb6bc158ae0dfd4a33c0a5eb8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_15.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d7bb78ac91b9e706122e2e9fac1d0d213b78b34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_15.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.03281985 -0.07340146 -0.00556940
+v 0.00805423 -0.07339590 -0.00554351
+v 0.03040268 -0.07339867 -0.00695842
+v 0.03281985 -0.07339867 -0.00696130
+v 0.03281985 -0.07298737 -0.00444654
+v 0.00805423 -0.07305129 -0.00438540
+v 0.02798552 -0.07339589 -0.00695482
+v 0.00805423 -0.07334865 -0.00690951
+v 0.01105568 -0.07335699 -0.00691742
+v 0.03040268 -0.07178679 -0.00725405
+v 0.03281985 -0.07178123 -0.00725477
+v 0.03281985 -0.07177013 -0.00382935
+v 0.03281985 -0.06942735 -0.00270648
+v 0.00805423 -0.07209807 -0.00393365
+v 0.01589485 -0.07336810 -0.00692821
+v 0.02798552 -0.07178679 -0.00724614
+v 0.00863852 -0.07334865 -0.00691166
+v 0.00805423 -0.07178679 -0.00715407
+v 0.00863852 -0.07178679 -0.00715694
+v 0.00805423 -0.05585138 -0.00844161
+v 0.00946767 -0.05586250 -0.00844161
+v 0.01189453 -0.05585972 -0.00844161
+v 0.01431170 -0.05584861 -0.00844161
+v 0.01831202 -0.05582638 -0.00844161
+v 0.01914117 -0.05582082 -0.00844161
+v 0.03119305 -0.05571521 -0.00844160
+v 0.03281985 -0.05569020 -0.00844160
+v 0.00805423 -0.07178681 -0.00378691
+v 0.03281985 -0.06820732 -0.00213605
+v 0.00805423 -0.04502120 -0.00844157
+v 0.03281985 -0.05565685 -0.00844160
+v 0.00805423 -0.06999706 -0.00295681
+v 0.03281985 -0.06692059 -0.00154548
+v 0.00805423 -0.06821287 -0.00213461
+v 0.00805423 -0.06850746 -0.00226984
+v 0.00805423 -0.05619047 -0.00109299
+v 0.03281985 -0.05576248 -0.00109298
+v 0.01105568 -0.04501287 -0.00844157
+v 0.03177249 -0.04665810 -0.00844157
+v 0.03281985 -0.04664142 -0.00844013
+v 0.00805423 -0.06723463 -0.00169151
+v 0.03281985 -0.06590067 -0.00109446
+v 0.00805423 -0.06613967 -0.00120236
+v 0.00805423 -0.06692059 -0.00154980
+v 0.00805423 -0.06589233 -0.00109302
+v 0.03281985 -0.04832279 -0.00615844
+v 0.03281985 -0.06586454 -0.00109302
+v 0.01107507 -0.04501287 -0.00844157
+v 0.02818190 -0.04584660 -0.00844157
+v 0.02556593 -0.04527133 -0.00844157
+v 0.03142580 -0.06589233 -0.00109302
+v 0.02314877 -0.04521296 -0.00844157
+v 0.02072918 -0.04516572 -0.00844157
+v 0.02057402 -0.04516294 -0.00844157
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 27
+f 1 27 31
+f 1 31 40
+f 1 40 46
+f 1 46 37
+f 1 37 47
+f 1 47 42
+f 1 42 33
+f 1 33 29
+f 1 29 13
+f 1 13 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 14
+f 2 14 28
+f 2 28 32
+f 2 32 35
+f 2 35 34
+f 2 34 41
+f 2 41 44
+f 2 44 43
+f 2 43 45
+f 2 45 36
+f 2 36 30
+f 2 30 20
+f 2 20 18
+f 2 18 8
+f 2 8 9
+f 2 9 7
+f 3 7 10
+f 3 10 4
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 7 9 15
+f 7 15 10
+f 8 16 17
+f 8 17 9
+f 8 18 19
+f 8 19 16
+f 9 17 10
+f 9 10 15
+f 10 17 16
+f 10 16 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 13 28 14
+f 13 29 28
+f 16 19 20
+f 18 20 19
+f 20 30 38
+f 20 38 48
+f 20 48 54
+f 20 54 53
+f 20 53 52
+f 20 52 50
+f 20 50 49
+f 20 49 39
+f 20 39 31
+f 20 31 27
+f 20 27 26
+f 20 26 25
+f 20 25 24
+f 20 24 23
+f 20 23 22
+f 20 22 21
+f 28 29 32
+f 29 33 34
+f 29 34 35
+f 29 35 32
+f 30 36 37
+f 30 37 38
+f 31 39 40
+f 33 41 34
+f 33 42 43
+f 33 43 44
+f 33 44 41
+f 36 45 51
+f 36 51 47
+f 36 47 37
+f 37 46 38
+f 38 46 48
+f 39 49 40
+f 40 49 50
+f 40 50 46
+f 42 47 51
+f 42 51 45
+f 42 45 43
+f 46 50 52
+f 46 52 53
+f 46 53 54
+f 46 54 48
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_16.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..393752de06827a0f275f9b712a4ec8bb821866ed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_16.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.03040452 0.06335096 -0.00918338
+v 0.03196180 0.06333594 -0.00918338
+v 0.02798637 0.06325703 -0.00918338
+v 0.02407503 0.06835193 -0.00687475
+v 0.02556823 0.06833690 -0.00686841
+v 0.03040452 0.06825800 -0.00681535
+v 0.03196180 0.06823169 -0.00679713
+v 0.03196180 0.03023787 -0.00918350
+v 0.02407503 0.06305414 -0.00918338
+v 0.02407503 0.06849846 -0.00605030
+v 0.02407503 0.06856609 -0.00554264
+v 0.03196180 0.06825048 -0.00634412
+v 0.03196180 0.03018526 -0.00769458
+v 0.03188613 0.03034307 -0.00918350
+v 0.02407503 0.05618579 -0.00918340
+v 0.02407503 0.06830683 -0.00423826
+v 0.02556823 0.06826926 -0.00426994
+v 0.02798637 0.06820539 -0.00432221
+v 0.03040452 0.06814151 -0.00437765
+v 0.03178808 0.06810394 -0.00441012
+v 0.02556823 0.06850973 -0.00554264
+v 0.03040452 0.06830308 -0.00554264
+v 0.03196180 0.06823169 -0.00548324
+v 0.03196180 0.03020781 -0.00763281
+v 0.03156650 0.03102689 -0.00662383
+v 0.03189694 0.03028671 -0.00768904
+v 0.02407503 0.04445173 -0.00554273
+v 0.02407503 0.04480491 -0.00619215
+v 0.02407503 0.04531592 -0.00694531
+v 0.02407503 0.06740883 -0.00379950
+v 0.02407503 0.06687530 -0.00354132
+v 0.02556823 0.06687530 -0.00359517
+v 0.03196180 0.06701807 -0.00389771
+v 0.03196180 0.06790481 -0.00432142
+v 0.03196180 0.06809643 -0.00443625
+v 0.03196180 0.06812273 -0.00461286
+v 0.03196180 0.03074885 -0.00654463
+v 0.02904335 0.03867676 -0.00433499
+v 0.02407503 0.04521446 -0.00420111
+v 0.02407503 0.06464346 -0.00259650
+v 0.03196180 0.06078470 -0.00109256
+v 0.03196180 0.06326453 -0.00215221
+v 0.03196180 0.06448189 -0.00270975
+v 0.03196180 0.03624954 -0.00432154
+v 0.03141517 0.03632093 -0.00434767
+v 0.02407503 0.05220678 -0.00109259
+v 0.02407503 0.06342609 -0.00208648
+v 0.02556823 0.06090117 -0.00109256
+v 0.03196180 0.05213539 -0.00109259
+v 0.03040452 0.05212412 -0.00109259
+v 0.03051107 0.05212412 -0.00109259
+v 0.02407503 0.06091996 -0.00109256
+f 1 2 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 12
+f 2 12 23
+f 2 23 36
+f 2 36 35
+f 2 35 34
+f 2 34 33
+f 2 33 43
+f 2 43 42
+f 2 42 41
+f 2 41 49
+f 2 49 44
+f 2 44 37
+f 2 37 24
+f 2 24 13
+f 2 13 8
+f 3 9 4
+f 4 10 5
+f 4 9 15
+f 4 15 29
+f 4 29 28
+f 4 28 27
+f 4 27 39
+f 4 39 46
+f 4 46 52
+f 4 52 47
+f 4 47 40
+f 4 40 31
+f 4 31 30
+f 4 30 16
+f 4 16 11
+f 4 11 10
+f 5 10 6
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 8 13 14
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 22 23
+f 12 21 22
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 16 30 17
+f 17 30 18
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 23 22
+f 21 36 23
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 25 39 27
+f 25 27 26
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 32 43 33
+f 37 44 45
+f 37 45 38
+f 38 45 46
+f 38 46 39
+f 40 47 41
+f 41 47 48
+f 41 48 52
+f 41 52 46
+f 41 46 50
+f 41 50 51
+f 41 51 49
+f 44 50 46
+f 44 46 45
+f 44 49 51
+f 44 51 50
+f 47 52 48
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_17.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1268d5db033addb881a3796627768a9d454192b0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_17.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.03675882 0.03795805 -0.01160923
+v -0.04104731 0.02056347 -0.01160929
+v -0.04128281 0.02056347 -0.01144204
+v -0.04128281 0.02719780 -0.00982735
+v -0.04128281 0.02875492 -0.00938735
+v -0.03639628 0.03795805 -0.01104092
+v -0.00962733 0.03795805 -0.01160923
+v -0.04128281 0.01935174 -0.01160930
+v -0.04128281 0.01867792 -0.00938739
+v -0.04116816 0.02884740 -0.00938735
+v -0.03489965 0.03795805 -0.01080559
+v -0.00962733 0.03795805 -0.01041998
+v -0.00962733 0.02054837 -0.01160929
+v -0.04128281 0.01867793 -0.01160930
+v -0.02971567 0.01867792 -0.00938739
+v -0.03820898 0.03017993 -0.00938735
+v -0.03247963 0.03795805 -0.01065074
+v -0.02038883 0.03299221 -0.00938734
+v -0.01787895 0.03284310 -0.00938734
+v -0.01774880 0.03282989 -0.00938734
+v -0.01628006 0.03209002 -0.00938734
+v -0.01570372 0.03048758 -0.00938735
+v -0.00962733 0.02552365 -0.01039632
+v -0.02764269 0.03795805 -0.01056222
+v -0.02035474 0.01931211 -0.01160930
+v -0.00962733 0.02327949 -0.01077367
+v -0.02702917 0.01867793 -0.01160930
+v -0.02036094 0.02334176 -0.00938737
+v -0.03005961 0.03219005 -0.00938734
+v -0.03005961 0.03795805 -0.01058549
+v -0.02764269 0.03243164 -0.00938734
+v -0.01571611 0.02806223 -0.00938736
+v -0.00962733 0.02428926 -0.01059837
+v -0.01573161 0.02789803 -0.00938736
+v -0.01752261 0.02534999 -0.00938737
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 17
+f 1 17 30
+f 1 30 24
+f 1 24 12
+f 1 12 7
+f 1 7 13
+f 1 13 25
+f 1 25 27
+f 1 27 14
+f 1 14 8
+f 1 8 2
+f 2 8 3
+f 3 8 14
+f 3 14 9
+f 3 9 5
+f 3 5 4
+f 5 9 15
+f 5 15 28
+f 5 28 35
+f 5 35 34
+f 5 34 32
+f 5 32 22
+f 5 22 21
+f 5 21 20
+f 5 20 19
+f 5 19 18
+f 5 18 31
+f 5 31 29
+f 5 29 16
+f 5 16 10
+f 5 10 6
+f 6 10 11
+f 7 12 23
+f 7 23 33
+f 7 33 26
+f 7 26 13
+f 9 14 27
+f 9 27 15
+f 10 16 11
+f 11 16 17
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 24 18
+f 13 26 15
+f 13 15 25
+f 15 27 25
+f 15 26 28
+f 16 29 17
+f 17 29 30
+f 18 24 30
+f 18 30 31
+f 22 32 23
+f 23 32 34
+f 23 34 35
+f 23 35 33
+f 26 33 35
+f 26 35 28
+f 29 31 30
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_18.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ac0ad75304a13f62c13b1b7f06ada73d3bc54af
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_18.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.03878995 -0.00243041 -0.01405910
+v 0.03878995 -0.00243042 -0.01139030
+v 0.04008021 -0.00243041 -0.01405078
+v 0.03982784 -0.02752310 -0.01401595
+v 0.03878995 -0.02669782 -0.01402260
+v 0.04409892 -0.00243043 -0.00697058
+v 0.03878995 -0.00405398 -0.01138531
+v 0.04408221 -0.00367327 -0.00695727
+v 0.04249862 -0.00243041 -0.01375480
+v 0.04008021 -0.02752310 -0.01401429
+v 0.03878995 -0.02752310 -0.01402094
+v 0.04530896 -0.00243044 -0.00624726
+v 0.03878995 -0.00648072 -0.01138033
+v 0.04529141 -0.00367328 -0.00624144
+v 0.04408304 -0.00610493 -0.00695313
+v 0.04374042 -0.00243041 -0.01344386
+v 0.04244598 -0.02752310 -0.01371166
+v 0.03878995 -0.02752311 -0.01137376
+v 0.04633349 -0.00243044 -0.00590472
+v 0.04732625 -0.00368311 -0.00556634
+v 0.04732625 -0.00367328 -0.00556634
+v 0.04732625 -0.00243781 -0.00557465
+v 0.04529225 -0.00610494 -0.00624644
+v 0.04732625 -0.00611722 -0.00557051
+v 0.04410978 -0.00853658 -0.00694898
+v 0.04732625 -0.00243042 -0.01059049
+v 0.04732625 -0.02752311 -0.01056398
+v 0.04365435 -0.02752310 -0.01339988
+v 0.04268164 -0.02752310 -0.01365097
+v 0.04491704 -0.02752312 -0.00759089
+v 0.04426438 -0.01340234 -0.00699972
+v 0.04414990 -0.01097069 -0.00695148
+v 0.04732625 -0.00243043 -0.00783191
+v 0.04531899 -0.00853659 -0.00628802
+v 0.04732625 -0.00853659 -0.00562373
+v 0.04732625 -0.02752313 -0.00642028
+v 0.04643628 -0.02752313 -0.00679940
+v 0.04547359 -0.01340235 -0.00640693
+v 0.04535994 -0.01097070 -0.00634456
+v 0.04732625 -0.01098298 -0.00570023
+v 0.04714993 -0.02752313 -0.00649510
+v 0.04732625 -0.01583400 -0.00589064
+v 0.04732625 -0.01340235 -0.00578255
+f 1 2 6
+f 1 6 12
+f 1 12 19
+f 1 19 33
+f 1 33 26
+f 1 26 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 18
+f 1 18 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 4 10 17
+f 4 17 29
+f 4 29 28
+f 4 28 27
+f 4 27 36
+f 4 36 41
+f 4 41 37
+f 4 37 30
+f 4 30 18
+f 4 18 11
+f 4 11 5
+f 6 8 12
+f 7 13 8
+f 8 14 12
+f 8 13 15
+f 8 15 14
+f 9 16 17
+f 9 17 10
+f 12 14 19
+f 13 18 15
+f 14 20 21
+f 14 21 22
+f 14 22 19
+f 14 15 23
+f 14 23 24
+f 14 24 20
+f 15 25 23
+f 15 18 25
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 18 30 31
+f 18 31 32
+f 18 32 25
+f 19 22 33
+f 20 24 35
+f 20 35 40
+f 20 40 43
+f 20 43 42
+f 20 42 36
+f 20 36 27
+f 20 27 26
+f 20 26 33
+f 20 33 22
+f 20 22 21
+f 23 25 32
+f 23 32 34
+f 23 34 24
+f 24 34 35
+f 30 37 31
+f 31 38 39
+f 31 39 32
+f 31 37 38
+f 32 39 34
+f 34 39 35
+f 35 39 40
+f 36 42 38
+f 36 38 41
+f 37 41 38
+f 38 43 39
+f 38 42 43
+f 39 43 40
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_19.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28e365a40b33cfb0d463b2629531a17f0688829c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_19.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02557211 -0.01826894 -0.00741720
+v -0.02557317 -0.02069849 -0.00741721
+v -0.02692060 -0.03893081 -0.01082509
+v -0.02557849 -0.01583582 -0.00741719
+v -0.02557424 -0.02272788 -0.00741721
+v -0.02557530 -0.02313161 -0.00741721
+v -0.02564017 -0.02556473 -0.00741722
+v -0.02577098 -0.02799785 -0.00741723
+v -0.02594645 -0.03043098 -0.00741724
+v -0.02649627 -0.03287839 -0.00741725
+v -0.02787879 -0.03893082 -0.00741727
+v -0.03376939 -0.03893081 -0.01082509
+v -0.02705779 -0.00243399 -0.01082496
+v -0.02558062 -0.01542851 -0.00741719
+v -0.03176155 -0.03893082 -0.00741727
+v -0.03377896 -0.03893081 -0.01025734
+v -0.03498494 -0.03892367 -0.01082509
+v -0.03643659 -0.00243399 -0.01082496
+v -0.02567208 -0.00243400 -0.00741714
+v -0.02562316 -0.00853645 -0.00741716
+v -0.02560614 -0.01096957 -0.00741717
+v -0.02559125 -0.01340270 -0.00741718
+v -0.03293031 -0.03491849 -0.00741726
+v -0.03295689 -0.03466482 -0.00741726
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_2.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdee71018ad849569e2a66248045e20f2fc3a5b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_2.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_20.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22856f39d697eb7c9813932a04503f118675da6c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_20.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_21.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cea150a2ddd02ac786a06ff41fa9d247b09281e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_21.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01106622 0.06127626 -0.00109255
+v 0.01106622 0.06088170 -0.00109256
+v 0.01106622 0.05484533 0.00206081
+v 0.03588087 0.05460270 0.00206081
+v 0.03588087 0.06077853 -0.00109256
+v 0.01130669 0.05206299 -0.00109259
+v 0.01106622 0.05205846 -0.00108796
+v 0.01106622 0.04977383 0.00206079
+v 0.03588087 0.04977497 0.00206079
+v 0.03588087 0.05221832 -0.00109259
+v 0.01589507 0.05089518 -0.00008570
+v 0.01106622 0.05090198 -0.00008416
+v 0.03040348 0.05212648 -0.00109259
+v 0.01106622 0.05005389 0.00121657
+v 0.01198196 0.04974322 0.00206079
+v 0.03588087 0.04988948 0.00180027
+v 0.03374092 0.04976136 0.00206079
+v 0.01589507 0.04999380 0.00120639
+v 0.03282276 0.05012306 0.00120639
+v 0.03588087 0.05103010 0.00003993
+v 0.03524204 0.05101876 0.00002820
+v 0.03524204 0.05219678 -0.00109259
+v 0.01347579 0.05089744 -0.00008354
+v 0.03282276 0.05214236 -0.00109259
+v 0.03282276 0.05098815 -0.00000576
+v 0.01106622 0.05005730 0.00120639
+v 0.01347579 0.05000967 0.00120639
+v 0.01347579 0.04971374 0.00206079
+v 0.03524204 0.05015820 0.00120639
+v 0.03588087 0.05022056 0.00115114
+v 0.01589507 0.04969333 0.00206079
+v 0.01439395 0.04970354 0.00206079
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+f 1 14 8
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+f 1 4 5
+f 1 5 10
+f 1 10 22
+f 1 22 24
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+f 1 13 6
+f 1 6 2
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_22.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..328986c0d0ce2e5daf83126480567c1a739bf960
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_22.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.03878911 -0.04183899 -0.00844155
+v 0.03776248 -0.04214335 -0.00844155
+v 0.03878911 -0.03886299 -0.00461329
+v 0.03878911 -0.05192697 -0.00844159
+v 0.03564438 -0.04298543 -0.00844156
+v 0.03877275 -0.03886638 -0.00460322
+v 0.03878911 -0.03885286 -0.00390044
+v 0.03878911 -0.05255261 -0.00779348
+v 0.03865238 -0.06448708 -0.00329415
+v 0.03827609 -0.06935352 -0.00554349
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+v 0.03704379 -0.07326628 -0.00686563
+v 0.03524296 -0.07178503 -0.00725118
+v 0.03687200 -0.05399664 -0.00844160
+v 0.03282394 -0.04664118 -0.00844157
+v 0.03281985 -0.04664118 -0.00844013
+v 0.03877275 -0.03886639 -0.00391051
+v 0.03878911 -0.03930264 -0.00258480
+v 0.03878911 -0.05337102 -0.00554344
+v 0.03859162 -0.05967476 -0.00109300
+v 0.03819078 -0.06692200 -0.00329416
+v 0.03878911 -0.05314784 -0.00109298
+v 0.03779930 -0.07178504 -0.00554350
+v 0.03689888 -0.07320203 -0.00554351
+v 0.03533703 -0.07332039 -0.00532412
+v 0.03524296 -0.07340155 -0.00696274
+v 0.03282394 -0.07178503 -0.00725477
+v 0.03282394 -0.05569094 -0.00844160
+v 0.03356834 -0.05565036 -0.00844160
+v 0.03524296 -0.05551508 -0.00844160
+v 0.03281985 -0.05565712 -0.00844160
+v 0.03281985 -0.04832195 -0.00615844
+v 0.03536975 -0.04499764 -0.00109295
+v 0.03606333 -0.04350626 -0.00109294
+v 0.03607969 -0.04347920 -0.00109294
+v 0.03878911 -0.04101047 -0.00115839
+v 0.03761583 -0.06347931 -0.00109301
+v 0.03752701 -0.06448709 -0.00131601
+v 0.03738970 -0.06915738 -0.00327762
+v 0.03697718 -0.07178504 -0.00411708
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+v 0.03645539 -0.07300588 -0.00441849
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+v 0.03281985 -0.06692200 -0.00154548
+v 0.03281985 -0.06820709 -0.00213605
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_23.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59929388b81fb85a4ed736cc29f43f0bd01dda2b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_23.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.05133719 0.01369145 0.00740386
+v -0.05116669 0.01159287 0.00740385
+v -0.04096569 0.00662706 0.01360171
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+v -0.04104701 0.01335820 0.01368103
+v -0.04104701 0.01369143 0.01368302
+v -0.03845282 0.01369145 0.00740386
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+v -0.03973548 0.01335820 0.01397616
+v -0.03973548 0.01369143 0.01398083
+v -0.04086602 0.01369143 0.01372633
+v -0.02454284 0.01369144 0.01170767
+v -0.02591469 -0.00092010 0.00740381
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+v -0.02564976 -0.00143845 0.00740380
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+v -0.02454284 0.01369143 0.01421001
+v -0.02454284 0.00392277 0.00928457
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+v -0.03036599 -0.00143847 0.01361101
+v -0.03028730 -0.00143847 0.01361035
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_24.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79ff8614aa1671ea2096e4a8b637eb4adee3901
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_24.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02454284 0.01369144 0.01170778
+v -0.02454284 0.00392277 0.00928456
+v -0.02454284 0.01369143 0.01420967
+v 0.00379871 0.01369144 0.00955857
+v -0.02454284 0.00270687 0.00900762
+v -0.02454284 0.01335820 0.01419843
+v 0.00137969 0.00849163 0.01458186
+v -0.00103932 0.01335820 0.01461738
+v -0.00103932 0.01369143 0.01462152
+v 0.00588660 0.01369144 0.00979704
+v 0.01106622 0.00119476 0.00956503
+v 0.01105925 -0.00143845 0.00939164
+v -0.01071191 0.00119477 0.00875849
+v -0.01313093 0.00362805 0.00877447
+v -0.02454284 0.00106296 0.00868156
+v -0.02454284 0.00917882 0.01405343
+v 0.00379871 0.00606131 0.01447592
+v 0.00621773 0.00606131 0.01451439
+v 0.00379871 0.00849163 0.01461973
+v -0.02454284 0.00849163 0.01402917
+v -0.02454284 0.00674554 0.01395874
+v -0.02454284 0.00606131 0.01392915
+v -0.02454284 0.00431373 0.01384098
+v -0.02454284 -0.00143847 0.01354094
+v 0.00621773 0.00849163 0.01465050
+v 0.00621773 0.01369143 0.01450258
+v 0.00621773 0.01369144 0.00983492
+v 0.01106622 0.01369144 0.01074028
+v 0.01106622 -0.00124592 0.00940704
+v -0.01071191 -0.00143845 0.00885670
+v 0.01106622 -0.00143846 0.01092662
+v -0.01313093 0.00119477 0.00870286
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_25.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62b5b210c2b4290ae531ae12b25b243ae68a0bbd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_25.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_26.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee2fdae1962484747b556e6fccf9eead3f962893
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_26.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_27.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c0de1f49aa7c6e5ff5b7adfcd36861ed1f42782
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_27.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_28.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c63a826f918e52acd3d933f5e3e7b76295da7a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_28.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.01390994 -0.02556520 -0.00582591
+v -0.01390994 -0.02556519 -0.00687767
+v -0.01392011 -0.02313156 -0.00582887
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_29.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5410c3ade45f4ffe211c6e1d0386eb7f18249f4b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_29.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.03467696 -0.03554913 -0.00554536
+v -0.03534096 -0.03696785 -0.00408722
+v -0.03534096 -0.03696785 -0.00486003
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_3.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff56c148b2dfcfb834782b9cfb23f1eb9daee1e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_3.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.03196257 -0.00243041 -0.01159628
+v -0.00962733 -0.00243041 -0.01175968
+v 0.03196257 -0.00243040 -0.01408133
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+v -0.00962733 0.02552814 -0.01039650
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+v -0.00962733 -0.00232738 -0.01457046
+v 0.03196257 0.00606276 -0.01410152
+v 0.00138081 0.00849674 -0.01448846
+v -0.00962733 0.00983607 -0.01461778
+v -0.00962733 0.01093072 -0.01462044
+v 0.00380308 0.01093072 -0.01446609
+v 0.03196257 0.01336470 -0.01411853
+v 0.03196257 0.06272680 -0.01033036
+v 0.03040336 0.06274612 -0.01034367
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+v -0.00962733 0.01227005 -0.01461564
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+v 0.03196257 0.01579224 -0.01411958
+v 0.03196257 0.01422754 -0.01411906
+v 0.03196257 0.04498066 -0.01406571
+v 0.03196257 0.06194123 -0.01102867
+v 0.03196257 0.06150981 -0.01140922
+v 0.03040336 0.06152913 -0.01141135
+v -0.00962733 0.06141322 -0.01141880
+v -0.00962733 0.06203138 -0.01066036
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+v -0.00962733 0.05389881 -0.01351002
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_30.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8597a28a7626d4bcdff3d4be1d8d9e618dd12c6d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_30.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.04814128 -0.02172755 0.00648915
+v 0.04801478 -0.02172755 0.00653591
+v 0.04814128 -0.02172754 0.00283011
+v 0.04814128 0.00883766 0.00682126
+v 0.04784797 -0.02172755 0.00659670
+v 0.04814128 -0.00853498 0.00270780
+v 0.04491624 -0.02172754 0.00371857
+v 0.03524253 -0.00124003 0.00590472
+v 0.04814128 0.00883768 0.00317001
+v 0.04715709 0.00883766 0.00716262
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+v 0.04814128 -0.00740991 0.00270546
+v 0.03531342 -0.02172755 0.00638082
+v 0.03394139 -0.00124003 0.00629361
+v 0.03394139 0.00549539 0.00654692
+v 0.03524253 0.00362527 0.00611827
+v 0.04491624 0.00883768 0.00394780
+v 0.04491624 0.00849059 0.00393378
+v 0.04814128 -0.00497427 0.00273353
+v 0.04814128 -0.00610532 0.00270469
+v 0.04524292 0.00883766 0.00776038
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+v 0.04591156 -0.02172756 0.00723810
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+v 0.03394139 0.00883766 0.00683997
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_31.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ce6a88416d473d15822f83b37b178aad5cb9503
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_31.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.04670800 -0.00243044 -0.00577977
+v 0.04670800 -0.00243042 -0.01097360
+v 0.04670800 -0.00198498 -0.00578303
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_32.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87a3caefca3f406c621126b6a95472f4b894147b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_32.obj
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_33.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf089df9edf5ffa520a541fb1fd1800024e361e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_33.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_34.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8991aeec3bf15061a4e796339183be238bc31f4e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_34.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_35.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5e39b296f280b4d6d1064de9eccd3c4792b753f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_35.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_36.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0816022947eb76dd20f149313bafa4575cd85619
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_36.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_37.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46316cf601b12caae3027e8a57854eb015a122f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_37.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_38.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f3a6854592b54cbc48fe5e2d752ecfa5154cbfc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_38.obj
@@ -0,0 +1,370 @@
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+f 108 120 121
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_39.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d645bab6ce4b2938068e80ddd70037b81fc87b54
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_39.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.04732625 -0.05417148 -0.00805834
+v 0.04732625 -0.05417148 -0.00808153
+v 0.04732625 -0.05271855 -0.00718084
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+v 0.04732625 -0.05402280 -0.00918003
+v 0.04732625 -0.05072827 -0.00684100
+v 0.03878995 -0.05254900 -0.00779458
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+v 0.03878995 -0.04123597 -0.00661995
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+v 0.03878995 -0.04907708 -0.01145961
+v 0.03878995 -0.04822150 -0.01195668
+v 0.03878995 -0.04745981 -0.01239868
+v 0.04249862 -0.04928837 -0.01154221
+v 0.04249862 -0.04745981 -0.01242912
+v 0.04732625 -0.04989095 -0.00679824
+v 0.04732625 -0.04849019 -0.00672868
+v 0.04517777 -0.04900668 -0.00661998
+v 0.03880331 -0.04120468 -0.00661995
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+v 0.04732625 -0.04987789 -0.01033213
+v 0.04255461 -0.04506000 -0.01316314
+v 0.03878995 -0.04650249 -0.01285373
+v 0.04008021 -0.04745981 -0.01242912
+v 0.04008021 -0.04570429 -0.01324140
+v 0.04178497 -0.04427223 -0.01355514
+v 0.04573849 -0.04745984 -0.00661997
+v 0.04732625 -0.04160899 -0.00661995
+v 0.04319306 -0.03292793 -0.00661992
+v 0.04491704 -0.02752312 -0.00759087
+v 0.03878995 -0.02752310 -0.01402172
+v 0.04732625 -0.04750677 -0.01046182
+v 0.04337273 -0.04259236 -0.01329791
+v 0.04356242 -0.04016385 -0.01336456
+v 0.03878995 -0.04568342 -0.01323270
+v 0.03878995 -0.04503652 -0.01344284
+v 0.04008021 -0.04448613 -0.01362180
+v 0.04008021 -0.04259236 -0.01390875
+v 0.04216352 -0.04259236 -0.01366310
+v 0.04732625 -0.02752313 -0.00661990
+v 0.04685745 -0.02752313 -0.00661990
+v 0.04643628 -0.02752313 -0.00679888
+v 0.03982784 -0.02752310 -0.01401593
+v 0.04008021 -0.03043157 -0.01401086
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+v 0.04235405 -0.04016385 -0.01370440
+v 0.03878995 -0.04446787 -0.01362035
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+v 0.03878995 -0.04129594 -0.01395873
+v 0.03878995 -0.04016385 -0.01399931
+v 0.04008021 -0.04016385 -0.01399496
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+v 0.04008021 -0.02752310 -0.01401448
+v 0.04246269 -0.03529902 -0.01370728
+v 0.04244013 -0.03773013 -0.01370656
+v 0.04008021 -0.03529902 -0.01400364
+v 0.03878995 -0.03399999 -0.01401232
+v 0.04367106 -0.03529902 -0.01340657
+v 0.04732625 -0.04259237 -0.01052557
+v 0.03878995 -0.03886482 -0.01400292
+v 0.03878995 -0.03773013 -0.01400582
+v 0.04008021 -0.03773013 -0.01400003
+v 0.04365435 -0.02752310 -0.01340001
+v 0.04732625 -0.02824827 -0.01056319
+v 0.04198302 -0.02752310 -0.01377101
+v 0.04244598 -0.02752310 -0.01371159
+v 0.03878995 -0.03529902 -0.01401016
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+v 0.04732625 -0.03529903 -0.01055163
+v 0.04732625 -0.03773014 -0.01054729
+v 0.04732625 -0.04016386 -0.01053933
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+f 1 48 63
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+f 1 73 72
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+f 34 40 35
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+f 39 55 40
+f 40 55 49
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+f 45 60 46
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+f 47 59 62
+f 47 62 48
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+f 49 55 59
+f 54 64 55
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+f 55 65 66
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_4.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce5b67bffa4ca61c452faedef7137f4699e66236
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_4.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.05023177 0.01903448 -0.00109331
+v -0.05050610 0.01700481 -0.00109332
+v -0.04107888 0.01903448 -0.00109331
+v -0.03737060 0.01903451 -0.00721176
+v -0.05081593 0.01468518 -0.00109333
+v -0.04299273 -0.00243046 -0.00109339
+v -0.01902286 -0.00243044 -0.00432781
+v -0.01902286 -0.00123701 -0.00432361
+v -0.02067206 0.00849113 -0.00425410
+v -0.02101417 0.01014891 -0.00431459
+v -0.02764646 0.01579038 -0.00348140
+v -0.03006378 0.01903449 -0.00332686
+v -0.04188896 -0.00243044 -0.00471774
+v -0.04699147 -0.00243045 -0.00304003
+v -0.04872135 -0.00243045 -0.00239135
+v -0.04872780 -0.00123702 -0.00239433
+v -0.04872135 0.00119607 -0.00239314
+v -0.04990903 0.00362915 -0.00185525
+v -0.04987676 0.00606014 -0.00184207
+v -0.04983158 0.00849112 -0.00181690
+v -0.05143559 0.00849111 -0.00109335
+v -0.05130972 0.01029176 -0.00109334
+v -0.05126131 0.01092420 -0.00109334
+v -0.05109026 0.01249373 -0.00109333
+v -0.05098698 0.01335728 -0.00109333
+v -0.02864373 0.01903451 -0.00721176
+v -0.03403025 -0.00243043 -0.00721184
+v -0.05163246 -0.00243046 -0.00109339
+v -0.01884213 -0.00243044 -0.00492139
+v -0.01866785 -0.00243044 -0.00554312
+v -0.01868399 -0.00123701 -0.00554311
+v -0.01908741 0.00070022 -0.00436494
+v -0.01923264 0.00232227 -0.00445897
+v -0.01931333 0.00362916 -0.00484051
+v -0.02009113 0.00849113 -0.00554308
+v -0.02099480 0.01016362 -0.00554307
+v -0.02736245 0.01903450 -0.00543762
+v -0.02767228 0.01903449 -0.00385395
+v -0.04931519 -0.00243045 -0.00213499
+v -0.04993163 -0.00243045 -0.00186665
+v -0.04993808 -0.00123702 -0.00186724
+v -0.04993163 0.00119607 -0.00186305
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+v -0.01884213 -0.00123700 -0.00687461
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+v -0.01904223 0.00362916 -0.00596537
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+v -0.02038805 -0.00243043 -0.00711721
+v -0.01961347 -0.00243043 -0.00699681
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_40.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0e8a4086f61db51ceec2ca62b6ad630aebcbd17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_40.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.05426491 0.05236653 -0.00312245
+v -0.04559362 0.01903449 -0.00312257
+v -0.05023297 0.01903448 -0.00109291
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+v -0.02583884 0.05236653 -0.00312245
+v -0.03387829 0.01903449 -0.00312257
+v -0.04107644 0.01903448 -0.00109291
+v -0.02829291 0.05236652 -0.00109279
+v -0.01997070 0.04216949 -0.00109283
+v -0.01920970 0.04363788 -0.00312248
+v -0.02767154 0.02427821 -0.00312255
+v -0.02718631 0.02715948 -0.00221749
+v -0.02519303 0.03397272 -0.00109286
+v -0.01997070 0.04052818 -0.00109283
+v -0.01860578 0.04185952 -0.00312249
+v -0.01870003 0.04253170 -0.00312248
+v -0.02673948 0.02562911 -0.00312255
+v -0.01877683 0.04009747 -0.00312249
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+f 7 12 13
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+f 9 15 16
+f 9 16 10
+f 11 17 12
+f 12 17 14
+f 12 14 13
+f 14 18 15
+f 14 17 18
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_41.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..513d75df1af946310317fd80778de2f84282a650
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_41.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01106622 0.04930887 0.00345717
+v 0.01106622 0.04938506 0.00322902
+v 0.01106622 0.04979869 0.00570633
+v 0.00801602 0.04741483 0.00802495
+v 0.00784964 0.04741483 0.00756207
+v 0.00710980 0.04741484 0.00578096
+v 0.00700951 0.04741484 0.00558613
+v 0.00571391 0.04741484 0.00422331
+v 0.00380000 0.04741485 0.00383179
+v -0.00098829 0.04741485 0.00370316
+v 0.01105442 0.04938506 0.00322902
+v 0.01106622 0.05539909 0.00322904
+v 0.01106622 0.04980232 0.00571431
+v -0.00098829 0.04741483 0.00802495
+v 0.01106622 0.05071847 0.00721516
+v 0.01106622 0.05228230 0.00777287
+v 0.01013287 0.05228230 0.00802497
+v 0.00380000 0.04980595 0.00322902
+v -0.00098829 0.05138792 0.00323090
+v 0.00138108 0.05050986 0.00322903
+v 0.00562895 0.06201180 0.00322907
+v 0.01106622 0.06201180 0.00370697
+v -0.00098829 0.05897120 0.00802500
+v 0.01106622 0.05501628 0.00802498
+v -0.00098829 0.05174169 0.00322903
+v 0.00332802 0.06414710 0.00322908
+v 0.01106622 0.06443374 0.00388443
+v -0.00000656 0.06105933 0.00802500
+v -0.00098829 0.06454259 0.00359525
+v 0.01106622 0.06277374 0.00802501
+v -0.00098829 0.06462604 0.00322908
+v 0.00138108 0.06449360 0.00322908
+v 0.01105442 0.06589233 0.00433934
+v 0.01106622 0.06588689 0.00433840
+v 0.01106622 0.06444643 0.00388631
+v 0.00218699 0.06358649 0.00802501
+v -0.00098829 0.06458250 0.00354784
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+v 0.00448202 0.06574538 0.00445060
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+v 0.00621775 0.06586330 0.00489141
+v 0.00863668 0.06594676 0.00503976
+v 0.01105442 0.06589233 0.00498061
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+f 10 25 19
+f 10 19 20
+f 10 20 18
+f 12 21 22
+f 16 24 17
+f 19 25 20
+f 21 26 27
+f 21 27 22
+f 23 28 29
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 27
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+f 29 36 37
+f 30 38 39
+f 31 37 40
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+f 31 42 43
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+f 42 48 43
+f 43 48 44
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_42.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44a62553eaa2963164a98f7c48a75d57c0c5d080
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_42.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.03523537 -0.05151311 -0.00741732
+v -0.03695881 -0.05233188 -0.00741732
+v -0.03245753 -0.05151314 -0.00109978
+v -0.01582127 -0.05151311 -0.00741732
+v -0.03731815 -0.05250810 -0.00741732
+v -0.03829453 -0.05811914 -0.00109299
+v -0.03248827 -0.05158406 -0.00109297
+v -0.02339589 -0.05151314 -0.00109297
+v -0.01555885 -0.05151311 -0.00741360
+v -0.01555885 -0.05961266 -0.00741735
+v -0.03907469 -0.05495579 -0.00741733
+v -0.03929692 -0.05971154 -0.00109300
+v -0.01820430 -0.05151314 -0.00109297
+v -0.01555885 -0.05151312 -0.00415176
+v -0.01555885 -0.05980607 -0.00741735
+v -0.03911960 -0.05527815 -0.00741733
+v -0.03935365 -0.06039063 -0.00109300
+v -0.01556358 -0.05588419 -0.00109299
+v -0.01555885 -0.05588634 -0.00109423
+v -0.01555885 -0.07178025 -0.00701500
+v -0.03246226 -0.05964489 -0.00741735
+v -0.03902268 -0.05708759 -0.00741734
+v -0.03860423 -0.07304602 -0.00669557
+v -0.03920235 -0.07181035 -0.00574096
+v -0.03941276 -0.06935405 -0.00536456
+v -0.03970827 -0.06692140 -0.00329442
+v -0.03948132 -0.06205824 -0.00109301
+v -0.01555885 -0.06110839 -0.00109300
+v -0.01555885 -0.07324371 -0.00682929
+v -0.01797025 -0.07178670 -0.00700819
+v -0.03490912 -0.05961266 -0.00741735
+v -0.03898485 -0.05748516 -0.00741734
+v -0.03889502 -0.07322009 -0.00554349
+v -0.03894703 -0.05783330 -0.00741734
+v -0.03714794 -0.05906252 -0.00741735
+v -0.03731815 -0.07308685 -0.00672095
+v -0.03731815 -0.07343713 -0.00554349
+v -0.03931110 -0.07178672 -0.00385158
+v -0.03940803 -0.06931108 -0.00318794
+v -0.03924018 -0.06467141 -0.00109302
+v -0.01555885 -0.06604247 -0.00109426
+v -0.01709789 -0.06605322 -0.00109302
+v -0.01555885 -0.07342209 -0.00554721
+v -0.01797025 -0.07344143 -0.00554349
+v -0.02038874 -0.07345862 -0.00554349
+v -0.02280723 -0.07346292 -0.00554349
+v -0.02522571 -0.07346292 -0.00554349
+v -0.01797025 -0.07324157 -0.00682248
+v -0.02038874 -0.07323297 -0.00681567
+v -0.02038874 -0.07178670 -0.00699890
+v -0.02280723 -0.07178670 -0.00698342
+v -0.02522571 -0.07178670 -0.00696423
+v -0.02764184 -0.07178670 -0.00694442
+v -0.03006032 -0.07178670 -0.00692028
+v -0.03893994 -0.07324802 -0.00421375
+v -0.03247881 -0.07178670 -0.00688252
+v -0.03489966 -0.07312338 -0.00674200
+v -0.03731815 -0.07335332 -0.00413017
+v -0.03247881 -0.07315346 -0.00676057
+v -0.03006032 -0.07317925 -0.00677791
+v -0.02764184 -0.07319644 -0.00678967
+v -0.02522571 -0.07320934 -0.00679833
+v -0.02764184 -0.07345862 -0.00554349
+v -0.03881464 -0.06847297 -0.00203153
+v -0.03918816 -0.06692140 -0.00171952
+v -0.03833236 -0.06587700 -0.00109302
+v -0.01555885 -0.06692140 -0.00147623
+v -0.03438429 -0.06643574 -0.00109302
+v -0.03731815 -0.06861695 -0.00196715
+v -0.03731815 -0.06983328 -0.00248283
+v -0.03731815 -0.07178672 -0.00331919
+v -0.01555885 -0.07317710 -0.00429484
+v -0.02038874 -0.07323083 -0.00425398
+v -0.02280723 -0.07322008 -0.00680762
+v -0.03731815 -0.06692141 -0.00127441
+v -0.03731815 -0.06647442 -0.00109302
+v -0.01555885 -0.06953887 -0.00262336
+v -0.03684060 -0.06647227 -0.00109302
+v -0.01555885 -0.07178672 -0.00362191
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+f 39 65 40
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+f 41 70 71
+f 41 71 67
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+f 45 58 46
+f 46 58 47
+f 47 63 48
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+f 49 62 74
+f 49 74 50
+f 50 74 61
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+f 50 60 51
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+f 61 74 62
+f 64 71 70
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+f 67 71 77
+f 68 78 69
+f 69 78 75
+f 71 73 72
+f 71 72 79
+f 71 79 77
+f 75 78 76
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_43.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e4de1655a1707511dfbc15ca8eba6270f17346e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_43.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.03615955 0.01119775 -0.00938721
+v -0.03615955 0.01306814 -0.00785174
+v -0.04457509 0.01249167 -0.00938720
+v -0.03615955 0.02978255 -0.00938714
+v -0.03615955 0.01324672 -0.00773014
+v -0.04818455 0.01458136 -0.00893444
+v -0.04770625 0.01400803 -0.00938720
+v -0.03724772 0.03008018 -0.00938714
+v -0.05182956 0.04318854 -0.00721167
+v -0.03615955 0.03595451 -0.00721170
+v -0.03615955 0.01449051 -0.00734957
+v -0.04861839 0.01620424 -0.00871082
+v -0.05067204 0.01928396 -0.00885349
+v -0.04821833 0.01449677 -0.00938720
+v -0.03615955 0.01494166 -0.00721178
+v -0.04699325 0.01822501 -0.00804061
+v -0.04941141 0.02309052 -0.00753546
+v -0.04941141 0.02065933 -0.00799822
+v -0.03821143 0.03018044 -0.00938714
+v -0.05247499 0.04320107 -0.00721167
+v -0.05067204 0.01928396 -0.00902195
+v -0.05302619 0.03121745 -0.00721172
+v -0.05317199 0.03181898 -0.00721171
+v -0.05001061 0.01880148 -0.00938718
+v -0.04941141 0.02529926 -0.00721174
+v -0.04909135 0.03006452 -0.00938714
+v -0.04941141 0.03222940 -0.00902999
+v -0.05410725 0.04240843 -0.00721167
+v -0.04941141 0.03038721 -0.00933304
+v -0.05114145 0.03209468 -0.00899102
+v -0.05085696 0.02065933 -0.00923490
+v -0.05432239 0.03972034 -0.00721168
+v -0.05329290 0.03281840 -0.00740402
+v -0.05039822 0.01992935 -0.00938718
+v -0.04941141 0.02996739 -0.00938714
+v -0.05430639 0.04005243 -0.00721168
+v -0.05149706 0.03038721 -0.00910241
+v -0.05146150 0.02795289 -0.00923765
+v -0.05040889 0.02911836 -0.00938714
+v -0.05108989 0.02276782 -0.00938717
+v -0.05128547 0.02552484 -0.00936139
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+v -0.05112545 0.02309052 -0.00938717
+v -0.05111834 0.02301846 -0.00938717
+v -0.05100454 0.02741089 -0.00938715
+v -0.05121968 0.02543711 -0.00938716
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+f 21 23 31
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+f 24 31 34
+f 26 29 27
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+f 32 44 40
+f 32 40 33
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+f 38 45 46
+f 38 46 41
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_44.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26eb2b5d1d6525081d6af2f0bbaf407e6c494710
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_44.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.04732625 -0.04160831 -0.00661923
+v 0.04732625 -0.04016614 -0.00621082
+v 0.04526718 -0.04745797 -0.00109295
+v 0.04573849 -0.04745795 -0.00661925
+v 0.04732625 -0.02752314 -0.00661918
+v 0.04732625 -0.03772964 -0.00566012
+v 0.04525047 -0.04750351 -0.00109295
+v 0.04517777 -0.04900638 -0.00661926
+v 0.04732625 -0.03531337 -0.00553029
+v 0.04550367 -0.03535134 -0.00109291
+v 0.04685745 -0.02752314 -0.00661918
+v 0.04732625 -0.02752314 -0.00641957
+v 0.04446912 -0.04937832 -0.00109296
+v 0.04483263 -0.04981096 -0.00661926
+v 0.04732625 -0.03529819 -0.00552975
+v 0.04552122 -0.03291737 -0.00109290
+v 0.04235322 -0.02788749 -0.00109288
+v 0.04443737 -0.02754593 -0.00109288
+v 0.04319306 -0.03292747 -0.00661920
+v 0.04457776 -0.02754593 -0.00109288
+v 0.04467636 -0.02785713 -0.00109288
+v 0.04540757 -0.03048593 -0.00109289
+v 0.04732625 -0.03286422 -0.00563901
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+v 0.03878995 -0.05282433 -0.00661927
+v 0.04732625 -0.03287940 -0.00563792
+v 0.04155015 -0.03002291 -0.00109289
+v 0.03878995 -0.04033313 -0.00589112
+v 0.03878995 -0.03889096 -0.00464585
+v 0.03878995 -0.03886313 -0.00461231
+v 0.03880331 -0.04120349 -0.00661923
+v 0.03878995 -0.04116807 -0.00657000
+v 0.03878995 -0.04116303 -0.00109293
+v 0.03878995 -0.04123638 -0.00661923
+v 0.03878995 -0.03885302 -0.00389989
+v 0.03878995 -0.03930085 -0.00258485
+v 0.03878995 -0.04100616 -0.00115838
+f 1 2 3
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+f 1 32 19
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+f 19 33 29
+f 24 34 38
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+f 24 35 26
+f 24 26 25
+f 28 31 36
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+f 28 37 38
+f 28 38 34
+f 32 35 33
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_45.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d814a0b9979943fd0ab344e66b79ebafe019683d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_45.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01209345 0.06821030 -0.00005400
+v -0.01209345 0.06821030 0.00042021
+v -0.01174887 0.06815870 -0.00000789
+v -0.01051335 0.06694800 -0.00109253
+v -0.01083526 0.06698301 -0.00109253
+v -0.01209345 0.06773855 -0.00050199
+v -0.01174887 0.06815870 0.00033222
+v -0.01209345 0.06767772 0.00150188
+v -0.00149749 0.06579072 0.00255435
+v -0.00149749 0.06579072 0.00214360
+v 0.01106622 0.06127592 -0.00109255
+v -0.01209345 0.06698854 -0.00109253
+v -0.01209345 0.06650756 0.00277644
+v -0.01071058 0.06643569 0.00277306
+v -0.00829396 0.06627353 0.00278152
+v -0.00587507 0.06612058 0.00277179
+v -0.00345618 0.06594736 0.00270833
+v -0.00116424 0.06497253 0.00322908
+v 0.00332669 0.06414696 0.00322908
+v 0.00562769 0.06201303 0.00322907
+v 0.01106622 0.05539929 0.00322904
+v 0.01106622 0.06088157 -0.00109256
+v -0.01209345 0.06001730 -0.00109256
+v -0.01209345 0.06554195 0.00322908
+v -0.01071058 0.06550140 0.00322908
+v -0.00829396 0.06541479 0.00322908
+v -0.00587507 0.06531713 0.00322908
+v -0.00345618 0.06517708 0.00322908
+v 0.01106622 0.04938446 0.00322902
+v 0.01105489 0.05206387 -0.00109259
+v 0.01106622 0.05205834 -0.00108793
+v -0.01209345 0.05612535 0.00322905
+v 0.00153349 0.05303133 -0.00109259
+v -0.00015543 0.05324509 -0.00037513
+v 0.00379822 0.04980646 0.00322902
+v 0.01105489 0.05005893 0.00120654
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+v 0.01106622 0.05090292 -0.00008410
+v -0.00100102 0.05139862 0.00322903
+v 0.00607202 0.05204545 -0.00109259
+v 0.00727127 0.05102639 0.00002970
+v 0.00137933 0.05051040 0.00322903
+v 0.00863600 0.05030033 0.00120654
+v 0.00863600 0.05095636 -0.00004095
+v 0.01105489 0.05090292 -0.00008410
+v 0.01106622 0.05005893 0.00120654
+v 0.00634860 0.05203807 -0.00109259
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+f 1 24 13
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+f 4 22 30
+f 4 30 38
+f 4 38 48
+f 4 48 41
+f 4 41 33
+f 4 33 23
+f 4 23 12
+f 4 12 5
+f 5 12 6
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 29
+f 11 29 37
+f 11 37 47
+f 11 47 39
+f 11 39 31
+f 11 31 22
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 14 28 15
+f 15 28 16
+f 16 28 18
+f 16 18 17
+f 18 28 27
+f 18 27 26
+f 18 26 25
+f 18 25 24
+f 18 24 32
+f 18 32 40
+f 18 40 43
+f 18 43 35
+f 18 35 29
+f 18 29 21
+f 18 21 20
+f 18 20 19
+f 22 31 30
+f 23 33 34
+f 23 34 32
+f 29 35 36
+f 29 36 37
+f 30 31 38
+f 31 39 38
+f 32 34 40
+f 33 41 42
+f 33 42 35
+f 33 35 43
+f 33 43 40
+f 33 40 34
+f 35 42 44
+f 35 44 36
+f 36 44 42
+f 36 42 45
+f 36 45 46
+f 36 46 39
+f 36 39 47
+f 36 47 37
+f 38 39 48
+f 39 46 48
+f 41 48 46
+f 41 46 45
+f 41 45 42
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_46.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fab390378ecb332b593415c809e3d330bdaa7d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_46.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.04951060 0.00883767 0.00634073
+v 0.04951060 0.00883768 0.00271660
+v 0.04951060 0.01016350 0.00637408
+v 0.04916806 0.00990664 0.00648929
+v 0.04909129 0.00883767 0.00648928
+v 0.04258303 0.02361071 0.00270518
+v 0.04297725 0.02321031 0.00270518
+v 0.04435774 0.02317254 0.00270518
+v 0.04466927 0.02317254 0.00270518
+v 0.04540308 0.02552580 0.00270518
+v 0.04567032 0.02795838 0.00270519
+v 0.04569985 0.03027765 0.00270520
+v 0.04572642 0.03517303 0.00270522
+v 0.04572642 0.03525235 0.00270522
+v 0.04572199 0.03768494 0.00270523
+v 0.04565260 0.04741527 0.00270526
+v 0.04951060 0.04741527 0.00319166
+v 0.04491585 0.00883768 0.00394724
+v 0.03588727 0.03366589 0.00270521
+v 0.04951060 0.01050346 0.00638260
+v 0.04951060 0.01291338 0.00644299
+v 0.04936000 0.01263763 0.00648930
+v 0.03560674 0.00883767 0.00648928
+v 0.04565113 0.04742660 0.00270526
+v 0.04951060 0.04742660 0.00319203
+v 0.03442852 0.04742659 0.00648942
+v 0.03588727 0.03478019 0.00270522
+v 0.04951060 0.01335910 0.00645299
+v 0.04940725 0.01335910 0.00648930
+v 0.04202197 0.04742660 0.00270526
+v 0.04951060 0.04742659 0.00648942
+v 0.04951060 0.01498334 0.00648931
+f 1 2 17
+f 1 17 25
+f 1 25 31
+f 1 31 32
+f 1 32 28
+f 1 28 21
+f 1 21 20
+f 1 20 3
+f 1 3 4
+f 1 4 5
+f 1 5 23
+f 1 23 18
+f 1 18 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 18 19
+f 2 19 6
+f 3 20 4
+f 4 20 21
+f 4 21 22
+f 4 22 29
+f 4 29 32
+f 4 32 31
+f 4 31 26
+f 4 26 23
+f 4 23 5
+f 6 19 27
+f 6 27 30
+f 6 30 24
+f 6 24 16
+f 6 16 15
+f 6 15 14
+f 6 14 13
+f 6 13 12
+f 6 12 11
+f 6 11 10
+f 6 10 9
+f 6 9 8
+f 6 8 7
+f 16 24 17
+f 17 24 25
+f 18 23 19
+f 19 26 27
+f 19 23 26
+f 21 28 29
+f 21 29 22
+f 24 30 26
+f 24 26 31
+f 24 31 25
+f 26 30 27
+f 28 32 29
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_47.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99e6d8c432f754e5e4374d7bbc114a8f514d743b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_47.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.04217256 -0.03284591 0.00571506
+v -0.04217256 -0.03274114 0.00562958
+v -0.04217256 -0.03265004 0.00721184
+v -0.04706648 -0.03173441 0.00561059
+v -0.04706648 -0.03173441 0.00552289
+v -0.04706648 -0.03172530 0.00525285
+v -0.04706648 -0.03165241 0.00459975
+v -0.04217256 -0.03042702 0.00444432
+v -0.04217256 -0.03212162 0.00737425
+v -0.04605282 -0.03168886 0.00686931
+v -0.04706648 -0.03127887 0.00662302
+v -0.04706648 -0.03091900 0.00441646
+v -0.04706648 -0.03053180 0.00433257
+v -0.04706648 -0.03032681 0.00431705
+v -0.04217256 -0.02799447 0.00428604
+v -0.04217256 -0.03202596 0.00740337
+v -0.04347891 -0.03119233 0.00740338
+v -0.04432156 -0.03042703 0.00740338
+v -0.04691271 -0.03030404 0.00696840
+v -0.04706648 -0.03020838 0.00695606
+v -0.04706648 -0.02799447 0.00422779
+v -0.04217256 -0.02634999 0.00426324
+v -0.04217256 0.01369144 0.00740354
+v -0.04578887 -0.02799448 0.00740339
+v -0.04706648 -0.02799448 0.00720205
+v -0.04706648 -0.02807192 0.00719414
+v -0.04706648 0.01368234 0.00416969
+v -0.04217256 -0.02556192 0.00426895
+v -0.04217256 0.01369145 0.00497222
+v -0.04706648 0.01369144 0.00740354
+v -0.04706648 -0.02568948 0.00740340
+v -0.04706648 -0.02590813 0.00738440
+v -0.04706648 0.01369145 0.00571554
+v -0.04603893 0.01369145 0.00468919
+v -0.04217256 0.00848925 0.00480694
+v -0.04217256 0.00605670 0.00473823
+v -0.04217256 -0.00610606 0.00453432
+v -0.04217256 -0.02399033 0.00428636
+f 1 2 8
+f 1 8 15
+f 1 15 22
+f 1 22 28
+f 1 28 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 29
+f 1 29 23
+f 1 23 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 20
+f 4 20 26
+f 4 26 25
+f 4 25 32
+f 4 32 31
+f 4 31 30
+f 4 30 33
+f 4 33 27
+f 4 27 21
+f 4 21 14
+f 4 14 13
+f 4 13 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 14 21 15
+f 15 21 22
+f 16 23 30
+f 16 30 31
+f 16 31 24
+f 16 24 18
+f 16 18 17
+f 18 20 19
+f 18 24 25
+f 18 25 26
+f 18 26 20
+f 21 27 22
+f 22 27 28
+f 23 29 34
+f 23 34 33
+f 23 33 30
+f 24 31 32
+f 24 32 25
+f 27 33 34
+f 27 34 29
+f 27 29 35
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 28
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_48.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33f80bb25c6703279ac0f0b3db07362bd3883710
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_48.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.03731865 0.07063130 -0.00006750
+v -0.03731865 0.07063130 0.00023038
+v -0.03552565 0.07062015 -0.00006750
+v -0.03873476 0.07059785 -0.00006750
+v -0.03490009 0.07061458 0.00021057
+v -0.03487585 0.07061458 0.00020741
+v -0.03873476 0.07059785 0.00018681
+v -0.03731865 0.06931036 0.00125471
+v -0.03487585 0.06931036 0.00124600
+v -0.03487585 0.07061458 -0.00006750
+v -0.03874258 0.07058113 -0.00006750
+v -0.03919533 0.06635077 0.00266723
+v -0.03731865 0.06791137 0.00223152
+v -0.03927118 0.06928249 -0.00006751
+v -0.03924850 0.06931036 0.00066609
+v -0.04286344 0.05462391 0.00802498
+v -0.03487585 0.06792252 0.00223231
+v -0.03487585 0.06169683 -0.00006753
+v -0.03731865 0.06669075 0.00282964
+v -0.03490009 0.06790580 0.00224261
+v -0.03947683 0.06844088 -0.00006751
+v -0.04286344 0.05466292 0.00795685
+v -0.04286344 0.05465177 0.00797665
+v -0.03959256 0.05527045 0.00802498
+v -0.04286344 0.01369702 0.00802483
+v -0.03487585 0.06790580 0.00224261
+v -0.03731865 0.06177486 -0.00006753
+v -0.03487585 0.03036208 0.00194063
+v -0.03490009 0.03038995 0.00193667
+v -0.03731865 0.06444460 0.00388725
+v -0.03490009 0.05582781 0.00802499
+v -0.03487585 0.06669075 0.00282488
+v -0.03987406 0.06583801 -0.00006752
+v -0.04286344 0.05424491 0.00594540
+v -0.04286344 0.05438425 0.00652768
+v -0.03731865 0.05561043 0.00802498
+v -0.04286344 0.01369703 0.00502390
+v -0.03802319 0.01369702 0.00802483
+v -0.03779642 0.06181945 -0.00006753
+v -0.03731865 0.02795986 0.00210461
+v -0.03487585 0.02802674 0.00213947
+v -0.03498063 0.02797101 0.00213393
+v -0.03731865 0.02606484 0.00225038
+v -0.03677442 0.05567732 0.00802498
+v -0.03487585 0.05583338 0.00801865
+v -0.03487585 0.05082272 0.00802497
+v -0.04286344 0.04254594 0.00489487
+v -0.04286344 0.04502062 0.00491390
+v -0.04286344 0.04741726 0.00494717
+v -0.04286344 0.04984735 0.00503670
+v -0.04286344 0.05227743 0.00526012
+v -0.03939003 0.06206468 -0.00006753
+v -0.04286344 0.01636120 0.00496449
+v -0.04286344 0.01824508 0.00494786
+v -0.04286344 0.03038994 0.00484729
+v -0.04286344 0.03045125 0.00484729
+v -0.04286344 0.03289248 0.00484889
+v -0.04286344 0.03525568 0.00485682
+v -0.04286344 0.03774708 0.00486950
+v -0.03858619 0.02631565 0.00229475
+v -0.04102743 0.01369703 0.00454381
+v -0.03862373 0.01369703 0.00504212
+v -0.03849470 0.01385866 0.00454223
+v -0.03487585 0.02670023 0.00351001
+v -0.03487585 0.02802673 0.00482351
+v -0.03487585 0.04954079 0.00802496
+v -0.03812641 0.06185289 -0.00006753
+v -0.03819522 0.06186404 -0.00006753
+v -0.03487585 0.02704022 0.00305290
+v -0.03583999 0.02625991 0.00225989
+v -0.03881530 0.01369703 0.00453985
+v -0.03982557 0.01369703 0.00451450
+f 1 2 3
+f 1 3 10
+f 1 10 18
+f 1 18 27
+f 1 27 39
+f 1 39 67
+f 1 67 68
+f 1 68 52
+f 1 52 33
+f 1 33 21
+f 1 21 14
+f 1 14 11
+f 1 11 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
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+f 2 9 5
+f 3 6 10
+f 4 11 7
+f 5 9 6
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+f 6 45 46
+f 6 46 66
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+f 6 69 41
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+f 6 28 18
+f 6 18 10
+f 7 12 13
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+f 12 16 13
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+f 16 34 51
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+f 16 48 47
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+f 16 59 58
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+f 16 57 56
+f 16 56 55
+f 16 55 54
+f 16 54 53
+f 16 53 37
+f 16 37 25
+f 16 25 38
+f 16 38 66
+f 16 66 46
+f 16 46 31
+f 16 31 44
+f 16 44 36
+f 16 36 24
+f 17 20 26
+f 18 28 29
+f 18 29 27
+f 19 24 30
+f 19 30 31
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+f 19 32 26
+f 19 26 20
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 24 36 30
+f 25 37 61
+f 25 61 72
+f 25 72 71
+f 25 71 62
+f 25 62 38
+f 27 29 40
+f 27 40 39
+f 28 41 42
+f 28 42 29
+f 29 42 43
+f 29 43 40
+f 30 36 44
+f 30 44 31
+f 31 45 32
+f 31 46 45
+f 33 47 48
+f 33 48 49
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 33 52 37
+f 33 37 53
+f 33 53 54
+f 33 54 55
+f 33 55 56
+f 33 56 57
+f 33 57 58
+f 33 58 59
+f 33 59 47
+f 37 60 61
+f 37 52 60
+f 38 62 63
+f 38 63 64
+f 38 64 65
+f 38 65 66
+f 39 40 67
+f 40 43 60
+f 40 60 52
+f 40 52 68
+f 40 68 67
+f 41 69 63
+f 41 63 70
+f 41 70 42
+f 42 70 43
+f 43 70 71
+f 43 71 72
+f 43 72 61
+f 43 61 60
+f 62 71 63
+f 63 69 64
+f 63 71 70
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_49.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ec25f1b92af17b31fa973acd349fac077c7d930
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_49.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.03641251 0.04769636 0.01015755
+v -0.03641251 0.04976479 0.00802517
+v -0.03641251 0.05735039 0.01015758
+v -0.03643533 0.01369144 0.01015742
+v -0.03641251 0.05570935 0.00802519
+v -0.03802364 0.01369145 0.00802504
+v -0.03677501 0.05567943 0.00802519
+v -0.04677075 0.05470933 0.00802519
+v -0.04941166 0.05396572 0.00802519
+v -0.03731877 0.05707261 0.01015758
+v -0.04316718 0.01369144 0.01015742
+v -0.04910287 0.01369145 0.00802504
+v -0.05003866 0.05228193 0.00802518
+v -0.04359816 0.05228192 0.01015756
+v -0.04237370 0.05456829 0.01015757
+v -0.03973815 0.05605550 0.01015758
+v -0.04336454 0.01817015 0.01015744
+v -0.04961708 0.02065739 0.00802507
+v -0.04960634 0.02046081 0.00802507
+v -0.04947745 0.01822572 0.00802506
+v -0.04928546 0.01579405 0.00802505
+v -0.05010848 0.04984599 0.00802517
+v -0.04361024 0.05101267 0.01015756
+v -0.04339274 0.01967446 0.01015744
+v -0.05000376 0.03282429 0.00802511
+v -0.04995274 0.03038835 0.00802510
+v -0.04993797 0.02985842 0.00802510
+v -0.04987755 0.02795668 0.00802509
+v -0.04986278 0.02750368 0.00802509
+v -0.04969764 0.02280273 0.00802507
+v -0.05012862 0.04741432 0.00802516
+v -0.04361696 0.04984598 0.01015755
+v -0.04354580 0.03038834 0.01015748
+v -0.05010848 0.04011503 0.00802514
+v -0.05006417 0.03702523 0.00802513
+v -0.05012459 0.04255098 0.00802515
+v -0.04362233 0.04857245 0.01015755
+v -0.04356460 0.03282428 0.01015749
+v -0.04361561 0.04614505 0.01015754
+v -0.04361964 0.04741431 0.01015754
+f 1 2 5
+f 1 5 3
+f 1 3 10
+f 1 10 16
+f 1 16 15
+f 1 15 14
+f 1 14 23
+f 1 23 32
+f 1 32 37
+f 1 37 40
+f 1 40 39
+f 1 39 38
+f 1 38 33
+f 1 33 24
+f 1 24 17
+f 1 17 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 21
+f 2 21 20
+f 2 20 19
+f 2 19 18
+f 2 18 30
+f 2 30 29
+f 2 29 28
+f 2 28 27
+f 2 27 26
+f 2 26 25
+f 2 25 35
+f 2 35 34
+f 2 34 36
+f 2 36 31
+f 2 31 22
+f 2 22 13
+f 2 13 9
+f 2 9 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 6
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 22 14
+f 14 22 23
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 22 31 23
+f 23 31 32
+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 31 36 37
+f 31 37 32
+f 33 38 34
+f 34 38 36
+f 36 39 40
+f 36 40 37
+f 36 38 39
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_5.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25f9717e1fdc7c11d86955c4b80f6e192be422a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_5.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.06313732 -0.06934982 -0.00148072
+v 0.06293767 -0.06676342 -0.00109303
+v 0.06313113 -0.07070652 -0.00158486
+v 0.06313732 -0.06934982 -0.00223193
+v 0.06287576 -0.00243714 -0.00109279
+v 0.06231860 -0.06952360 -0.00109304
+v 0.06313113 -0.07070652 -0.00222636
+v 0.06217776 -0.06981766 -0.00109304
+v 0.06269778 -0.07070652 -0.00158486
+v 0.04732626 -0.04259006 -0.01052586
+v 0.04732626 -0.04015736 -0.01053887
+v 0.04732626 -0.03772466 -0.01054723
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_50.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f533e60b804236d27dfab137153e994a1d21c4b8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_50.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_51.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60faf26969a086ec7ddd15e5251b5be628f98e9f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_51.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_52.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbc8d7ad2e518d839f26f26ae92fe4ffbbc288c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_52.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_53.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1129f9a84636dcf5789654c89850c3df45520771
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_53.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_54.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e3078f0f466a238937c74ce8b98846df934cac7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_54.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_55.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a98a07cfb63146997583b460199fde84b7b7ee9a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_55.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v -0.04706648 -0.03173446 0.00560988
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_56.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a54c16785f6e2fd15003b215a38b9525c4cdc370
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_56.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00223190 0.04729285 -0.00554349
+v 0.00223190 0.04784165 -0.00689302
+v 0.00223190 0.04737323 -0.00519502
+v 0.00042330 0.04604006 -0.00433096
+v 0.00042910 0.04603729 -0.00554349
+v 0.00026310 0.04614261 -0.00671641
+v 0.00223190 0.05448252 -0.00918341
+v 0.00223190 0.04779175 -0.00423750
+v -0.00962733 0.04079887 -0.00430564
+v -0.00962733 0.04056882 -0.00473727
+v 0.00223190 0.05288879 -0.00109332
+v -0.00962733 0.04057159 -0.00554351
+v -0.00962733 0.04109266 -0.00672990
+v 0.00137984 0.05447144 -0.00918341
+v 0.00223190 0.06291112 -0.00918338
+v 0.00153655 0.05303015 -0.00109253
+v -0.00962733 0.05945761 -0.00109329
+v 0.00223190 0.06169711 -0.00109328
+v -0.00962733 0.05568265 -0.00918341
+v -0.00103821 0.05452964 -0.00918341
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+v -0.00962733 0.06830752 -0.00679236
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+v -0.00962733 0.06661956 -0.00109327
+v 0.00223190 0.06516446 -0.00234619
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+v -0.00962733 0.06862903 -0.00610096
+v -0.00962733 0.06888125 -0.00554341
+v 0.00223190 0.06855419 -0.00597266
+v 0.00223190 0.06687734 -0.00302253
+v 0.00223190 0.06747047 -0.00335279
+v 0.00223190 0.06857081 -0.00397053
+v -0.00587430 0.06864010 -0.00393331
+v -0.00829351 0.06865950 -0.00392697
+v -0.00962733 0.06867059 -0.00392856
+v 0.00223190 0.06871772 -0.00554341
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_57.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf7ce2f9459322b8fc7fa20e8774913bfa8eaef5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_57.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.04558969 0.04742792 0.00247765
+v 0.04203726 0.04742792 0.00247765
+v 0.04523331 0.04742793 -0.00109226
+v 0.04518769 0.04985048 -0.00109260
+v 0.04554407 0.04927828 0.00247766
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+v 0.03588182 0.04959219 0.00247766
+v 0.04484556 0.04742793 -0.00109261
+v 0.04518864 0.04979750 -0.00109260
+v 0.04552697 0.04985047 0.00247766
+v 0.04509456 0.05228231 -0.00109259
+v 0.03588182 0.04989021 0.00180037
+v 0.03588182 0.05022003 0.00115139
+v 0.03588182 0.05102931 0.00003972
+v 0.03588182 0.05221873 -0.00109259
+v 0.03588182 0.05460154 0.00247768
+v 0.04544619 0.05161871 0.00247767
+v 0.04540532 0.05228230 0.00247767
+v 0.04491779 0.05471413 -0.00109258
+v 0.04529888 0.05397239 0.00247768
+v 0.03588182 0.06077780 -0.00109256
+v 0.04022684 0.05700290 0.00247769
+v 0.04453575 0.05714728 -0.00109257
+v 0.04522476 0.05471412 0.00247768
+v 0.04249819 0.05741482 0.00247769
+v 0.04001966 0.06095793 -0.00109256
+v 0.04423258 0.05854465 -0.00109256
+v 0.04404536 0.05937777 -0.00109256
+v 0.04458992 0.05709561 0.00247769
+v 0.04249819 0.06078574 -0.00109256
+v 0.04304369 0.06045329 -0.00109256
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_58.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ee05e597c66ab7466e3ba5d9e3a08f92a7b4c9c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_58.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.02028627 0.04249648 0.00802515
+v -0.02028627 0.04266375 0.01015753
+v -0.02530599 0.03539662 0.01015750
+v -0.02530599 0.03571200 0.00802512
+v -0.02028627 0.05940009 0.00802521
+v -0.02028627 0.06336271 0.01015760
+v -0.02738017 0.03534726 0.01015750
+v -0.02717181 0.03596155 0.00802512
+v -0.02038887 0.05940009 0.00802521
+v -0.02028627 0.06242211 0.00947165
+v -0.02171957 0.06322011 0.01015760
+v -0.02749698 0.03544324 0.01015750
+v -0.02834781 0.03692410 0.00802513
+v -0.02278192 0.05910666 0.00802521
+v -0.02038887 0.06241114 0.00947624
+v -0.02921442 0.06201076 0.01015760
+v -0.02972744 0.03776872 0.01015751
+v -0.02921126 0.03817460 0.00802513
+v -0.03641251 0.05570893 0.00802519
+v -0.02982531 0.06177492 0.01015760
+v -0.03641251 0.04769863 0.01015755
+v -0.03641251 0.04976634 0.00802517
+v -0.03641251 0.05734882 0.01015758
+v -0.03135017 0.06087544 0.01015759
+v -0.03006209 0.06163780 0.01015760
+f 1 2 3
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+f 1 13 18
+f 1 18 22
+f 1 22 19
+f 1 19 14
+f 1 14 9
+f 1 9 5
+f 1 5 10
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+f 1 6 2
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_59.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b247194d15bfffa98a41a5d73e3d04de1bf7acfd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_59.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.00962733 -0.00243042 -0.01175961
+v -0.02038983 -0.00243042 -0.01163881
+v -0.00962733 -0.00243041 -0.01457007
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+v -0.02529218 -0.00243042 -0.01160938
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_6.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0b8ca11b5668fa1c6e78bbb4d5e3b66aec44a46
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_6.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.03394139 -0.06590446 -0.00109302
+v 0.03394139 -0.06524751 -0.00080342
+v 0.03040353 -0.06448682 -0.00046905
+v 0.01106622 -0.06448250 -0.00047338
+v 0.01106622 -0.06586988 -0.00109013
+v 0.01210071 -0.06586988 -0.00109302
+v 0.03394139 -0.05403180 -0.00109298
+v 0.03394139 -0.06448682 -0.00046832
+v 0.01106622 -0.06323343 0.00006683
+v 0.01106622 -0.05627494 -0.00109299
+v 0.03394139 -0.04789449 -0.00063292
+v 0.01106622 -0.05617553 -0.00109299
+v 0.03394139 -0.04875028 0.00628494
+v 0.01106622 -0.06201894 0.00055286
+v 0.01106622 -0.02800012 0.00207393
+v 0.03282182 -0.02800012 0.00188110
+v 0.03394139 -0.02800012 0.00189410
+v 0.01106622 -0.04610518 0.00628495
+v 0.01106622 -0.04731104 0.00606974
+v 0.01106622 -0.04745799 0.00604302
+v 0.01106622 -0.04989130 0.00531937
+v 0.03394139 -0.02351817 0.00628503
+v 0.01106622 -0.02656088 0.00227614
+v 0.03282182 -0.02633181 0.00215481
+v 0.03394139 -0.02710114 0.00204143
+v 0.01106622 -0.02602496 0.00628502
+v 0.03394139 -0.02352249 0.00627853
+v 0.01732689 -0.02175478 0.00439290
+v 0.01732689 -0.02175478 0.00482766
+v 0.01675367 -0.02175478 0.00482766
+v 0.01571470 -0.02542852 0.00628503
+v 0.01106622 -0.02533774 0.00289507
+v 0.01675367 -0.02175478 0.00439290
+v 0.03394139 -0.02637503 0.00217070
+v 0.01106622 -0.02556682 0.00604671
+v 0.01106622 -0.02392877 0.00502770
+v 0.01106622 -0.02555818 0.00604165
+v 0.01106622 -0.02392876 0.00402096
+f 1 2 3
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+f 28 33 30
+f 28 30 29
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+f 30 37 35
+f 30 33 38
+f 30 38 36
+f 32 38 33
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_60.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edfc1033834e349e68ff17b519cb3ef5ec303b7d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_60.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01310088 -0.04760127 0.00882777
+v -0.01388959 -0.04799303 0.00882776
+v -0.01538741 -0.04749527 0.00740364
+v -0.01310088 -0.04611259 0.00740364
+v -0.01310088 -0.01364745 0.00882789
+v -0.01638958 -0.04841244 0.00882776
+v -0.01797062 -0.04838939 0.00740363
+v -0.01310088 -0.01671698 0.00740375
+v -0.01389321 -0.01096967 0.00882790
+v -0.01797062 -0.04848157 0.00882776
+v -0.01879551 -0.04848618 0.00882776
+v -0.02039101 -0.04849079 0.00882776
+v -0.02764496 -0.04850923 0.00882776
+v -0.02039101 -0.04839401 0.00740363
+v -0.02565149 -0.00144306 0.00740380
+v -0.01574197 -0.00854078 0.00882791
+v -0.03006536 -0.04851383 0.00882776
+v -0.03247852 -0.04841244 0.00740363
+v -0.05005443 -0.00144306 0.00740380
+v -0.02432009 -0.00144306 0.00882793
+v -0.03323829 -0.04851844 0.00882776
+v -0.03489892 -0.04841244 0.00740363
+v -0.04972520 -0.01340317 0.00740376
+v -0.04424765 -0.00144306 0.00882793
+v -0.03489892 -0.04851844 0.00882776
+v -0.03587938 -0.04809442 0.00740363
+v -0.04971434 -0.01375345 0.00740376
+v -0.04399801 -0.00367377 0.00882793
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+v -0.04960943 -0.01607173 0.00740375
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+v -0.04341553 -0.00854078 0.00882791
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+v -0.04878816 -0.02251038 0.00740373
+v -0.04857832 -0.02313719 0.00740373
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_61.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55c95ced2081ef9a6f906f6ec88455a5256e4a1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_61.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00801676 0.04741103 0.00802453
+v 0.00801588 0.04729728 0.00802453
+v 0.00784928 0.04741103 0.00756213
+v -0.00098829 0.04741103 0.00802453
+v 0.00770913 0.03587844 0.00802449
+v 0.00711061 0.04741104 0.00578150
+v 0.00764478 0.03357152 0.00802448
+v -0.00098829 0.03688222 0.00802450
+v -0.00098829 0.04741105 0.00370347
+v 0.00700925 0.04741104 0.00558605
+v 0.00736888 0.03038853 0.00802447
+v 0.00630143 0.03768447 0.00570701
+v -0.00098829 0.03821130 0.00432533
+v 0.00060892 0.03038853 0.00802447
+v 0.00379895 0.04741105 0.00383165
+v -0.00098829 0.04011712 0.00397759
+v 0.00538823 0.04011711 0.00436933
+v 0.00571349 0.04741104 0.00422340
+v 0.00721110 0.02977588 0.00802447
+v 0.00692286 0.03038853 0.00743262
+v 0.00525249 0.03768447 0.00445097
+v -0.00098829 0.03823326 0.00429910
+v 0.00137316 0.02896566 0.00802447
+v 0.00379895 0.04011711 0.00414850
+v -0.00098829 0.04007920 0.00398351
+v 0.00510440 0.03637136 0.00453388
+v 0.00474124 0.03637136 0.00453388
+v 0.00548343 0.02875613 0.00655182
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+v 0.00435163 0.02875613 0.00655182
+v 0.00222553 0.02796187 0.00802446
+v 0.00440980 0.02718558 0.00802446
+v 0.00371962 0.02702594 0.00802446
+f 1 2 3
+f 1 3 6
+f 1 6 10
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_62.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b596aefc50cc16063edcf7cf33919a6dbbc5a348
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_62.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.02430750 -0.00243043 -0.00721184
+v -0.02542107 0.00871317 -0.00721180
+v -0.03402923 -0.00243043 -0.00721184
+v -0.02753570 -0.00243043 -0.00938726
+v -0.02751946 0.00119572 -0.00938725
+v -0.02751598 0.00201331 -0.00938724
+v -0.02751018 0.00362861 -0.00938724
+v -0.02750786 0.00444179 -0.00938723
+v -0.02750438 0.00606151 -0.00938723
+v -0.02750438 0.00686806 -0.00938722
+v -0.02752178 0.00849441 -0.00938722
+v -0.02757746 0.01092510 -0.00938721
+v -0.02765518 0.01159243 -0.00938721
+v -0.02572498 0.01092510 -0.00721179
+v -0.03307109 -0.00243043 -0.00938726
+v -0.03594782 0.01228186 -0.00721178
+v -0.03615778 0.01306631 -0.00785174
+v -0.03615778 0.01119247 -0.00938721
+v -0.02925014 0.02014403 -0.00938718
+v -0.02829548 0.02014403 -0.00742899
+v -0.02821081 0.02014403 -0.00721176
+v -0.03615778 0.01494015 -0.00721178
+v -0.03615778 0.01324309 -0.00773014
+v -0.03615778 0.02014403 -0.00938718
+v -0.03615778 0.02014403 -0.00721176
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+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_63.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83abd6b645cf9a0b9eead51d162f7f3ebee02eb1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_63.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.04670800 0.02067402 -0.00882866
+v 0.04293360 0.02067402 -0.00882866
+v 0.04670800 0.02067403 -0.01103141
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+v 0.03196401 0.03028226 -0.00882863
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+v 0.04249770 0.02067404 -0.01380784
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+v 0.04370436 0.04109155 -0.01341756
+v 0.04378230 0.02309295 -0.01347706
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+v 0.04670800 0.04096933 -0.01103082
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+v 0.04420809 0.06156804 -0.01004359
+v 0.04344455 0.06313570 -0.00882851
+v 0.03524334 0.02067404 -0.01409623
+v 0.03196401 0.04498120 -0.01406565
+v 0.03766242 0.04741276 -0.01404911
+v 0.03196401 0.06371725 -0.00882851
+v 0.04248471 0.02067404 -0.01380939
+v 0.04007862 0.04984853 -0.01401912
+v 0.04231873 0.04984853 -0.01370850
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+v 0.04248471 0.04254964 -0.01371421
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+v 0.03196401 0.05396996 -0.01352604
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+v 0.03196401 0.05957897 -0.01200860
+v 0.03196401 0.05714742 -0.01269600
+v 0.03196401 0.05587896 -0.01303504
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_64.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25ba820b5de2e1c43abca96b1bc492794724d254
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_64.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01949402 0.04742806 0.01274199
+v 0.01831103 0.04742806 0.01289835
+v 0.01949402 0.04742808 0.00939999
+v 0.01949402 0.05714633 0.01276380
+v 0.01106622 0.04742806 0.01380731
+v 0.01831103 0.04742808 0.00941087
+v 0.01949402 0.04948483 0.00795667
+v 0.01949402 0.05833605 0.01275807
+v 0.01106622 0.05716594 0.01379131
+v 0.01106622 0.05471564 0.01380219
+v 0.01106622 0.04742807 0.01003059
+v 0.01589142 0.04742808 0.00949507
+v 0.01831103 0.04950594 0.00795667
+v 0.01949402 0.06236361 0.00795672
+v 0.01949402 0.05958005 0.01273173
+v 0.01230284 0.06080595 0.01358628
+v 0.01106622 0.05958005 0.01376269
+v 0.01210650 0.05228345 0.00795668
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+v 0.01106622 0.05959061 0.01376211
+v 0.01949402 0.06149205 0.01201065
+v 0.01106622 0.06283105 0.00795672
+v 0.01949402 0.06169561 0.01115725
+v 0.01949402 0.06191727 0.01020706
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+f 25 33 26
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_65.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..332398f60b557503669bcccaee260b1ba4443838
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_65.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.04983678 0.01867603 -0.00948243
+v -0.04983678 0.01867603 -0.00938739
+v -0.04961089 0.01867604 -0.00965012
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+v -0.02537582 0.00606092 -0.01160935
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+f 38 42 39
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_66.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cd0df462d89e14d76d7974f9bb15a460b94a244
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_66.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.03284536 0.07035859 -0.00109272
+v -0.03248127 0.07035330 -0.00109272
+v -0.03248127 0.07017899 -0.00312238
+v -0.03490216 0.07015786 -0.00312238
+v -0.03534291 0.07029871 -0.00109272
+v -0.03006356 0.07023004 -0.00109272
+v -0.03006356 0.06998178 -0.00312238
+v -0.03723363 0.07004517 -0.00312238
+v -0.03756259 0.07006981 -0.00109272
+v -0.02748298 0.07001170 -0.00109272
+v -0.02763308 0.06965426 -0.00312238
+v -0.05666787 0.06724014 -0.00312239
+v -0.03933196 0.06925630 -0.00109273
+v -0.02726260 0.06997648 -0.00109272
+v -0.02541340 0.06931617 -0.00309299
+v -0.02541340 0.06931265 -0.00310948
+v -0.02541340 0.06930913 -0.00312239
+v -0.05683714 0.06687740 -0.00312239
+v -0.05605147 0.05714872 -0.00109277
+v -0.05434279 0.05942901 -0.00109276
+v -0.02541340 0.06959790 -0.00109272
+v -0.02541340 0.06017738 -0.00312242
+v -0.05741842 0.06444568 -0.00312240
+v -0.05753020 0.05958222 -0.00230440
+v -0.05649860 0.05714873 -0.00141664
+v -0.05571293 0.05601826 -0.00109277
+v -0.02541340 0.06304051 -0.00109275
+v -0.02583817 0.05236979 -0.00312245
+v -0.05776973 0.06197521 -0.00312241
+v -0.05804121 0.05958222 -0.00312242
+v -0.05770586 0.05714873 -0.00246515
+v -0.05610257 0.05544247 -0.00150070
+v -0.05501668 0.05493886 -0.00109278
+v -0.02829101 0.05236978 -0.00109279
+v -0.05426614 0.05236979 -0.00312245
+v -0.05795498 0.05714873 -0.00312243
+v -0.05784319 0.05610807 -0.00312243
+v -0.05699045 0.05444759 -0.00312244
+v -0.05680202 0.05412008 -0.00312244
+v -0.05468772 0.05466417 -0.00109278
+v -0.05149712 0.05236978 -0.00109279
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 20
+f 1 20 19
+f 1 19 26
+f 1 26 33
+f 1 33 40
+f 1 40 41
+f 1 41 34
+f 1 34 27
+f 1 27 21
+f 1 21 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 11
+f 3 11 17
+f 3 17 22
+f 3 22 28
+f 3 28 35
+f 3 35 39
+f 3 39 38
+f 3 38 37
+f 3 37 36
+f 3 36 30
+f 3 30 29
+f 3 29 23
+f 3 23 18
+f 3 18 12
+f 3 12 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 6 10 7
+f 7 10 11
+f 8 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 14 21 15
+f 15 21 27
+f 15 27 22
+f 15 22 17
+f 15 17 16
+f 18 23 24
+f 18 24 19
+f 19 25 26
+f 19 24 25
+f 22 27 28
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 24 31 25
+f 25 32 26
+f 25 31 32
+f 26 32 33
+f 27 34 28
+f 28 34 41
+f 28 41 35
+f 30 36 31
+f 31 36 37
+f 31 37 32
+f 32 37 38
+f 32 38 39
+f 32 39 33
+f 33 39 40
+f 35 41 39
+f 39 41 40
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_67.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ec7f034d626685807401dc32be8a939d35d964
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_67.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01209345 0.03848281 0.00526091
+v -0.01209345 0.03848281 0.00422118
+v -0.01209345 0.03913666 0.00567324
+v -0.02530475 0.03571040 0.00802402
+v -0.02359025 0.03587257 0.00722079
+v -0.02522459 0.03487714 0.00570625
+v -0.02725824 0.03292941 -0.00109177
+v -0.01839776 0.04093089 -0.00054554
+v -0.01209345 0.03946446 0.00393737
+v -0.02519194 0.03397316 -0.00109177
+v -0.01209345 0.04305458 0.00802405
+v -0.02717066 0.03596055 0.00802402
+v -0.02725824 0.03458559 0.00386864
+v -0.02725824 0.04441234 -0.00109173
+v -0.01996976 0.04053237 -0.00109174
+v -0.01839776 0.04187457 -0.00054554
+v -0.01209345 0.05055232 0.00359828
+v -0.01209345 0.04255084 0.00366697
+v -0.01209345 0.04012003 0.00375174
+v -0.01209345 0.05055230 0.00802408
+v -0.02725824 0.03590017 0.00766167
+v -0.02725824 0.03607960 0.00802402
+v -0.02725824 0.03603474 0.00801955
+v -0.02725824 0.05042810 0.00290125
+v -0.02725528 0.05055232 0.00290036
+v -0.02027110 0.04226619 -0.00109173
+v -0.01996976 0.04216958 -0.00109174
+v -0.02725824 0.05055230 0.00802408
+v -0.02725824 0.05055232 0.00301103
+f 1 2 9
+f 1 9 19
+f 1 19 18
+f 1 18 17
+f 1 17 20
+f 1 20 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 7 10
+f 2 10 8
+f 3 11 4
+f 4 12 6
+f 4 6 5
+f 4 11 20
+f 4 20 28
+f 4 28 22
+f 4 22 12
+f 6 12 13
+f 6 13 7
+f 7 13 21
+f 7 21 23
+f 7 23 22
+f 7 22 28
+f 7 28 29
+f 7 29 24
+f 7 24 14
+f 7 14 26
+f 7 26 27
+f 7 27 15
+f 7 15 10
+f 8 15 27
+f 8 27 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 8 10 15
+f 12 21 13
+f 12 22 23
+f 12 23 21
+f 14 24 25
+f 14 25 17
+f 14 17 26
+f 16 27 17
+f 17 25 29
+f 17 29 28
+f 17 28 20
+f 17 27 26
+f 24 29 25
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_68.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8c12a03b2812b3ed3c5c6ade7c7e6bb93e6aee5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_68.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.04813978 -0.03286514 0.00253973
+v 0.04550416 -0.03535027 -0.00109291
+v 0.04552050 -0.03291848 -0.00109290
+v 0.04806354 -0.03046705 0.00253974
+v 0.04565119 -0.04745865 0.00253968
+v 0.04526728 -0.04745864 -0.00109295
+v 0.04551868 -0.03286513 -0.00109290
+v 0.04540705 -0.03048670 -0.00109289
+v 0.04806082 -0.03043336 0.00253974
+v 0.04480895 -0.04973037 0.00253967
+v 0.04525004 -0.04750357 -0.00109295
+v 0.04467645 -0.02785554 -0.00109288
+v 0.04457752 -0.02754385 -0.00109288
+v 0.04725489 -0.02838347 0.00253975
+v 0.04446952 -0.04937936 -0.00109296
+v 0.03886882 -0.05155842 0.00253966
+v 0.03886882 -0.05220428 0.00191632
+v 0.03886882 -0.05267883 0.00120623
+v 0.03886882 -0.05293998 -0.00104354
+v 0.03886882 -0.05293998 -0.00109297
+v 0.04443775 -0.02754385 -0.00109288
+v 0.04418272 -0.02556697 -0.00047238
+v 0.04384601 -0.02425560 -0.00004212
+v 0.04487884 -0.02537322 0.00253976
+v 0.03886882 -0.02754947 0.00253975
+v 0.03886882 -0.04105345 -0.00109293
+v 0.04312629 -0.02556697 -0.00047238
+v 0.04235394 -0.02788924 -0.00109288
+v 0.04356284 -0.02425560 -0.00004212
+v 0.04384601 -0.02425560 0.00058619
+v 0.04356284 -0.02425560 0.00058619
+v 0.04312085 -0.02547993 0.00253976
+v 0.04245831 -0.02553890 0.00253976
+v 0.03886882 -0.02794260 0.00168493
+v 0.03886882 -0.02934944 0.00138552
+v 0.04155073 -0.03002337 -0.00109289
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 24
+f 1 24 32
+f 1 32 33
+f 1 33 25
+f 1 25 16
+f 1 16 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 15
+f 2 15 20
+f 2 20 26
+f 2 26 36
+f 2 36 28
+f 2 28 21
+f 2 21 13
+f 2 13 12
+f 2 12 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 10 15 11
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 15
+f 13 21 27
+f 13 27 22
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 16 25 34
+f 16 34 35
+f 16 35 26
+f 16 26 20
+f 16 20 19
+f 16 19 18
+f 16 18 17
+f 21 28 27
+f 22 27 29
+f 22 29 23
+f 23 29 31
+f 23 31 30
+f 23 30 24
+f 24 30 31
+f 24 31 32
+f 25 33 31
+f 25 31 29
+f 25 29 34
+f 26 35 36
+f 27 28 34
+f 27 34 29
+f 28 36 34
+f 31 33 32
+f 34 36 35
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_69.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f91a1801fc653239ec090d648b73d3654e67d90
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_69.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.04178901 0.02440335 -0.00071948
+v 0.04178901 0.02442194 -0.00104325
+v 0.04178901 0.02450295 0.00146252
+v 0.04161313 0.02456007 -0.00104325
+v 0.04178901 0.02443921 -0.00108600
+v 0.04158565 0.02459593 -0.00109269
+v 0.04162474 0.02468758 0.00120640
+v 0.04056523 0.02580323 -0.00109269
+v 0.04178901 0.02549907 0.00270481
+v 0.03588626 0.03366856 0.00270484
+v 0.03555039 0.03337903 0.00120643
+v 0.04163085 0.02456538 -0.00109269
+v 0.04178901 0.02460789 -0.00109269
+v 0.03575496 0.03263527 -0.00109266
+v 0.04178901 0.03763444 0.00270486
+v 0.03588626 0.03478023 0.00270485
+v 0.03555039 0.03505384 0.00120644
+v 0.03572321 0.03277605 -0.00109266
+v 0.03573115 0.03273488 -0.00105177
+v 0.04178901 0.03715498 -0.00109264
+v 0.04178901 0.03796516 0.00120645
+v 0.03766148 0.03615090 0.00120644
+v 0.03612747 0.03490508 0.00270485
+v 0.03575252 0.03465805 -0.00109265
+v 0.04178901 0.03742991 -0.00081013
+v 0.04178901 0.03797047 0.00113954
+v 0.04178901 0.03745647 -0.00076627
+f 1 2 5
+f 1 5 13
+f 1 13 20
+f 1 20 25
+f 1 25 27
+f 1 27 26
+f 1 26 21
+f 1 21 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 3 9 10
+f 3 10 11
+f 3 11 7
+f 4 8 6
+f 5 6 12
+f 5 12 13
+f 6 8 14
+f 6 14 18
+f 6 18 24
+f 6 24 20
+f 6 20 13
+f 6 13 12
+f 7 11 14
+f 7 14 8
+f 9 15 23
+f 9 23 16
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 14
+f 14 19 18
+f 15 21 22
+f 15 22 23
+f 16 23 22
+f 16 22 17
+f 17 24 18
+f 17 22 24
+f 20 24 25
+f 21 26 22
+f 22 26 27
+f 22 27 24
+f 24 27 25
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_7.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c4a040c5f7d1715d6f4c52a92dc0f1de3a2a0e4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_7.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.04413533 -0.03893080 -0.01408722
+v -0.04411489 -0.04016321 -0.01407999
+v -0.04413533 -0.03893080 -0.01275729
+v -0.04215328 -0.03893080 -0.01480000
+v -0.04383904 -0.04204349 -0.01385254
+v -0.04411489 -0.04016321 -0.01276237
+v -0.04215328 -0.04016321 -0.01475582
+v -0.03911890 -0.05527507 -0.00741733
+v -0.03907293 -0.05495220 -0.00741733
+v -0.03175774 -0.03893082 -0.00741727
+v -0.03973702 -0.03893080 -0.01481739
+v -0.04383904 -0.04204349 -0.01298910
+v -0.04215328 -0.04246133 -0.01405610
+v -0.03873578 -0.05614452 -0.00898704
+v -0.03894522 -0.05783064 -0.00741734
+v -0.03902185 -0.05708571 -0.00741734
+v -0.02764039 -0.04259639 -0.01409014
+v -0.03006176 -0.04259639 -0.01409232
+v -0.03731565 -0.04259639 -0.01409376
+v -0.03973702 -0.04016321 -0.01474061
+v 0.00805180 -0.04259639 -0.01393440
+v 0.00805180 -0.04386679 -0.01366856
+v 0.00805180 -0.04426352 -0.01358019
+v -0.02787538 -0.03893082 -0.00741727
+v 0.00805180 -0.03893080 -0.01415242
+v 0.00805180 -0.04016321 -0.01414011
+v -0.03731565 -0.04952872 -0.01151649
+v -0.03490961 -0.05960962 -0.00741735
+v -0.03714707 -0.05906095 -0.00741735
+v -0.02764039 -0.04542208 -0.01313109
+v 0.00805180 -0.06048962 -0.00741735
+v -0.01797025 -0.04422976 -0.01356715
+v -0.02038651 -0.04422554 -0.01356570
+v -0.02522413 -0.04421288 -0.01356136
+v -0.00587873 -0.04424031 -0.01357729
+v 0.00805180 -0.04200762 -0.01398800
+v 0.00805180 -0.04518572 -0.01324627
+v -0.01797025 -0.04544740 -0.01313182
+v 0.00805180 -0.04730870 -0.00741730
+v 0.00805180 -0.04276101 -0.00857410
+v 0.00805180 -0.04154548 -0.00899929
+v 0.00805180 -0.04050931 -0.00985187
+v 0.00805180 -0.04018644 -0.01012423
+v 0.00805180 -0.03893081 -0.01121729
+v 0.00805180 -0.04548116 -0.01313761
+f 1 2 6
+f 1 6 3
+f 1 3 10
+f 1 10 24
+f 1 24 44
+f 1 44 25
+f 1 25 11
+f 1 11 4
+f 1 4 2
+f 2 5 12
+f 2 12 6
+f 2 4 7
+f 2 7 5
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 4 11 7
+f 5 7 13
+f 5 13 14
+f 5 14 15
+f 5 15 12
+f 6 12 15
+f 6 15 16
+f 6 16 8
+f 7 17 18
+f 7 18 19
+f 7 19 13
+f 7 11 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 17
+f 8 16 15
+f 8 15 29
+f 8 29 28
+f 8 28 31
+f 8 31 39
+f 8 39 24
+f 8 24 10
+f 8 10 9
+f 11 25 26
+f 11 26 20
+f 13 19 27
+f 13 27 14
+f 14 28 29
+f 14 29 15
+f 14 27 30
+f 14 30 31
+f 14 31 28
+f 17 23 18
+f 18 23 19
+f 19 32 33
+f 19 33 34
+f 19 34 30
+f 19 30 27
+f 19 23 35
+f 19 35 32
+f 20 26 36
+f 20 36 21
+f 21 36 26
+f 21 26 25
+f 21 25 44
+f 21 44 43
+f 21 43 42
+f 21 42 41
+f 21 41 40
+f 21 40 39
+f 21 39 31
+f 21 31 45
+f 21 45 37
+f 21 37 23
+f 21 23 22
+f 23 37 38
+f 23 38 35
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 30 34 33
+f 30 33 32
+f 30 32 35
+f 30 35 38
+f 30 38 31
+f 31 38 45
+f 37 45 38
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_70.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23b771984f0db1579a7f32029a6f9540a2a45eb7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_70.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01106622 -0.04842778 0.00882776
+v 0.00563767 -0.04764317 0.00882776
+v 0.00563767 -0.04752721 0.00875179
+v 0.00563767 -0.04712912 0.00849934
+v 0.01105506 -0.04745765 0.00832885
+v 0.01106622 -0.04745765 0.00832843
+v 0.01106622 -0.01097147 0.00882790
+v 0.00563767 -0.01753048 0.00882788
+v 0.00563767 -0.04412596 0.00740365
+v 0.00828871 -0.04517340 0.00740364
+v 0.00848054 -0.04524683 0.00740364
+v 0.00855281 -0.04525843 0.00740364
+v 0.01106516 -0.04532027 0.00740364
+v 0.01106622 -0.04731077 0.00826514
+v 0.01106622 -0.01097147 0.00864389
+v 0.01106410 -0.00894232 0.00882791
+v 0.00657980 -0.01589170 0.00882788
+v 0.00563767 -0.01726379 0.00882606
+v 0.00563767 -0.02339764 0.00740372
+v 0.01106622 -0.04518499 0.00740364
+v 0.01106622 -0.02556981 0.00747272
+v 0.01106463 -0.02574374 0.00740372
+v 0.01092062 -0.00900802 0.00882791
+v 0.00563767 -0.02073462 0.00767389
+v 0.00668927 -0.01570231 0.00882788
+v 0.00563767 -0.01809092 0.00847588
+v 0.01106622 -0.02694190 0.00740371
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 20
+f 1 20 27
+f 1 27 21
+f 1 21 15
+f 1 15 7
+f 1 7 16
+f 1 16 23
+f 1 23 25
+f 1 25 17
+f 1 17 8
+f 1 8 2
+f 2 8 18
+f 2 18 26
+f 2 26 24
+f 2 24 19
+f 2 19 9
+f 2 9 4
+f 2 4 3
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 7 15 16
+f 8 17 18
+f 9 19 22
+f 9 22 27
+f 9 27 20
+f 9 20 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 13 20 14
+f 15 19 16
+f 15 21 22
+f 15 22 19
+f 16 19 24
+f 16 24 23
+f 17 25 18
+f 18 25 23
+f 18 23 26
+f 21 27 22
+f 23 24 26
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_71.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5069c62a4a3bb98953b37982dc513a72f3ce5b3d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_71.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.02541185 0.06959881 -0.00109272
+v -0.02541185 0.06933799 -0.00293443
+v -0.02541185 0.06304237 -0.00109275
+v -0.01051429 0.06694884 -0.00109273
+v -0.00962733 0.06741691 -0.00312239
+v -0.02541185 0.06931536 -0.00309299
+v -0.02541185 0.06017684 -0.00312242
+v -0.01691154 0.06066395 -0.00109276
+v -0.00962733 0.06662013 -0.00109274
+v -0.00962733 0.05743160 -0.00312243
+v -0.02541185 0.06931060 -0.00312239
+v -0.02541185 0.06931298 -0.00310948
+v -0.01912122 0.05842846 -0.00312243
+v -0.01555174 0.06036620 -0.00109276
+v -0.00962733 0.05946104 -0.00109276
+v -0.01687137 0.05810808 -0.00312243
+f 1 2 6
+f 1 6 12
+f 1 12 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 9 15
+f 5 15 10
+f 5 10 16
+f 5 16 13
+f 5 13 7
+f 5 7 11
+f 5 11 12
+f 5 12 6
+f 7 13 8
+f 8 13 14
+f 10 15 16
+f 13 16 15
+f 13 15 14
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_72.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b33053d44425d06dab50850dd8b6d43b86cbc8e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_72.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00098829 0.03688157 0.00802492
+v -0.01209345 0.04305659 0.00802494
+v -0.01209345 0.03913724 0.00567295
+v -0.01209345 0.03848355 0.00526171
+v -0.01209345 0.03848355 0.00422140
+v -0.00098829 0.03821422 0.00432515
+v -0.00098829 0.05897246 0.00802500
+v -0.01209345 0.05941574 0.00802500
+v -0.00103830 0.03823667 0.00429792
+v -0.01209345 0.03946550 0.00393785
+v -0.00098829 0.03823667 0.00429933
+v -0.00098829 0.06454150 0.00359525
+v -0.00345695 0.06517555 0.00322908
+v -0.00587560 0.06531583 0.00322908
+v -0.00829317 0.06541402 0.00322908
+v -0.01071183 0.06550099 0.00322908
+v -0.01209345 0.06554308 0.00322908
+v -0.01209345 0.04011920 0.00375243
+v -0.00098829 0.04007992 0.00398340
+v -0.00098829 0.06458077 0.00354784
+v -0.00116657 0.06497074 0.00322908
+v -0.01209345 0.05612204 0.00322905
+v -0.00103830 0.04011920 0.00397589
+v -0.01209345 0.04255161 0.00366794
+v -0.00100351 0.05139470 0.00322903
+v -0.00098829 0.04011920 0.00397777
+v -0.00098829 0.06462566 0.00322908
+v -0.00098829 0.05173978 0.00322903
+v -0.00098829 0.05138628 0.00323090
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 19
+f 1 19 26
+f 1 26 29
+f 1 29 28
+f 1 28 27
+f 1 27 20
+f 1 20 12
+f 1 12 7
+f 1 7 8
+f 1 8 2
+f 2 8 17
+f 2 17 22
+f 2 22 24
+f 2 24 18
+f 2 18 10
+f 2 10 5
+f 2 5 4
+f 2 4 3
+f 5 9 6
+f 5 10 9
+f 6 9 11
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 9 10 18
+f 9 18 19
+f 9 19 11
+f 12 20 21
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+f 13 28 25
+f 13 25 22
+f 13 22 17
+f 13 17 16
+f 13 16 15
+f 13 15 14
+f 18 23 19
+f 18 24 25
+f 18 25 23
+f 19 23 26
+f 20 27 21
+f 22 25 24
+f 23 25 26
+f 25 28 29
+f 25 29 26
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_73.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..152a569b4fc278c6c5f542359e71f88c08a906fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_73.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01797102 0.03894675 -0.00721169
+v -0.01555167 0.03801913 -0.00721169
+v -0.01774750 0.03282887 -0.00938713
+v -0.01787898 0.03284360 -0.00938713
+v -0.02038818 0.03299268 -0.00938713
+v -0.02038818 0.03892098 -0.00721169
+v -0.01377003 0.03530253 -0.00721170
+v -0.01627923 0.03209082 -0.00938713
+v -0.02522469 0.03881791 -0.00721169
+v -0.02764185 0.03243132 -0.00938713
+v -0.02764185 0.03871669 -0.00721169
+v -0.01397384 0.03312151 -0.00721171
+v -0.01571603 0.02806193 -0.00938715
+v -0.01570507 0.03048773 -0.00938714
+v -0.03006119 0.03219021 -0.00938713
+v -0.03006119 0.03828600 -0.00721169
+v -0.01573137 0.02789813 -0.00938715
+v -0.01652686 0.02647173 -0.00721173
+v -0.03248055 0.03143192 -0.00938713
+v -0.03248055 0.03752955 -0.00721169
+v -0.01653344 0.02646068 -0.00721173
+v -0.01752397 0.02534901 -0.00938716
+v -0.03505329 0.03036074 -0.00938714
+v -0.03415261 0.03693506 -0.00721169
+v -0.01874022 0.02448213 -0.00721174
+v -0.01907332 0.02422262 -0.00721174
+v -0.02035969 0.02334101 -0.00938716
+v -0.03579181 0.03616021 -0.00721170
+v -0.03489770 0.03658905 -0.00721170
+v -0.03615559 0.02978466 -0.00938714
+v -0.02820943 0.02014587 -0.00721176
+v -0.02829270 0.02014587 -0.00742899
+v -0.02924817 0.02014587 -0.00938718
+v -0.03615559 0.03595591 -0.00721170
+v -0.03615559 0.02014587 -0.00938718
+v -0.03615559 0.02014587 -0.00721176
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 9
+f 1 9 11
+f 1 11 16
+f 1 16 20
+f 1 20 24
+f 1 24 29
+f 1 29 28
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+f 1 34 36
+f 1 36 31
+f 1 31 26
+f 1 26 25
+f 1 25 21
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+f 1 18 12
+f 1 12 7
+f 1 7 2
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+f 3 5 4
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+f 7 14 8
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+f 26 31 27
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+f 27 32 33
+f 28 30 34
+f 30 35 36
+f 30 36 34
+f 31 36 35
+f 31 35 33
+f 31 33 32
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_74.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..923f2eeacabd2a06661b3951473a8f95e698bbae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_74.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.03394139 -0.02613035 0.00253975
+v 0.03394139 -0.02173056 0.00697596
+v 0.03531358 -0.02173055 0.00638086
+v 0.03766099 -0.02173055 0.00593454
+v 0.03950418 -0.02173055 0.00562983
+v 0.03457303 -0.02616104 0.00253975
+v 0.03394139 -0.05657431 0.00253964
+v 0.03394139 -0.02173057 0.01066589
+v 0.03636885 -0.02646119 0.00253975
+v 0.03524279 -0.02621903 0.00253975
+v 0.03950418 -0.02173056 0.00917894
+v 0.03950418 -0.02754920 0.00253975
+v 0.03475871 -0.05655726 0.00253964
+v 0.03394139 -0.04936752 0.00978905
+v 0.03394139 -0.02201024 0.01066668
+v 0.03421855 -0.02173057 0.01060144
+v 0.03936424 -0.02173056 0.00922349
+v 0.03950418 -0.02313577 0.00917734
+v 0.03950418 -0.05088184 0.00253966
+v 0.03524279 -0.05654703 0.00253964
+v 0.03394139 -0.04745753 0.01054964
+v 0.03524279 -0.04934024 0.00963630
+v 0.03524279 -0.02173057 0.01036197
+v 0.03394139 -0.02313578 0.01066748
+v 0.03936098 -0.02313577 0.00922269
+v 0.03864385 -0.02173056 0.00942875
+v 0.03766099 -0.02556761 0.00970481
+v 0.03950418 -0.02833368 0.00916698
+v 0.03950418 -0.05019971 0.00519693
+v 0.03694332 -0.05591946 0.00253964
+v 0.03905223 -0.04877746 0.00913428
+v 0.03766099 -0.04906396 0.00933875
+v 0.03524279 -0.04745753 0.01024334
+v 0.03394139 -0.04502569 0.01061010
+v 0.03663730 -0.02173057 0.00998566
+v 0.03524279 -0.02313578 0.01036277
+v 0.03394139 -0.02556761 0.01066508
+v 0.03524279 -0.02556761 0.01036276
+v 0.03935118 -0.02556760 0.00922030
+v 0.03766099 -0.02173057 0.00970800
+v 0.03766099 -0.02313578 0.00970720
+v 0.03524279 -0.02799945 0.01036036
+v 0.03524279 -0.03043128 0.01035558
+v 0.03524279 -0.03529836 0.01034521
+v 0.03766099 -0.02799945 0.00969923
+v 0.03950418 -0.03570081 0.00914786
+v 0.03950418 -0.04956874 0.00758766
+v 0.03950418 -0.04943914 0.00802205
+v 0.03950418 -0.04908783 0.00858055
+v 0.03950418 -0.04745752 0.00906905
+v 0.03918564 -0.04745752 0.00917248
+v 0.03766099 -0.04745753 0.00961403
+v 0.03524279 -0.04502569 0.01030221
+v 0.03524279 -0.04259386 0.01031813
+v 0.03394139 -0.04390357 0.01061727
+v 0.03394139 -0.02930916 0.01066108
+v 0.03766099 -0.03043128 0.00969285
+v 0.03928256 -0.04016202 0.00920035
+v 0.03950418 -0.04016202 0.00913590
+v 0.03394139 -0.03417282 0.01065470
+v 0.03394139 -0.03660807 0.01064992
+v 0.03394139 -0.03773019 0.01064753
+v 0.03524279 -0.03773019 0.01033884
+v 0.03950418 -0.04502568 0.00911361
+v 0.03924499 -0.04502568 0.00918839
+v 0.03766099 -0.04502569 0.00964029
+v 0.03766099 -0.04259386 0.00965621
+v 0.03524279 -0.04016203 0.01033008
+v 0.03394139 -0.04016203 0.01063877
+v 0.03766099 -0.03773019 0.00967293
+v 0.03766099 -0.04016203 0.00966576
+v 0.03926895 -0.04259385 0.00919556
+v 0.03950418 -0.04259385 0.00912794
+v 0.03950418 -0.04307476 0.00912555
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 9
+f 1 9 12
+f 1 12 19
+f 1 19 30
+f 1 30 20
+f 1 20 13
+f 1 13 7
+f 1 7 14
+f 1 14 21
+f 1 21 34
+f 1 34 55
+f 1 55 69
+f 1 69 62
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+f 1 61 60
+f 1 60 56
+f 1 56 37
+f 1 37 24
+f 1 24 15
+f 1 15 8
+f 1 8 2
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+f 2 23 35
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+f 2 40 26
+f 2 26 17
+f 2 17 11
+f 2 11 5
+f 2 5 4
+f 2 4 3
+f 5 9 10
+f 5 10 6
+f 5 11 18
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+f 13 20 14
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+f 15 24 23
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+f 18 25 28
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+f 20 32 22
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+f 21 22 32
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+f 29 47 30
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+f 30 49 31
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+f 31 49 50
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+f 34 53 54
+f 34 54 55
+f 35 36 38
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+f 38 41 40
+f 39 45 57
+f 39 57 58
+f 39 58 59
+f 39 59 46
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+f 42 61 43
+f 43 61 44
+f 44 61 62
+f 44 62 63
+f 44 63 57
+f 44 57 45
+f 50 64 51
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+f 52 64 65
+f 52 65 66
+f 52 66 53
+f 53 66 67
+f 53 67 54
+f 54 67 68
+f 54 68 69
+f 54 69 55
+f 57 63 70
+f 57 70 58
+f 58 71 72
+f 58 72 73
+f 58 73 59
+f 58 70 71
+f 62 69 68
+f 62 68 63
+f 63 68 71
+f 63 71 70
+f 64 74 65
+f 65 74 67
+f 65 67 66
+f 67 74 72
+f 67 72 71
+f 67 71 68
+f 72 74 73
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_75.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a3149af86d6e40885ac406fdda5d0105d7f4472
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_75.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01949402 0.04926395 0.00345729
+v 0.01949402 0.04948610 0.00795610
+v 0.01831103 0.04923128 0.00345729
+v 0.01831103 0.04973443 0.00206137
+v 0.01949402 0.04967889 0.00230720
+v 0.01831103 0.04950571 0.00795610
+v 0.01347428 0.04922801 0.00345729
+v 0.01589224 0.04920351 0.00345729
+v 0.01949402 0.06236229 0.00795615
+v 0.01589224 0.04969359 0.00206137
+v 0.01681042 0.04970503 0.00206137
+v 0.01922921 0.04976057 0.00206137
+v 0.01949402 0.04977037 0.00206137
+v 0.01106622 0.04931133 0.00346710
+v 0.01106622 0.04930969 0.00345729
+v 0.01567528 0.05027024 0.00795610
+v 0.01106622 0.05071785 0.00721515
+v 0.01106622 0.04980140 0.00571419
+v 0.01106622 0.04979814 0.00570669
+v 0.01198028 0.04974260 0.00206137
+v 0.01347428 0.04971320 0.00206137
+v 0.01439246 0.04970503 0.00206137
+v 0.01949402 0.06404330 0.00558211
+v 0.01287206 0.06577494 0.00479153
+v 0.01106622 0.06589092 0.00497734
+v 0.01106622 0.06478006 0.00609685
+v 0.01598381 0.06256649 0.00795615
+v 0.01949402 0.05383482 0.00206139
+v 0.01106622 0.04977364 0.00206137
+v 0.01547151 0.05033232 0.00795610
+v 0.01106622 0.05228286 0.00777260
+v 0.01949402 0.06404330 0.00413713
+v 0.01287206 0.06577494 0.00445798
+v 0.01106622 0.06588765 0.00433853
+v 0.01106622 0.06282951 0.00795615
+v 0.01573632 0.05447520 0.00206139
+v 0.01106622 0.06444681 0.00388669
+v 0.01106622 0.05484603 0.00206139
+v 0.01210650 0.05228286 0.00795611
+v 0.01106622 0.05478720 0.00795612
+v 0.01347428 0.05474965 0.00206139
+v 0.01262870 0.05478395 0.00206139
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+f 1 23 9
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+f 26 35 27
+f 28 36 37
+f 28 37 32
+f 30 39 31
+f 31 39 40
+f 32 37 34
+f 32 34 33
+f 36 41 37
+f 37 41 42
+f 37 42 38
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_76.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..085129630a62e753aed980cb8536b876471b08d8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_76.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01209345 0.05055592 0.00802408
+v -0.02725824 0.05055592 0.00802408
+v -0.01209345 0.05055594 0.00359828
+v -0.01209345 0.05941720 0.00802411
+v -0.02725824 0.05055594 0.00301103
+v -0.02725824 0.05723520 0.00802410
+v -0.02725528 0.05055594 0.00290036
+v -0.01209345 0.06001890 -0.00109167
+v -0.01313254 0.05951811 0.00802411
+v -0.01209345 0.06650777 0.00277725
+v -0.01555065 0.06780630 0.00208737
+v -0.02725824 0.06190006 -0.00109166
+v -0.02278125 0.05910875 0.00802411
+v -0.02725824 0.06788247 0.00222749
+v -0.01555065 0.06036543 -0.00109167
+v -0.01209345 0.06698759 -0.00109164
+v -0.01555065 0.05956191 0.00802411
+v -0.01797025 0.06779679 0.00215341
+v -0.02280500 0.06783677 0.00220161
+v -0.02522459 0.06786343 0.00221678
+v -0.01209345 0.06767683 0.00150280
+v -0.01313254 0.06777775 0.00181160
+v -0.01797025 0.06888970 0.00102889
+v -0.02038688 0.06904964 0.00105924
+v -0.02725824 0.06952374 0.00094322
+v -0.02725824 0.06997689 -0.00109163
+v -0.02038688 0.05940197 0.00802411
+v -0.01797025 0.05953715 0.00802411
+v -0.01376193 0.06738362 -0.00109164
+v -0.01555065 0.06865741 -0.00045351
+v -0.01209345 0.06711516 -0.00099168
+v -0.01209345 0.06820996 0.00042022
+v -0.01313254 0.06836419 0.00068618
+v -0.01555065 0.06865741 0.00096196
+v -0.02725824 0.07000545 -0.00089350
+v -0.01797025 0.06888970 -0.00065343
+v -0.01682280 0.06799672 -0.00109164
+v -0.01313254 0.06836419 -0.00019202
+v -0.01209345 0.06773777 -0.00050171
+v -0.01209345 0.06820996 -0.00005368
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 31
+f 1 31 39
+f 1 39 40
+f 1 40 32
+f 1 32 21
+f 1 21 10
+f 1 10 4
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+f 1 9 17
+f 1 17 28
+f 1 28 27
+f 1 27 13
+f 1 13 6
+f 1 6 2
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+f 2 14 25
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+f 2 35 26
+f 2 26 12
+f 2 12 5
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+f 29 36 30
+f 30 35 34
+f 30 34 33
+f 30 33 38
+f 30 38 39
+f 30 39 31
+f 32 40 38
+f 32 38 33
+f 38 40 39
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_77.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..712b117234f916eb9c38073c80f584f28d133458
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_77.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.03487585 0.06142106 -0.00109255
+v -0.03487585 0.06170013 -0.00006842
+v -0.03776113 0.06137485 -0.00109255
+v -0.03487585 0.07029786 -0.00109252
+v -0.03731882 0.06177715 -0.00006842
+v -0.03487585 0.07061589 -0.00006839
+v -0.03812564 0.06185779 -0.00006842
+v -0.03938994 0.06206709 -0.00006842
+v -0.03932291 0.06198826 -0.00109255
+v -0.03534213 0.07029968 -0.00109252
+v -0.03731882 0.07063130 -0.00017667
+v -0.03487585 0.07061317 -0.00018318
+v -0.03487585 0.07061589 -0.00017205
+v -0.03731882 0.07063130 -0.00006839
+v -0.03987433 0.06584179 -0.00006841
+v -0.03957880 0.06694448 -0.00109253
+v -0.03873382 0.07060049 -0.00007962
+v -0.03756053 0.07007044 -0.00109252
+v -0.03774058 0.07062224 -0.00006839
+v -0.03947703 0.06844494 -0.00006840
+v -0.03932927 0.06925678 -0.00109253
+v -0.03957880 0.06696261 -0.00109253
+v -0.03873382 0.07060049 -0.00006839
+v -0.03927154 0.06928578 -0.00006840
+v -0.03874165 0.07058146 -0.00006839
+f 1 2 3
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+f 1 9 16
+f 1 16 22
+f 1 22 21
+f 1 21 18
+f 1 18 10
+f 1 10 4
+f 1 4 12
+f 1 12 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 14
+f 2 14 19
+f 2 19 23
+f 2 23 25
+f 2 25 24
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+f 2 20 15
+f 2 15 8
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+f 15 22 16
+f 17 23 19
+f 17 18 21
+f 17 21 23
+f 20 24 21
+f 21 24 25
+f 21 25 23
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_78.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1e69fba50fb15d79c0b3cbe9169503cbe9f89e1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_78.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00563767 -0.04764629 0.00882776
+v -0.01309726 -0.04759889 0.00882777
+v -0.01309726 -0.04611480 0.00740364
+v -0.00103949 -0.04603093 0.00740364
+v 0.00563767 -0.04713215 0.00849934
+v 0.00563767 -0.01753053 0.00882788
+v -0.01309726 -0.01364709 0.00882789
+v -0.01309726 -0.01671738 0.00740375
+v 0.00563767 -0.04412386 0.00740365
+v 0.00563767 -0.01726434 0.00882606
+v -0.00345655 -0.01203902 0.00882790
+v -0.00855841 -0.01070443 0.00882790
+v -0.00644578 -0.01039449 0.00882790
+v -0.01071138 -0.01712213 0.00740375
+v 0.00563767 -0.02340126 0.00740372
+v -0.00529043 -0.01095968 0.00882790
+v 0.00563767 -0.01809208 0.00847588
+v -0.00590295 -0.01063150 0.00882790
+v 0.00142341 -0.01967097 0.00740374
+v -0.00103949 -0.01885418 0.00740374
+v 0.00402752 -0.02081960 0.00740373
+v 0.00563767 -0.02073208 0.00767389
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 22
+f 1 22 17
+f 1 17 10
+f 1 10 6
+f 1 6 11
+f 1 11 16
+f 1 16 18
+f 1 18 13
+f 1 13 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 14
+f 3 14 20
+f 3 20 19
+f 3 19 21
+f 3 21 15
+f 3 15 9
+f 3 9 4
+f 4 9 5
+f 6 10 11
+f 7 12 8
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+f 10 16 11
+f 10 17 16
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 15 21 22
+f 16 17 22
+f 16 22 18
+f 18 22 21
+f 18 21 19
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_79.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d97f4c9dacec5bc87ccd9dd1152e81a57b2b868
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_79.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.04670800 0.02066981 -0.00708014
+v 0.04460646 0.02580243 -0.00633371
+v 0.04249770 0.02537394 -0.00633371
+v 0.03699847 0.02653367 -0.00633370
+v 0.03623349 0.02681312 -0.00633370
+v 0.04491678 0.02066981 -0.00779165
+v 0.04670800 0.02066981 -0.00882815
+v 0.04670800 0.03039014 -0.00691506
+v 0.04577270 0.03039013 -0.00633369
+v 0.04565146 0.02904409 -0.00633369
+v 0.04554754 0.02795888 -0.00633370
+v 0.04515350 0.02689230 -0.00633370
+v 0.03398184 0.02831752 -0.00633370
+v 0.03329913 0.02857834 -0.00648045
+v 0.03602709 0.02665477 -0.00657274
+v 0.04328434 0.02066981 -0.00854662
+v 0.04293360 0.02066981 -0.00882815
+v 0.04670800 0.05470726 -0.00882803
+v 0.04670800 0.05228068 -0.00722067
+v 0.04522278 0.05228067 -0.00633361
+v 0.03354161 0.02880656 -0.00633369
+v 0.03289643 0.02809396 -0.00882813
+v 0.03196401 0.03074876 -0.00654514
+v 0.03196401 0.03020850 -0.00763316
+v 0.04326846 0.02066981 -0.00855541
+v 0.04442604 0.06196374 -0.00882800
+v 0.04405221 0.06637445 -0.00687317
+v 0.04470028 0.06444156 -0.00633356
+v 0.04485761 0.06373361 -0.00633357
+v 0.04670800 0.05475850 -0.00773317
+v 0.04670800 0.05395274 -0.00751831
+v 0.04494710 0.06208483 -0.00633357
+v 0.04499617 0.06115798 -0.00633358
+v 0.03281127 0.03029232 -0.00633369
+v 0.03196401 0.03018521 -0.00769493
+v 0.03196401 0.03028302 -0.00882812
+v 0.03276075 0.03040876 -0.00633369
+v 0.03196401 0.03159644 -0.00649190
+v 0.04344455 0.06313279 -0.00882800
+v 0.04249770 0.06678898 -0.00697474
+v 0.03951282 0.06811172 -0.00668882
+v 0.04342146 0.06691938 -0.00633355
+v 0.04414170 0.06648157 -0.00633356
+v 0.04329011 0.06329115 -0.00882800
+v 0.04253379 0.06363581 -0.00882800
+v 0.03196401 0.06371964 -0.00882800
+v 0.03243599 0.03227178 -0.00633368
+v 0.03196401 0.03590468 -0.00633367
+v 0.03766242 0.06814432 -0.00671738
+v 0.03196401 0.06825144 -0.00634454
+v 0.03951282 0.06811172 -0.00650447
+v 0.03965716 0.06806980 -0.00633355
+v 0.04249770 0.06720349 -0.00633355
+v 0.03282426 0.06371964 -0.00882800
+v 0.03196401 0.06823281 -0.00679771
+v 0.03282426 0.06821884 -0.00678746
+v 0.03524334 0.06818158 -0.00675376
+v 0.03196401 0.06824679 -0.00633355
+v 0.03197267 0.06824679 -0.00633355
+v 0.03766242 0.06814432 -0.00633355
+v 0.03927900 0.06808843 -0.00633355
+v 0.03788326 0.06813966 -0.00633355
+v 0.03806945 0.06813501 -0.00633355
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 25
+f 1 25 17
+f 1 17 7
+f 1 7 18
+f 1 18 30
+f 1 30 31
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+f 29 31 30
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+f 50 60 51
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+f 51 63 61
+f 55 57 56
+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_8.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3488561e0d92d59eacb645b5c10fb8b3740dabef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_8.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
+v 0.06326852 0.02551681 0.00030485
+v 0.06326852 0.02551681 -0.00054963
+v 0.06326704 0.02794995 0.00030564
+v 0.06184728 0.04742661 0.00129963
+v 0.06184728 0.04741513 0.00129963
+v 0.06184728 0.03038310 0.00125309
+v 0.06184728 0.02794995 0.00124456
+v 0.06326408 0.02308366 0.00029864
+v 0.06304793 0.02551681 -0.00109269
+v 0.06326704 0.02794995 -0.00054187
+v 0.06326408 0.02308366 -0.00054887
+v 0.06293690 -0.06675916 -0.00109303
+v 0.06304350 0.02065051 -0.00109270
+v 0.06304645 0.02308366 -0.00109270
+v 0.06324632 0.04742661 0.00030338
+v 0.06037867 0.04742660 0.00220060
+v 0.06324632 0.01821736 0.00027694
+v 0.06036830 0.04742660 0.00220679
+v 0.06035942 0.04498197 0.00219750
+v 0.06034462 0.04254882 0.00219129
+v 0.06032833 0.04011568 0.00218431
+v 0.06026171 0.03038309 0.00215715
+v 0.06170368 -0.06691984 0.00066862
+v 0.06299464 0.04742661 -0.00109261
+v 0.06324632 0.04742661 -0.00049222
+v 0.06323595 0.01578421 0.00026609
+v 0.06293394 -0.06674769 -0.00106824
+v 0.06231807 -0.06951367 -0.00109304
+v 0.05916321 0.04742660 0.00277774
+v 0.05916321 0.04741512 0.00277774
+v 0.05913508 0.04254882 0.00275991
+v 0.05911879 0.04011568 0.00275061
+v 0.05908622 0.03524938 0.00273122
+v 0.05906846 0.03281623 0.00272191
+v 0.05905217 0.03038309 0.00271106
+v 0.05825124 -0.06205356 0.00234739
+v 0.05823940 -0.06343081 0.00234119
+v 0.06137501 -0.06885948 0.00045403
+v 0.06310863 -0.00124782 0.00013743
+v 0.06313084 0.00118533 0.00015835
+v 0.06315009 0.00361848 0.00017850
+v 0.06318858 0.00882909 0.00021803
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+v 0.05603203 0.04742661 -0.00109261
+v 0.06217594 -0.06982355 -0.00109304
+v 0.05700914 0.04742660 0.00374533
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+v 0.05700914 0.04498197 0.00373216
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+v 0.05700914 0.03768253 0.00368642
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+v 0.05408523 0.02551679 0.00488714
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+v 0.05190599 -0.05475413 0.00492868
+v 0.04975636 -0.05232098 0.00575529
+v 0.05152551 -0.05718727 0.00475979
+v 0.05110803 -0.05842680 0.00460408
+v 0.05701062 -0.06361445 0.00248761
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+v 0.05997894 -0.06885948 0.00045403
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+v 0.05992268 -0.06907754 -0.00104345
+v 0.05993897 -0.06906606 -0.00109303
+v 0.05548426 0.04742659 0.00442241
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+v 0.05544577 0.04254881 0.00441465
+v 0.05538359 0.03524937 0.00439525
+v 0.05542652 0.04011567 0.00440767
+v 0.05535991 0.03281622 0.00438750
+v 0.05417406 0.03524937 0.00492204
+v 0.05217544 0.02551679 0.00566105
+v 0.04988220 0.02308364 0.00647137
+v 0.04814414 -0.04988783 0.00634561
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+v 0.04814414 -0.00497789 0.00273339
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+v 0.04831736 -0.05617729 0.00422990
+v 0.05871463 -0.06761995 -0.00104345
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_80.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f21670ebaacb18273fea784587f3bf4bab9674
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_80.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.04211518 0.04742661 -0.00109261
+v 0.04202304 0.04742660 0.00270489
+v 0.04484526 0.04742661 -0.00109261
+v 0.04178939 0.03715365 -0.00109264
+v 0.04178939 0.03742905 -0.00081013
+v 0.04565222 0.04742660 0.00270489
+v 0.04178939 0.03745754 -0.00076627
+v 0.04178939 0.03797035 0.00113954
+v 0.04178939 0.03796561 0.00120645
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+v 0.04178939 0.02460862 -0.00109269
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+v 0.04424650 0.02360673 -0.00104325
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_81.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c6525fb6229fd0caaecefd2e9c44b0c9c0175a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_81.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.04814182 -0.05588386 0.00489028
+v 0.03950418 -0.05020000 0.00519641
+v 0.03950418 -0.05088205 0.00253966
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+v 0.04814182 -0.05541577 0.00378419
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+
diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_82.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5114dc10cbe89fb22b0ae37d421fa84dc0a6df4f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_82.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.03886834 -0.05294170 -0.00108159
+v 0.03886834 -0.05294170 -0.00109297
+v 0.03886834 -0.05293781 -0.00104354
+v 0.03859148 -0.05967701 -0.00109300
+v 0.03886834 -0.04105656 -0.00109293
+v 0.03886834 -0.05267681 0.00120623
+v 0.03858955 -0.05962247 -0.00104357
+v 0.03761622 -0.06347901 -0.00109301
+v 0.03886834 -0.05220547 0.00191632
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+v 0.03608050 -0.04347956 -0.00109294
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+v 0.03886834 -0.02935062 0.00138552
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+v 0.03606410 -0.04350682 -0.00109294
+v 0.03394187 -0.02799888 0.00189366
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+v 0.03524270 -0.02642900 0.00218844
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_9.obj b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfa2135a7a03e7fe66c7f68a3beb85678cb83003
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/textures/material_0.png b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/video.mp4 b/dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/video.mp4
new file mode 100644
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