diff --git a/.gitattributes b/.gitattributes
index 3d05b23f0e3240aa4e707808f84a5599b37c6dba..bed3351a133d640b215cf09123771d0bd6b399d7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4228,3 +4228,6 @@ dataset/kitchen_supplies/tableware/6dd5651b3d3c578992053d847c5fcc44/6dd5651b3d3c
 dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/6e7e6684b40a5267b7375338d0cc6a74.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mesh/tray.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mesh/tray_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/6d72e2bda69a53b387e34bb6eccd80db.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/6d72e2bda69a53b387e34bb6eccd80db.urdf b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/6d72e2bda69a53b387e34bb6eccd80db.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..95f0142701cc7d1fe46d22d730e41fa541a44f53
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/6d72e2bda69a53b387e34bb6eccd80db.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="napkin">
+   <link name="napkin">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/napkin.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/napkin_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.161785</scale>
+         <version>v0.1.7</version>
+         <category>napkin</category>
+         <description>folded red napkin with white floral patterns</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <generate_time>20260119233535</generate_time>
+         <gs_model>mesh/napkin_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: overlapping and redundant geometry visible.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>3.7909932136535645</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/6d72e2bda69a53b387e34bb6eccd80db.usd b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/6d72e2bda69a53b387e34bb6eccd80db.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5eb27378ae4e68fe89c761560eedd70f30d1c344
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/6d72e2bda69a53b387e34bb6eccd80db.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:620e9d66b172b953e2c55d4a55f7897715faabf1a13c07201bdfa877c1084d06
+size 1435289
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/material.mtl b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/material_0.png b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..64f980d3ab092534b2d2f6cc7191fcbfb18ab87e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a9791756cd2c7337f992d902d4c084080870a1b10506d6b609d01a3cf3609a1
+size 2355766
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin.glb b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bda3388c512c5b33584048d6a35c2429ad2eb788
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:641a2c424ebbc0ca41aecb6c3cf4a8b4f819f5f954e97358aeee17831255128f
+size 3369500
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24f98c3d2a3e18485c8c25888df23d538831dbf2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin.obj
@@ -0,0 +1,93420 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin_collision.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d22b051c745f06d84cc629fdd528cfe1d0c7456
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mesh/napkin_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin.obj
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af493a2fc532dbe64cea024f6ab2c4df18185ca8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision.obj
@@ -0,0 +1,18719 @@
+# https://github.com/mikedh/trimesh
+
+o napkin_collision.obj
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+
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_0.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..879003a3ee6db906ce75dbc6694ceaa674c756ee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_0.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_1.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1c24f38c43e217bb7f67126c77b3eea3282c332
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_1.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_10.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f57297a32df03d9d63f1b8e053ee2114fe35a5b6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_10.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.05199403 0.07546381 -0.00315636
+v 0.05466149 0.07545500 -0.00315636
+v 0.05466149 0.07506711 -0.00451456
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+v 0.05695567 0.07509944 -0.00430048
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+v 0.05199403 0.07540503 -0.00131388
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_11.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bb3e628d245b73a164d5f57e48feb2b6d6b9c02
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_11.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_12.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d500bb240b52aed87d831beddb73a8aa31baf7c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_12.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_13.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc9389f38bec8335bf1115f05865d9a415a06d7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_13.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_14.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d19c906bbb260ed8aecec7c3abba89e433578c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_14.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_15.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2b3ceb3c877b883115bb3a6b96c268a2a2f2c7e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_15.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_16.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a4f806687b4822ec6e80d9761297a0ee60d235
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_16.obj
@@ -0,0 +1,817 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_17.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4b76a8355f76bac795461213c13755c6608d88f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_17.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_18.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5182ffa46a84ddabceea0f39ff1d84ff6ad77986
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_18.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_19.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4bad06f3377cf4ef5a99ac37c7bcdd227b88fa7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_19.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_2.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4d8871a93db6fe5a69b8a2b870b3f7899a7d263
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_2.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.07704787 0.07097912 -0.01361227
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_20.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a6d6813b4d07242cb328d00d6f2570929d1997
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_20.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.03326205 -0.05379645 0.00028368
+v 0.01411041 -0.05379645 0.00028368
+v 0.03308019 -0.05379645 -0.00023115
+v 0.02950672 -0.04737191 -0.00460925
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+v 0.02987607 -0.04678761 -0.00062324
+v 0.02974107 -0.04708711 0.00028371
+v 0.01411041 -0.05379643 -0.00603107
+v 0.01411041 -0.02502408 0.00028379
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+v 0.02913175 -0.04548684 -0.00315752
+v 0.02968858 -0.04917183 -0.00478287
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+v 0.01411041 -0.03283448 -0.00984240
+v 0.02686317 -0.04213656 -0.00461921
+v 0.02827869 -0.04383079 -0.00315751
+v 0.02439586 -0.03655768 -0.00315748
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+v 0.01411041 -0.03582359 -0.00990826
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_21.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5508d6b12001c52747abb5550aa3c12cb9a4ef48
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_21.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.03898806 0.07513808 -0.01361225
+v 0.05695567 0.07502121 -0.01195272
+v 0.04165552 0.07512233 -0.01361225
+v 0.03098987 0.07510000 -0.01361225
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+v 0.02265615 0.07510787 -0.01161020
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_22.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f90930bd759720146e903f2bf0927ca6b1dfc1d7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_22.obj
@@ -0,0 +1,676 @@
+# https://github.com/mikedh/trimesh
+v -0.04617460 -0.07106287 0.00444790
+v -0.04617460 -0.07035237 0.00689099
+v -0.06270154 -0.07061370 0.00950465
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_23.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ede36fd1c031c33794b675ffc84545b51059ee71
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_23.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_24.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c950538fe3fc1ca5a7bbe03de7c1a3d5f280792f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_24.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_25.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..559321a7d07a9270c1e84752c4fc332321c9284c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_25.obj
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+f 71 99 98
+f 71 98 112
+f 71 112 105
+f 71 105 90
+f 71 90 80
+f 71 80 79
+f 71 79 96
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+f 83 97 112
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+f 93 108 94
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+f 94 109 95
+f 95 110 96
+f 95 109 111
+f 95 111 110
+f 99 102 100
+f 103 113 114
+f 103 114 104
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+f 107 115 116
+f 107 116 108
+f 108 116 117
+f 108 117 118
+f 108 118 109
+f 109 118 119
+f 109 119 111
+f 110 111 120
+f 111 119 121
+f 111 121 120
+f 113 122 114
+f 114 123 124
+f 114 122 123
+f 117 125 118
+f 118 125 126
+f 118 126 127
+f 118 127 119
+f 119 127 128
+f 119 128 121
+f 120 121 129
+f 121 128 130
+f 121 130 131
+f 121 131 129
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+f 122 133 123
+f 123 134 127
+f 123 127 135
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+f 123 136 124
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+f 123 137 134
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+f 128 138 139
+f 128 139 130
+f 132 140 137
+f 132 137 133
+f 134 137 138
+f 137 140 138
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_26.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a85d75b2f7f9c4c2f5be49118cb5eb67b142bbf4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_26.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.07476546 0.02666150 -0.00953911
+v -0.07477271 0.02442128 -0.00953912
+v -0.07476546 0.02666149 -0.00930227
+v -0.06758826 0.02666150 -0.00953911
+v -0.07480168 0.00895131 -0.00953918
+v -0.07480168 0.00895130 -0.00921810
+v -0.07454819 0.02666149 -0.00879270
+v -0.06757378 0.00936398 -0.00953918
+v -0.03336075 0.02666149 -0.00804077
+v -0.03069556 0.01491076 -0.00793310
+v -0.06757378 0.00895131 -0.00953918
+v -0.07419332 0.00895130 -0.00795038
+v -0.07422229 0.02666149 -0.00803455
+v -0.03176743 0.02666149 -0.00788127
+v -0.02536516 0.00895130 -0.00758305
+v -0.02740752 0.00895130 -0.00775981
+v -0.02803036 0.00957031 -0.00779985
+v -0.02803036 0.00895130 -0.00780055
+v -0.07285348 0.00895129 -0.00632223
+v -0.07287520 0.02024947 -0.00628284
+v -0.07288969 0.02666148 -0.00626416
+v -0.01202469 0.02666148 -0.00565516
+v -0.00607145 0.00895129 -0.00565109
+v -0.07120221 0.00895129 -0.00555926
+v -0.07070249 0.02291969 -0.00525401
+v -0.07286796 0.01758098 -0.00629113
+v -0.07070249 0.02666148 -0.00523811
+v -0.01080797 0.02666148 -0.00526711
+v -0.00081348 0.00895129 -0.00485428
+v -0.00115387 0.00895129 -0.00492609
+v -0.00135666 0.00895129 -0.00496544
+v -0.00305862 0.00895129 -0.00524509
+v -0.07070249 0.00895129 -0.00532864
+v -0.06865289 0.00895129 -0.00500963
+v -0.06803005 0.00895129 -0.00491366
+v -0.06963062 0.02666148 -0.00509518
+v -0.00998958 0.02666148 -0.00500542
+v -0.00081348 0.00895128 -0.00379784
+v -0.04402879 0.02666147 -0.00343527
+v -0.06803005 0.02666148 -0.00488459
+v -0.00935949 0.00895128 -0.00248593
+v -0.03336075 0.01224051 -0.00338493
+v -0.00998958 0.02666147 -0.00360306
+v -0.00135666 0.00895128 -0.00362798
+v -0.01120630 0.02666147 -0.00301891
+v -0.01202469 0.02666147 -0.00262603
+v -0.01468989 0.02666147 -0.00252936
+v -0.00668705 0.00895128 -0.00254393
+v -0.01202469 0.02291968 -0.00255217
+v -0.00668705 0.00957029 -0.00258121
+v -0.01202469 0.02558991 -0.00259911
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 27
+f 1 27 36
+f 1 36 40
+f 1 40 39
+f 1 39 47
+f 1 47 46
+f 1 46 45
+f 1 45 43
+f 1 43 37
+f 1 37 28
+f 1 28 22
+f 1 22 14
+f 1 14 9
+f 1 9 4
+f 1 4 8
+f 1 8 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 9 10
+f 4 10 8
+f 5 11 18
+f 5 18 16
+f 5 16 15
+f 5 15 23
+f 5 23 32
+f 5 32 31
+f 5 31 30
+f 5 30 29
+f 5 29 38
+f 5 38 44
+f 5 44 48
+f 5 48 41
+f 5 41 35
+f 5 35 34
+f 5 34 33
+f 5 33 24
+f 5 24 19
+f 5 19 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 8 10 11
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 14 22 23
+f 14 23 15
+f 16 18 17
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 20 26 25
+f 20 25 27
+f 20 27 21
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 24 33 25
+f 25 33 34
+f 25 34 35
+f 25 35 27
+f 27 35 36
+f 28 37 29
+f 29 37 43
+f 29 43 38
+f 35 39 40
+f 35 40 36
+f 35 41 42
+f 35 42 39
+f 38 43 45
+f 38 45 46
+f 38 46 44
+f 39 42 41
+f 39 41 47
+f 41 48 49
+f 41 49 47
+f 44 50 48
+f 44 46 50
+f 46 51 48
+f 46 48 50
+f 46 47 51
+f 47 49 51
+f 48 51 49
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_27.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d31fd8cda393239f5004098b2fac41061b768407
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_27.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.01307366 0.06055732 0.00028510
+v -0.01307366 0.05994353 0.00148132
+v -0.01307366 0.05570067 0.00028508
+v -0.01735619 0.06040826 0.00028510
+v -0.01735619 0.05985974 0.00143697
+v -0.01307366 0.05763163 0.00164208
+v -0.02002249 0.05763163 0.00196281
+v -0.01307366 0.05567242 0.00028886
+v -0.01307967 0.05566949 0.00028508
+v -0.01864074 0.06026797 0.00028510
+v -0.02002249 0.05965224 0.00125994
+v -0.01307366 0.05709190 0.00133646
+v -0.02330904 0.05160783 0.00085641
+v -0.02165775 0.05930346 0.00094578
+v -0.02191927 0.05763164 0.00118784
+v -0.02330904 0.05243887 0.00087497
+v -0.02330904 0.05218751 0.00087497
+v -0.02330904 0.05060435 0.00028507
+v -0.01307366 0.05618682 0.00080634
+v -0.02002249 0.06008676 0.00028510
+v -0.02096838 0.05980422 0.00028510
+v -0.02175795 0.05941452 0.00028510
+v -0.02229101 0.05763164 0.00028509
+v -0.02330904 0.05369273 0.00028508
+v -0.02330904 0.05322412 0.00055605
+v -0.02330904 0.05296106 0.00070811
+f 1 2 6
+f 1 6 12
+f 1 12 19
+f 1 19 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 7
+f 6 7 13
+f 6 13 12
+f 7 11 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 13
+f 8 18 9
+f 8 19 18
+f 10 20 11
+f 11 20 21
+f 11 21 14
+f 12 13 18
+f 12 18 19
+f 13 17 16
+f 13 16 26
+f 13 26 25
+f 13 25 24
+f 13 24 18
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 16
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_28.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f01adb5f112e48441bbfa1f1553abcb349a81164
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_28.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.06310187 -0.08075858 -0.01329432
+v 0.06310187 -0.07790391 -0.00550133
+v 0.04589348 -0.08018840 -0.01329431
+v 0.06310187 -0.04796725 -0.01329420
+v 0.06310187 -0.07773398 -0.00511321
+v 0.04589348 -0.07753386 -0.00634136
+v 0.04589348 -0.05992982 -0.01329424
+v 0.05054595 -0.05042548 -0.00956054
+v 0.04932977 -0.04316792 -0.00391947
+v 0.04932977 -0.04218614 -0.00265143
+v 0.06310187 -0.04419122 -0.00496952
+v 0.06310187 -0.07732617 -0.00429442
+v 0.04589348 -0.07694479 -0.00543885
+v 0.04589348 -0.05798138 -0.00970677
+v 0.04690247 -0.04650597 -0.00062312
+v 0.04787272 -0.04230697 -0.00220882
+v 0.04798052 -0.04510880 -0.00444318
+v 0.04932977 -0.04218615 -0.00135282
+v 0.05081715 -0.04227676 -0.00258764
+v 0.06310187 -0.04417235 -0.00351939
+v 0.06310187 -0.07607630 -0.00354344
+v 0.04923039 -0.07264010 0.00028328
+v 0.04675592 -0.07308190 0.00028328
+v 0.04589348 -0.07304791 0.00028328
+v 0.04589348 -0.05430353 -0.00057131
+v 0.04589348 -0.05400145 0.00028335
+v 0.04714335 -0.04650597 0.00028338
+v 0.04764700 -0.04424788 0.00028339
+v 0.04756278 -0.04375321 -0.00064172
+v 0.04787272 -0.04230697 -0.00149904
+v 0.04932977 -0.04334540 -0.00008612
+v 0.05081715 -0.04227676 -0.00156417
+v 0.06310187 -0.04704972 -0.00111358
+v 0.06310187 -0.07323670 -0.00237109
+v 0.05981719 -0.06766702 0.00028330
+v 0.04874190 -0.04379853 0.00028339
+v 0.04932977 -0.04385517 0.00028339
+v 0.06272961 -0.04897929 0.00028337
+v 0.06310187 -0.04858280 -0.00013399
+v 0.06310187 -0.07034802 -0.00132634
+v 0.06264875 -0.06516727 0.00028331
+v 0.06310187 -0.04964765 0.00028337
+v 0.06310187 -0.06786338 -0.00060991
+v 0.06310187 -0.06441961 0.00028331
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 11
+f 1 11 20
+f 1 20 33
+f 1 33 39
+f 1 39 42
+f 1 42 44
+f 1 44 43
+f 1 43 40
+f 1 40 34
+f 1 34 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 13
+f 3 13 24
+f 3 24 26
+f 3 26 25
+f 3 25 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 7 8
+f 5 12 6
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 9
+f 7 9 8
+f 9 17 16
+f 9 16 10
+f 10 16 30
+f 10 30 18
+f 10 18 32
+f 10 32 19
+f 10 19 11
+f 11 19 20
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 18 30 31
+f 18 31 32
+f 19 32 20
+f 20 32 31
+f 20 31 33
+f 21 34 22
+f 22 34 35
+f 22 35 41
+f 22 41 44
+f 22 44 42
+f 22 42 38
+f 22 38 37
+f 22 37 36
+f 22 36 28
+f 22 28 27
+f 22 27 26
+f 22 26 24
+f 22 24 23
+f 28 36 30
+f 28 30 29
+f 30 36 31
+f 31 36 37
+f 31 37 33
+f 33 38 39
+f 33 37 38
+f 34 40 35
+f 35 40 41
+f 38 42 39
+f 40 43 41
+f 41 43 44
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_29.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..606ee3b494065e9d0c1b9a2add936fc993a61d00
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_29.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00549328 -0.02059318 -0.00225176
+v 0.00393543 -0.02235565 -0.00225176
+v -0.00403857 -0.02117300 0.00028480
+v -0.00358205 -0.02106141 0.00028480
+v 0.00971920 -0.02059319 0.00028480
+v 0.01269279 -0.02059318 -0.00225176
+v 0.00391056 -0.02244178 -0.00225176
+v -0.00403857 -0.02247332 -0.00003599
+v -0.00403857 -0.02245755 -0.00003301
+v -0.00403857 -0.03298507 0.00028476
+v 0.01184192 -0.02059319 0.00028480
+v 0.01256134 -0.02059319 -0.00059142
+v 0.01410854 -0.02380033 -0.00092017
+v 0.01410854 -0.02380396 -0.00225177
+v 0.00328706 -0.02514310 -0.00225177
+v -0.00403857 -0.02512370 -0.00017281
+v -0.00403857 -0.03298507 -0.00008296
+v 0.00845267 -0.03298507 0.00028476
+v 0.01205509 -0.02059319 0.00002633
+v 0.01410854 -0.02502302 0.00028479
+v 0.01410854 -0.02437771 -0.00023787
+v 0.01410854 -0.03209108 -0.00225180
+v -0.00403857 -0.02514311 -0.00017281
+v 0.00401181 -0.02779469 -0.00225178
+v 0.00131710 -0.03298507 -0.00060338
+v 0.00671007 -0.03041353 -0.00225179
+v 0.00846688 -0.03298507 0.00001462
+v 0.01410854 -0.03030194 0.00028477
+v 0.00665323 -0.03298507 -0.00074590
+v 0.00398339 -0.03298507 -0.00080922
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 12
+f 1 12 6
+f 1 6 14
+f 1 14 22
+f 1 22 26
+f 1 26 24
+f 1 24 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 8
+f 3 8 16
+f 3 16 23
+f 3 23 17
+f 3 17 10
+f 3 10 18
+f 3 18 28
+f 3 28 20
+f 3 20 11
+f 3 11 5
+f 3 5 4
+f 6 12 13
+f 6 13 14
+f 7 15 8
+f 8 15 16
+f 10 17 25
+f 10 25 30
+f 10 30 29
+f 10 29 27
+f 10 27 18
+f 11 20 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 20
+f 13 20 28
+f 13 28 22
+f 13 22 14
+f 15 17 23
+f 15 23 16
+f 15 24 17
+f 17 24 26
+f 17 26 22
+f 17 22 25
+f 18 27 22
+f 18 22 28
+f 22 27 29
+f 22 29 30
+f 22 30 25
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_3.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20b26fa8e9ccff997e6e73d35a1855874e940fe6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_3.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.01336858 0.05034536 0.01512137
+v 0.01336858 0.01620410 0.01379256
+v 0.01336858 0.05034535 0.01836241
+v 0.05708697 0.05034537 0.01363759
+v 0.01336858 0.01353155 0.01374408
+v 0.01336858 0.05029238 0.01836449
+v 0.01339721 0.05034535 0.01836795
+v 0.07168267 0.05034537 0.01363759
+v 0.05714996 0.04961824 0.01363759
+v 0.01336858 0.00156044 0.01364019
+v 0.01336858 0.00285097 0.01364780
+v 0.01336858 0.00423299 0.01365820
+v 0.01336858 0.04974342 0.01837626
+v 0.01459395 0.05034535 0.01846073
+v 0.01336858 0.04859736 0.01839703
+v 0.07066344 0.05034537 0.01444906
+v 0.07066344 0.02025386 0.01459366
+v 0.07184873 0.02025386 0.01363748
+v 0.05741908 0.04690716 0.01363758
+v 0.01336858 0.00115113 0.01364502
+v 0.05773401 0.04480764 0.01363757
+v 0.06458237 0.00115113 0.01363741
+v 0.03866054 0.05034535 0.02027270
+v 0.01336858 0.04695048 0.01840187
+v 0.06950105 0.05034536 0.01534985
+v 0.06917467 0.02025385 0.01575756
+v 0.07066344 0.01758131 0.01459226
+v 0.07186018 0.01758131 0.01363747
+v 0.01336858 0.00115111 0.01782010
+v 0.07153380 0.00115113 0.01363741
+v 0.01336858 0.04427793 0.01840601
+v 0.03866054 0.04961822 0.02027339
+v 0.04665984 0.05034534 0.02071029
+v 0.06906587 0.05034536 0.01568358
+v 0.06916894 0.01758130 0.01575270
+v 0.06870513 0.05034536 0.01589684
+v 0.06773170 0.05034536 0.01647013
+v 0.06782904 0.02292159 0.01651296
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_30.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2846df93cde03009c351dd7391613b236ee06214
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_30.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_31.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef933f7290ffa3360e5bbbc7f2b01dc5e2059b80
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_31.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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+f 123 126 124
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_32.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff3d969cca07ec5525eac9d5ed8b4c970fb681ae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_32.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02775690 -0.06470174 -0.00890366
+v 0.02775690 -0.06329491 -0.00890365
+v 0.02532249 -0.06448905 -0.00898436
+v 0.02775690 -0.06550234 -0.01076268
+v 0.02775690 -0.06271944 -0.01060763
+v 0.02532249 -0.06339406 -0.00898435
+v 0.02363680 -0.06424175 -0.00917751
+v 0.02532249 -0.06515313 -0.01076268
+v 0.02775690 -0.06544751 -0.01092744
+v 0.02775690 -0.06267347 -0.01076267
+v 0.02532249 -0.06286843 -0.01076267
+v 0.02363680 -0.06358542 -0.00917750
+v 0.02340596 -0.06446218 -0.01076268
+v 0.02356397 -0.06428078 -0.01243079
+v 0.02532249 -0.06452365 -0.01265196
+v 0.02775690 -0.06466046 -0.01272033
+v 0.02775690 -0.06323868 -0.01272032
+v 0.02532249 -0.06333422 -0.01265195
+v 0.02356397 -0.06352973 -0.01243078
+v 0.02340596 -0.06340651 -0.01076267
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 6 12
+f 3 12 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 12 20
+f 7 20 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 16
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+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 13 20 19
+f 13 19 14
+f 14 19 18
+f 14 18 15
+f 15 18 17
+f 15 17 16
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_33.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c70759a9ddaf2f93b83b5617913e1df2e2a65c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_33.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.07921698 0.02024213 -0.00842177
+v 0.07832230 0.03633842 -0.01076278
+v 0.07920426 0.02291593 -0.00842176
+v 0.07915197 -0.00026211 -0.00842184
+v 0.07899649 -0.04170602 -0.00975510
+v 0.07758451 0.03633843 -0.01231486
+v 0.07911663 0.03633841 -0.00842171
+v 0.07856965 -0.04170602 -0.01076306
+v 0.07344750 -0.00026211 -0.00842184
+v 0.07281713 -0.04170602 -0.00975510
+v 0.07756472 0.03633843 -0.01235550
+v 0.07433653 0.03633841 -0.00842171
+v 0.07760995 -0.04170601 -0.01237102
+v 0.07346163 0.00183110 -0.00842183
+v 0.06538125 -0.04170601 -0.01291412
+v 0.07754070 0.03633843 -0.01238700
+v 0.07349838 0.00449726 -0.00842182
+v 0.07024475 0.03633843 -0.01361190
+v 0.06533461 -0.01301994 -0.01329404
+v 0.06521164 -0.01446379 -0.01329404
+v 0.06520316 -0.01466242 -0.01329404
+v 0.06510564 -0.01712995 -0.01329405
+v 0.06533461 -0.01712995 -0.01314519
+v 0.07684530 -0.04170601 -0.01310870
+v 0.07659230 0.03623912 -0.01361190
+v 0.07659230 0.03633843 -0.01361190
+v 0.07349273 0.00422988 -0.00842182
+v 0.06477773 -0.04170601 -0.01329414
+v 0.06687239 -0.00026209 -0.01361203
+v 0.07665308 -0.04170601 -0.01329414
+v 0.07657817 0.03384034 -0.01361191
+v 0.07572024 -0.00026209 -0.01361203
+v 0.07639726 0.02024215 -0.01361196
+v 0.07645521 0.02283192 -0.01361195
+v 0.07649478 0.02558211 -0.01361194
+v 0.07654991 0.03092207 -0.01361192
+f 1 2 3
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+f 1 14 9
+f 1 9 4
+f 1 4 5
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+f 28 29 32
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+f 30 33 34
+f 30 34 35
+f 30 35 36
+f 30 36 31
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_34.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6315750ed1b9057e53ade905b65e1f2b0ed895be
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_34.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.07831419 -0.07320445 0.00611304
+v 0.07824675 -0.07053469 0.00611305
+v 0.07795496 -0.07320446 0.00686492
+v 0.07794946 -0.07587422 0.00687292
+v 0.07829767 -0.07587421 0.00611303
+v 0.07792606 -0.07053469 0.00678024
+v 0.07816279 -0.06786689 0.00611306
+v 0.07726542 -0.07320446 0.00813292
+v 0.07727092 -0.07587422 0.00814092
+v 0.07781596 -0.07854397 0.00666692
+v 0.07804030 -0.07854397 0.00611302
+v 0.07788477 -0.06786689 0.00668298
+v 0.07805544 -0.06519518 0.00611307
+v 0.07721037 -0.07053470 0.00804710
+v 0.07566749 -0.06044201 0.00951885
+v 0.07623179 -0.07320446 0.00951880
+v 0.07625519 -0.07587422 0.00951879
+v 0.07596478 -0.07854398 0.00951878
+v 0.07709613 -0.07854398 0.00793492
+v 0.07758060 -0.08010360 0.00623433
+v 0.07760262 -0.08011729 0.00611302
+v 0.07782696 -0.06519518 0.00657770
+v 0.07785449 -0.06044200 0.00611309
+v 0.07697777 -0.06044201 0.00766262
+v 0.07594827 -0.06044201 0.00912860
+v 0.07491326 -0.06044202 0.01052134
+v 0.07496831 -0.07320447 0.01111295
+v 0.07498621 -0.07587423 0.01113125
+v 0.07469167 -0.06044202 0.01081202
+v 0.07487060 -0.07854399 0.01100193
+v 0.07473847 -0.07994532 0.01085887
+v 0.07519128 -0.08016420 0.00951878
+v 0.07331258 -0.08029906 0.00949589
+v 0.07618500 -0.08019741 0.00611302
+v 0.07771548 -0.06044200 0.00639576
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+v 0.07345572 -0.06044202 0.01207774
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+v 0.07212206 -0.06044203 0.01342699
+v 0.07364291 -0.07587424 0.01239811
+v 0.07317357 -0.07875117 0.01245646
+v 0.07217711 -0.07800066 0.01344866
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+v 0.07018555 -0.08020136 0.01368899
+v 0.06776458 -0.07832316 0.01524881
+v 0.06533397 -0.08040461 0.01426576
+v 0.06533397 -0.07904825 0.01553263
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+v 0.06425355 -0.08040657 0.01430467
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+v 0.06425355 -0.06044205 0.01780320
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+v 0.06901842 -0.06044204 0.01566888
+v 0.06828758 -0.07587425 0.01550860
+v 0.06671718 -0.07728535 0.01587024
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+v 0.06533397 -0.07771337 0.01598924
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+v 0.06533397 -0.06519522 0.01727790
+v 0.06425355 -0.06786693 0.01742780
+v 0.06425355 -0.07053473 0.01720578
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+f 91 94 92
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_35.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b97f95e126c5fc4f779aaeb741723f5516936d5e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_35.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.07166732 0.03398846 0.01363684
+v 0.07195993 0.03398846 0.01340681
+v 0.07165584 0.03965802 0.01363687
+v 0.06440938 0.03398846 0.01363684
+v 0.07189108 0.03965802 0.01345128
+v 0.07203261 0.03398846 0.01334931
+v 0.07202687 0.03965802 0.01334411
+v 0.05958987 0.03965802 0.01363687
+v 0.05996472 0.03886656 0.01363686
+v 0.07341343 0.03398851 0.00028500
+v 0.07310170 0.03398847 0.01223970
+v 0.07327956 0.03398847 0.01205281
+v 0.07325087 0.03965803 0.01205284
+v 0.05960708 0.03965802 0.01360550
+v 0.05982128 0.03912021 0.01363686
+v 0.05978495 0.03965802 0.01329444
+v 0.06075459 0.03965803 0.01207244
+v 0.07912607 0.03398851 0.00028500
+v 0.07118537 0.03965807 0.00028503
+v 0.07458197 0.03398847 0.01067136
+v 0.07420903 0.03965803 0.01102034
+v 0.07910504 0.03965807 0.00028503
+v 0.07880860 0.03398850 0.00191347
+v 0.07480000 0.03965803 0.01030021
+v 0.07455902 0.03965803 0.01064133
+v 0.07547702 0.03398848 0.00940361
+v 0.07901897 0.03965807 0.00072286
+v 0.07878374 0.03965806 0.00191350
+v 0.07800918 0.03398849 0.00444895
+v 0.07545407 0.03965804 0.00937358
+v 0.07661687 0.03398848 0.00749416
+v 0.07797857 0.03965805 0.00444898
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+v 0.07642945 0.03965804 0.00773728
+v 0.07681003 0.03398848 0.00717003
+v 0.07782557 0.03965805 0.00482800
+v 0.07740291 0.03965805 0.00586834
+v 0.07741821 0.03398849 0.00590359
+v 0.07678708 0.03965804 0.00713477
+v 0.07689992 0.03398848 0.00698575
+f 1 2 3
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+f 1 10 18
+f 1 18 23
+f 1 23 29
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+f 1 20 12
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+f 1 6 2
+f 2 5 3
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+f 3 21 25
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+f 3 19 17
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+f 3 14 8
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+f 14 16 15
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_36.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6934b1f22795c4dc764e7ae46c1b6967f54e0eb1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_36.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.07662847 0.07563152 -0.00561515
+v 0.07835748 0.07563152 -0.00561515
+v 0.07649998 0.07560303 -0.00822762
+v 0.05695568 0.07502069 -0.01267515
+v 0.05695568 0.07502068 -0.01195255
+v 0.07022642 0.07458327 -0.00561516
+v 0.07964240 0.07368866 -0.00561516
+v 0.07974384 0.07352386 -0.00581793
+v 0.07835522 0.07563028 -0.00569344
+v 0.07817038 0.07560303 -0.00822762
+v 0.07338687 0.07543082 -0.01361147
+v 0.05695568 0.07495006 -0.01361225
+v 0.05695568 0.07176686 -0.00749956
+v 0.07022642 0.06489496 -0.00561519
+v 0.07974609 0.07352386 -0.00561516
+v 0.07982274 0.07326366 -0.00561516
+v 0.07934258 0.07365274 -0.00822763
+v 0.07780068 0.07539612 -0.01076101
+v 0.07597700 0.07541348 -0.01317541
+v 0.07576284 0.07538126 -0.01361147
+v 0.06000116 0.07492528 -0.01361225
+v 0.05733439 0.07495254 -0.01361225
+v 0.05695568 0.06988845 -0.01361227
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+v 0.05948043 0.06297317 -0.00749959
+v 0.07555094 0.06309583 -0.00561990
+v 0.07933582 0.06309583 -0.00561520
+v 0.07998504 0.07098252 -0.00561517
+v 0.07994672 0.07098252 -0.00618902
+v 0.07959506 0.07098253 -0.00822764
+v 0.07853782 0.07365275 -0.01076102
+v 0.07747832 0.07513591 -0.01225005
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+v 0.07022416 0.07333307 -0.01361226
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+v 0.07943952 0.06309583 -0.00561520
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+v 0.07987459 0.06907807 -0.00561518
+v 0.07922536 0.06309584 -0.00811180
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+v 0.07838227 0.06309585 -0.01076106
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+v 0.06088257 0.06297318 -0.00985605
+v 0.06819985 0.06297317 -0.00822845
+v 0.07943952 0.06309583 -0.00569349
+v 0.07759780 0.06309586 -0.01241293
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+v 0.06266794 0.06297318 -0.01036806
+v 0.06707949 0.06297318 -0.00979577
+v 0.06533245 0.06297318 -0.01030777
+f 1 2 10
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+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 27
+f 1 27 42
+f 1 42 44
+f 1 44 43
+f 1 43 28
+f 1 28 16
+f 1 16 15
+f 1 15 7
+f 1 7 2
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+f 4 12 23
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+f 53 60 61
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+f 58 62 60
+f 60 62 63
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_37.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fe3408fccd8f96ad3b1a618b6b258ebfe16b3f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_37.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04574050 -0.00645792 -0.00059274
+v -0.04574050 -0.00645792 0.00040727
+v -0.04574050 0.00894954 -0.00059274
+v -0.04574050 0.00894954 0.00040727
+v -0.02318266 -0.00645792 -0.00059274
+v -0.02318266 -0.00645792 0.00040727
+v -0.02318266 0.00894954 -0.00059274
+v -0.02318266 0.00894954 0.00040727
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_38.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ae306422dbf2e39f3184489dc18907a5a97e563
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_38.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.04420507 0.07571765 -0.01583224
+v -0.04420507 0.07570879 -0.01571295
+v -0.04402812 0.07571765 -0.01583224
+v -0.03335974 0.07538970 -0.01749071
+v -0.03602541 0.07539325 -0.01746474
+v -0.03869107 0.07536666 -0.01741712
+v -0.04136245 0.07530461 -0.01734785
+v -0.04420507 0.07525498 -0.01717951
+v -0.04420507 0.07549428 -0.01412710
+v 0.01410283 0.07479583 -0.01412711
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+v 0.01410283 0.07508656 -0.01727570
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+v -0.02802270 0.07365244 -0.01817085
+v -0.03068837 0.07365244 -0.01815738
+v -0.03068837 0.07536843 -0.01749215
+v 0.01410283 0.07365244 -0.01812948
+v -0.03335974 0.07365244 -0.01811361
+v -0.03602541 0.07365244 -0.01802655
+v -0.04420507 0.07521775 -0.01726945
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+v -0.01468866 0.07098271 -0.01873651
+v -0.01735432 0.07098271 -0.01872064
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+v -0.03068837 0.07098271 -0.01850082
+v -0.03335974 0.07098271 -0.01841280
+v -0.03602541 0.07098271 -0.01829207
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+v -0.01468866 0.06564326 -0.01904100
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+v -0.01468866 0.06831299 -0.01892748
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+v -0.04136245 0.06030381 -0.01869999
+v -0.03602541 0.06297354 -0.01875097
+v -0.03869107 0.06297354 -0.01868171
+v -0.04402812 0.06030381 -0.01860091
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+v -0.04420507 0.06030381 -0.01859225
+v -0.03600257 0.05760927 -0.01885873
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_39.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51a402f4b4e50def5133645b00d5d75ff3ea1e58
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_39.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.05635896 0.01236825 0.00612806
+v -0.06137979 0.01236824 0.00824088
+v -0.05635896 0.01236826 0.00153175
+v -0.05635896 0.01758293 0.00609770
+v -0.06082804 0.02852048 0.00824093
+v -0.06738858 0.01236824 0.00824088
+v -0.05736744 0.01236826 0.00157925
+v -0.05635896 0.02885195 0.00028499
+v -0.05635896 0.02025287 0.00607591
+v -0.06217340 0.04999051 0.00824101
+v -0.06716183 0.01236824 0.00726196
+v -0.06735511 0.02181064 0.00824091
+v -0.06707005 0.04999051 0.00726676
+v -0.06716183 0.02292281 0.00732896
+v -0.06003442 0.01236826 0.00204652
+v -0.05723464 0.03070434 0.00028499
+v -0.05705648 0.03026979 0.00028499
+v -0.05635896 0.04999054 0.00028506
+v -0.05635896 0.02284548 0.00593885
+v -0.05844719 0.04999052 0.00593116
+v -0.06713808 0.04999051 0.00824101
+v -0.06654746 0.01236825 0.00605564
+v -0.06656797 0.04999052 0.00599892
+v -0.06734971 0.02292281 0.00824091
+v -0.06733783 0.02449899 0.00824092
+v -0.06204059 0.01236826 0.00280971
+v -0.05813839 0.03626887 0.00028501
+v -0.05785117 0.03377201 0.00028500
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_4.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..525ca7c230ba636ddea2e62eb3269b492438d590
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_4.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_40.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe27152da1f45bf495b2bce91f55eeba40cd61b8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_40.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_41.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7325c5193c9625999e0786518740509cce54457f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_41.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_42.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5782a9539e9a8b753bcb0c3bf519872a96e0f8f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_42.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_43.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3647365c57bff9267424f905313fc3c0abe82f75
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_43.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.02870444 0.00894957 -0.00782276
+v -0.00935143 -0.00378470 -0.01044735
+v -0.01202096 -0.00912512 -0.01078192
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+v -0.01202096 0.00894955 -0.00260711
+v -0.02740530 0.00894957 -0.00776003
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+v -0.00733986 -0.02982638 -0.01057207
+v -0.02535601 -0.02982638 -0.01030024
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+v -0.01468629 -0.02982638 -0.01050934
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+v -0.00135543 0.00894956 -0.00496569
+v -0.00115008 0.00894956 -0.00492638
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+v 0.00065614 -0.02982638 -0.01023668
+v -0.00135543 -0.00912512 -0.00998820
+v 0.00326700 -0.02982638 -0.00988373
+v 0.01410853 -0.02982641 -0.00225179
+v 0.00595747 -0.01181624 -0.00225172
+v -0.00669029 0.00894955 -0.00254355
+v 0.00671601 -0.01076486 -0.00225172
+v 0.00931848 -0.01089770 -0.00225172
+v 0.01128814 -0.01179347 -0.00225172
+v -0.00135543 0.00422781 -0.00244319
+v -0.00402076 0.00689612 -0.00250591
+v -0.00081482 0.00894955 -0.00379811
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+v 0.00044241 0.00855480 -0.00402728
+v 0.00300717 0.00603452 -0.00400136
+v 0.00540010 0.00302461 -0.00429159
+v 0.00353940 -0.02982638 -0.00978420
+v 0.01410853 -0.02380278 -0.00225177
+v -0.00135543 0.00689612 -0.00274428
+v -0.00135543 0.00894955 -0.00362749
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+v 0.00812411 -0.00210326 -0.00418372
+v 0.00580661 0.00155570 -0.00394450
+v 0.00392914 0.00403803 -0.00371198
+v 0.00397943 0.00155570 -0.00297514
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+v 0.01410853 -0.02504014 -0.00461203
+v 0.01410853 -0.02556773 -0.00487214
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_44.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a03bf66e8fbe4a087e3c20d0192887b42cfb9772
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_44.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.05188693 0.07783391 0.01559984
+v 0.04932645 0.07781508 0.01556618
+v 0.05188693 0.07783391 0.01617527
+v 0.05188693 0.07631634 0.01446040
+v 0.04666039 0.07692714 0.01423811
+v 0.04399055 0.07728232 0.01423811
+v 0.03840200 0.07757292 0.01423811
+v 0.03598859 0.07759713 0.01423812
+v 0.04666039 0.07778817 0.01548361
+v 0.04932645 0.07781508 0.01611176
+v 0.05188693 0.07667151 0.01745060
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+v 0.05031067 0.07624370 0.01423811
+v 0.03332252 0.07757292 0.01423811
+v 0.04666039 0.07778817 0.01604062
+v 0.04399055 0.07775319 0.01544677
+v 0.05188693 0.07534766 0.01859511
+v 0.04399055 0.07775319 0.01597711
+v 0.04208999 0.07769668 0.01590280
+v 0.05188693 0.06473273 0.01423807
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+v 0.05188693 0.07366326 0.01923786
+v 0.01336286 0.07643205 0.01482306
+v 0.01336286 0.07509743 0.01591930
+v 0.02265826 0.07737649 0.01423811
+v 0.01465629 0.07711011 0.01423811
+v 0.01336286 0.07705361 0.01423811
+v 0.05188693 0.05229345 0.01612309
+v 0.03066023 0.05034536 0.01564546
+v 0.05187562 0.06473004 0.01423807
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+v 0.01336286 0.07365251 0.01644899
+v 0.01336286 0.06334431 0.01423806
+v 0.05188693 0.05035074 0.01642413
+v 0.01336286 0.05034536 0.01512148
+v 0.04666039 0.05034536 0.01623804
+v 0.04666039 0.06369410 0.01423806
+v 0.04932645 0.07098060 0.01984948
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+v 0.04132449 0.05496265 0.02040008
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_45.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..437e49d1f4ed2f3c879c8ab2661950d1b953727e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_45.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.07922413 -0.04110533 0.00028473
+v 0.07877652 -0.04110534 0.00191330
+v 0.07391700 -0.04110533 0.00028473
+v 0.07916809 -0.00645135 0.00028486
+v 0.07874289 0.00115117 0.00191345
+v 0.07875036 -0.00645136 0.00191343
+v 0.07875708 -0.04110534 0.00196696
+v 0.07805241 0.00115117 0.00406049
+v 0.07792462 0.00115116 0.00444795
+v 0.07163931 -0.04110536 0.00740390
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+v 0.07679475 -0.04110535 0.00673352
+v 0.07728645 0.00115116 0.00600893
+f 1 2 7
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_46.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46f5d4b95d689794c20a3867e23c546706a2eeba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_46.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.01336249 -0.02988647 0.00028445
+v 0.01336249 -0.02966001 0.00119305
+v 0.01293505 -0.02954023 0.00112281
+v 0.01273173 -0.02968247 0.00028445
+v 0.00549459 -0.02059036 -0.00225176
+v 0.01269399 -0.02059036 -0.00225176
+v 0.01336249 -0.02488188 0.00028447
+v 0.01336249 -0.02910977 0.00133089
+v 0.01336249 -0.02781091 0.00160620
+v 0.01246449 -0.02781090 0.00135922
+v 0.01032346 -0.02450008 0.00096195
+v 0.01042897 -0.02668421 0.00028446
+v 0.01021872 -0.02247130 0.00104882
+v 0.01028033 -0.01446471 0.00096879
+v 0.00581805 -0.01446283 -0.00225173
+v 0.01242829 -0.01617906 -0.00225174
+v 0.01336249 -0.02511957 0.00063794
+v 0.01235744 -0.01446284 -0.00062183
+v 0.01336249 -0.02544710 0.00112472
+v 0.01124995 -0.01446471 0.00096879
+v 0.01042512 -0.01279901 0.00084115
+v 0.00596053 -0.01181830 -0.00225172
+v 0.01222959 -0.01446283 -0.00225173
+v 0.01128923 -0.01179397 -0.00225172
+v 0.01145096 -0.01224128 -0.00062182
+v 0.01119219 -0.01258565 0.00028451
+v 0.01103277 -0.01279901 0.00084115
+v 0.00671913 -0.01076834 -0.00225172
+v 0.00932226 -0.01089935 -0.00225172
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 19
+f 1 19 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 12 11
+f 5 11 13
+f 5 13 14
+f 5 14 15
+f 5 15 22
+f 5 22 28
+f 5 28 29
+f 5 29 24
+f 5 24 23
+f 5 23 16
+f 5 16 6
+f 6 16 7
+f 7 16 18
+f 7 18 17
+f 9 13 11
+f 9 11 10
+f 9 19 20
+f 9 20 14
+f 9 14 13
+f 14 20 27
+f 14 27 21
+f 14 21 22
+f 14 22 15
+f 16 23 18
+f 17 18 19
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 19 27 20
+f 21 28 22
+f 21 27 28
+f 24 29 25
+f 25 29 26
+f 26 29 27
+f 27 29 28
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_47.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53e366341de70f4a7506fc3256bd16f7712cba7c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_47.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.07282527 -0.00027234 -0.00975419
+v 0.07311851 0.03633838 0.00028501
+v 0.07433861 0.03633841 -0.00842155
+v 0.07856135 -0.00027234 -0.00975419
+v 0.07281973 -0.04170512 -0.00975434
+v 0.07152284 -0.04610436 -0.00909793
+v 0.07416286 -0.00027238 0.00028488
+v 0.07911358 0.03633838 0.00028501
+v 0.07152284 -0.04649288 -0.00324606
+v 0.07152284 -0.04650431 -0.00313011
+v 0.07152284 -0.04770410 -0.00171309
+v 0.07152284 -0.04917814 -0.00067047
+v 0.07152284 -0.05184054 -0.00008873
+v 0.07152284 -0.05889073 0.00028368
+v 0.07152284 -0.07897866 0.00028361
+v 0.07911544 0.03633841 -0.00842155
+v 0.07873063 -0.01607530 -0.00975425
+v 0.08016349 -0.07336818 -0.00909803
+v 0.07899518 -0.04170512 -0.00975434
+v 0.07779913 -0.08034983 -0.00909806
+v 0.07604066 -0.08032697 -0.00909806
+v 0.07531544 -0.08026983 -0.00909805
+v 0.07152284 -0.07809878 -0.00909805
+v 0.07914133 -0.00027238 0.00028488
+v 0.07684080 -0.08026986 0.00028361
+v 0.07911451 0.03625839 0.00028501
+v 0.08046504 -0.07319681 0.00028363
+v 0.08066670 -0.07319681 -0.00062339
+v 0.07929396 0.03633838 -0.00062299
+v 0.07152284 -0.07893296 -0.00062341
+v 0.07918203 0.03633841 -0.00822501
+v 0.07889898 -0.03207251 -0.00975431
+v 0.08033924 -0.07294540 -0.00847796
+v 0.08016349 -0.07423660 -0.00909803
+v 0.07899056 -0.04114522 -0.00975434
+v 0.07892673 -0.03474633 -0.00975432
+v 0.08014406 -0.07552781 -0.00909804
+v 0.08010058 -0.07662475 -0.00909804
+v 0.08003398 -0.07731035 -0.00909804
+v 0.07983788 -0.07843016 -0.00909805
+v 0.07981383 -0.07853300 -0.00909805
+v 0.07979903 -0.07856727 -0.00909805
+v 0.07852527 -0.08025840 -0.00909805
+v 0.07866958 -0.08039554 -0.00569111
+v 0.07152284 -0.07883011 -0.00234703
+v 0.07914226 -0.00015812 0.00028488
+v 0.07737084 -0.08026986 0.00028361
+v 0.07860760 -0.08024701 0.00028361
+v 0.07979532 -0.07931003 0.00028361
+v 0.07984990 -0.07908150 0.00028361
+v 0.08009688 -0.07792741 0.00028361
+v 0.08031982 -0.07587063 0.00028362
+v 0.07918759 0.02557454 0.00028497
+v 0.07920424 0.02118673 0.00028496
+v 0.07920794 0.01852434 0.00028495
+v 0.07920054 0.01586195 0.00028494
+v 0.08050297 -0.07587063 -0.00062340
+v 0.08097288 -0.07319680 -0.00315772
+v 0.07972317 0.01757594 -0.00315739
+v 0.07941977 0.03633839 -0.00315732
+v 0.07942809 0.03633840 -0.00569068
+v 0.07974630 0.01757595 -0.00569075
+v 0.08092293 -0.07319679 -0.00569108
+v 0.08029946 -0.07599630 -0.00845439
+v 0.08018939 -0.07853300 -0.00780386
+v 0.07982678 -0.07853300 -0.00907152
+v 0.08006451 -0.07994989 -0.00728501
+v 0.07880185 -0.08025840 -0.00816844
+v 0.08013389 -0.08002988 -0.00569110
+v 0.08012833 -0.08002989 -0.00315774
+v 0.07866958 -0.08033841 -0.00315775
+v 0.08005711 -0.07993849 -0.00150782
+v 0.07981290 -0.07936717 0.00018239
+v 0.08017274 -0.07849874 -0.00064699
+v 0.08080731 -0.07587062 -0.00315773
+v 0.08079528 -0.07587061 -0.00569109
+v 0.07942809 0.03633840 -0.00562680
+v 0.08044931 -0.07853301 -0.00569110
+v 0.08043822 -0.07853302 -0.00315774
+f 1 2 3
+f 1 3 16
+f 1 16 4
+f 1 4 17
+f 1 17 32
+f 1 32 36
+f 1 36 35
+f 1 35 19
+f 1 19 5
+f 1 5 6
+f 1 6 2
+f 2 7 24
+f 2 24 46
+f 2 46 56
+f 2 56 55
+f 2 55 54
+f 2 54 53
+f 2 53 26
+f 2 26 8
+f 2 8 29
+f 2 29 60
+f 2 60 77
+f 2 77 61
+f 2 61 31
+f 2 31 16
+f 2 16 3
+f 2 6 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 7
+f 4 16 18
+f 4 18 17
+f 5 19 20
+f 5 20 21
+f 5 21 22
+f 5 22 23
+f 5 23 6
+f 6 23 45
+f 6 45 30
+f 6 30 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 7 15 25
+f 7 25 47
+f 7 47 24
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 15 30 22
+f 15 22 25
+f 16 31 18
+f 17 18 32
+f 18 33 34
+f 18 34 19
+f 18 19 35
+f 18 35 36
+f 18 36 32
+f 18 31 33
+f 19 34 37
+f 19 37 38
+f 19 38 39
+f 19 39 40
+f 19 40 41
+f 19 41 42
+f 19 42 43
+f 19 43 20
+f 20 44 21
+f 20 43 44
+f 21 44 25
+f 21 25 22
+f 22 30 45
+f 22 45 23
+f 24 47 48
+f 24 48 49
+f 24 49 50
+f 24 50 51
+f 24 51 52
+f 24 52 27
+f 24 27 46
+f 25 44 47
+f 26 53 27
+f 27 52 28
+f 27 53 54
+f 27 54 55
+f 27 55 56
+f 27 56 46
+f 28 52 57
+f 28 57 58
+f 28 58 29
+f 29 59 60
+f 29 58 59
+f 31 61 62
+f 31 62 63
+f 31 63 33
+f 33 63 64
+f 33 64 34
+f 34 64 37
+f 37 64 38
+f 38 64 39
+f 39 64 65
+f 39 65 40
+f 40 66 41
+f 40 65 66
+f 41 66 42
+f 42 66 67
+f 42 67 43
+f 43 67 68
+f 43 68 44
+f 44 68 69
+f 44 69 70
+f 44 70 71
+f 44 71 47
+f 47 71 48
+f 48 70 72
+f 48 72 73
+f 48 73 49
+f 48 71 70
+f 49 73 50
+f 50 73 51
+f 51 73 72
+f 51 72 74
+f 51 74 57
+f 51 57 52
+f 57 75 58
+f 57 74 75
+f 58 75 76
+f 58 76 63
+f 58 63 62
+f 58 62 59
+f 59 62 60
+f 60 62 77
+f 61 77 62
+f 63 76 64
+f 64 76 65
+f 65 78 67
+f 65 67 66
+f 65 76 78
+f 67 69 68
+f 67 78 69
+f 69 78 70
+f 70 78 79
+f 70 79 72
+f 72 79 74
+f 74 79 75
+f 75 79 78
+f 75 78 76
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_48.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f14571d342b10bd7fdad28f692445f1eab47e2fa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_48.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.04405407 -0.04529380 -0.01516446
+v -0.04405407 -0.07718652 -0.01516457
+v -0.04405407 -0.05119212 -0.01147542
+v -0.03602654 -0.05075584 -0.01147542
+v -0.03335639 -0.05077646 -0.01147542
+v -0.02535163 -0.05146694 -0.01147542
+v 0.00665603 -0.05590870 -0.01147544
+v -0.02438377 -0.04834086 -0.01516447
+v -0.04403130 -0.07718995 -0.01516457
+v -0.04405407 -0.07740295 -0.01490527
+v -0.04405407 -0.07636895 -0.01147551
+v 0.00933756 -0.05681216 -0.01147544
+v 0.01045345 -0.05620067 -0.01516450
+v -0.00063138 -0.05348684 -0.01516449
+v 0.00523840 -0.07927514 -0.01516458
+v -0.04405407 -0.07740295 -0.01409595
+v 0.00665033 -0.07984540 -0.01441268
+v 0.00398018 -0.07983853 -0.01407285
+v 0.00665033 -0.08009274 -0.01314580
+v 0.00398018 -0.07996563 -0.01280596
+v 0.00249423 -0.07989350 -0.01235345
+v 0.00558000 -0.08004121 -0.01147552
+v 0.01091461 -0.05788052 -0.01147544
+v 0.01358475 -0.06087948 -0.01147545
+v 0.01170028 -0.05771217 -0.01516450
+v 0.00797687 -0.07931637 -0.01516458
+v 0.00931479 -0.07985227 -0.01448852
+v 0.00249423 -0.07989351 -0.01199520
+v 0.01198494 -0.08027137 -0.01321911
+v 0.00931479 -0.08019923 -0.01322164
+v 0.01121065 -0.08030917 -0.01147552
+v 0.00665033 -0.08009275 -0.01147552
+v 0.00398018 -0.07996564 -0.01177310
+v 0.01410854 -0.07431812 -0.01147550
+v 0.01410854 -0.07219856 -0.01516456
+v 0.01348228 -0.06100314 -0.01229091
+v 0.01249164 -0.05934735 -0.01516451
+v 0.00931479 -0.07932667 -0.01516458
+v 0.01198494 -0.07931980 -0.01516458
+v 0.01198494 -0.07984540 -0.01448635
+v 0.01410854 -0.08021640 -0.01339932
+v 0.01410854 -0.08030229 -0.01314110
+v 0.01410854 -0.08038818 -0.01147553
+v 0.01387511 -0.08038474 -0.01147553
+v 0.01410854 -0.07923736 -0.01516458
+v 0.01410854 -0.07980418 -0.01440835
+f 1 2 10
+f 1 10 16
+f 1 16 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 14
+f 1 14 13
+f 1 13 25
+f 1 25 37
+f 1 37 35
+f 1 35 45
+f 1 45 39
+f 1 39 38
+f 1 38 26
+f 1 26 15
+f 1 15 9
+f 1 9 2
+f 2 9 10
+f 3 11 22
+f 3 22 32
+f 3 32 31
+f 3 31 44
+f 3 44 43
+f 3 43 34
+f 3 34 24
+f 3 24 23
+f 3 23 12
+f 3 12 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 15 10
+f 10 15 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 28
+f 10 28 16
+f 11 16 22
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 15 26 27
+f 15 27 17
+f 16 28 22
+f 17 27 29
+f 17 29 30
+f 17 30 18
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 20 33 28
+f 20 28 21
+f 22 28 33
+f 22 33 32
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 26 38 27
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 29
+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 30 44 31
+f 34 43 42
+f 34 42 41
+f 34 41 46
+f 34 46 45
+f 34 45 35
+f 35 37 36
+f 39 45 40
+f 40 45 46
+f 40 46 41
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_49.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6caaa38252b1a67f44be24fdbcd9f5cc62608302
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_49.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.03333899 -0.07613377 0.01080336
+v 0.01548444 -0.07462004 0.01080337
+v 0.01548444 -0.07462004 0.01028550
+v 0.02265676 -0.07511862 0.00901759
+v 0.02532194 -0.07531805 0.00901759
+v 0.03333899 -0.07612579 0.01076402
+v 0.03333899 -0.06890214 0.01080339
+v 0.01543555 -0.07460208 0.01080337
+v 0.01336481 -0.07411544 0.00949367
+v 0.01336481 -0.07407556 0.00901760
+v 0.01413718 -0.07419721 0.00901760
+v 0.01773508 -0.07467986 0.00901760
+v 0.01998767 -0.07488927 0.00901759
+v 0.03333899 -0.07597621 0.01009982
+v 0.02789326 -0.07519839 0.00901759
+v 0.03333899 -0.06696959 0.01080024
+v 0.03332335 -0.06696560 0.01080339
+v 0.01336481 -0.07364478 0.01052643
+v 0.01336481 -0.07349520 0.01080337
+v 0.01336481 -0.06821407 0.00901762
+v 0.03333899 -0.07321797 0.00940748
+v 0.03333899 -0.06983550 0.00901761
+v 0.03333899 -0.06411762 0.00901763
+v 0.03080482 -0.06537608 0.01080340
+v 0.01336481 -0.05576117 0.01080344
+v 0.01336481 -0.06123375 0.00995616
+v 0.03204649 -0.06385236 0.00901764
+v 0.01336481 -0.05580505 0.01079417
+v 0.01336481 -0.05851541 0.01034011
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 21
+f 1 21 22
+f 1 22 23
+f 1 23 16
+f 1 16 7
+f 1 7 17
+f 1 17 24
+f 1 24 25
+f 1 25 19
+f 1 19 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 12
+f 4 12 11
+f 4 11 10
+f 4 10 20
+f 4 20 27
+f 4 27 23
+f 4 23 22
+f 4 22 15
+f 4 15 5
+f 5 14 6
+f 5 15 14
+f 7 16 17
+f 8 18 9
+f 8 19 18
+f 9 18 19
+f 9 19 25
+f 9 25 28
+f 9 28 29
+f 9 29 26
+f 9 26 20
+f 9 20 10
+f 14 15 21
+f 15 22 21
+f 16 23 24
+f 16 24 17
+f 20 26 27
+f 23 27 25
+f 23 25 24
+f 25 27 28
+f 26 29 27
+f 27 29 28
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_5.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82a7437609ea7e96b25e908fd16419a4d26cc060
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_5.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.01336286 -0.07411145 0.00950464
+v 0.01336286 -0.07363741 0.01052716
+v -0.02916687 -0.06994663 0.01400771
+v -0.02916687 -0.06994663 0.01317185
+v -0.02916687 -0.06987890 0.01197423
+v -0.02916687 -0.06898160 0.01085013
+v 0.01273840 -0.07401834 0.00950464
+v 0.01336286 -0.06658595 0.00950467
+v 0.01336286 -0.07315490 0.01142331
+v -0.02916687 -0.06786422 0.01499307
+v 0.00185202 -0.07205442 0.00950465
+v 0.00396685 -0.07248614 0.00950464
+v 0.00663536 -0.07296866 0.00950464
+v 0.00931637 -0.07344270 0.00950464
+v 0.01198489 -0.07389982 0.00950464
+v -0.02916687 -0.06779648 0.01045367
+v 0.01335453 -0.06657749 0.00950467
+v 0.00131499 -0.04383172 0.00988469
+v 0.01336286 0.01236822 0.01374371
+v 0.01336286 -0.07053072 0.01250696
+v 0.01336286 -0.06820282 0.01311570
+v 0.01336286 -0.06746635 0.01330401
+v 0.01336286 -0.06697537 0.01342460
+v 0.01336286 -0.06382635 0.01415145
+v 0.01336286 -0.06252272 0.01444631
+v 0.01336286 -0.06114290 0.01474284
+v 0.01336286 -0.05984775 0.01501292
+v -0.02916687 -0.06633203 0.01526812
+v 0.00050735 -0.07169043 0.00950465
+v -0.02916687 -0.06522308 0.01031658
+v -0.02802203 -0.06518922 0.01017699
+v -0.02535768 -0.06518922 0.00995151
+v -0.02535768 -0.06786420 0.01026536
+v 0.01196823 -0.06575637 0.00950467
+v 0.00397934 -0.06369935 0.00950468
+v -0.00135353 -0.04383172 0.00987313
+v -0.02002065 -0.04115674 0.00984588
+v -0.02268916 -0.03581525 0.01014985
+v 0.00651880 0.01236822 0.01350006
+v 0.00664785 0.01236822 0.01350254
+v 0.00918731 0.01236822 0.01355457
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+v 0.01336286 -0.03314875 0.01743882
+v 0.01336286 -0.03444391 0.01737274
+f 1 2 3
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+f 106 111 113
+f 106 113 112
+f 109 114 110
+f 110 114 115
+f 112 113 116
+f 112 116 115
+f 112 115 114
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_50.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6c580a1e6a0bb0984305d7ad6f34d193697dd6f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_50.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.03333704 -0.07558836 0.00196537
+v 0.02338888 -0.07458309 0.00196538
+v 0.03332436 -0.07260115 0.00028478
+v 0.03333704 -0.07260831 0.00028856
+v 0.03333704 -0.05285347 0.00196546
+v 0.02338888 -0.07388905 0.00171300
+v 0.03076172 -0.07217901 0.00028478
+v 0.02338888 -0.04941193 0.00196547
+v 0.02337229 -0.03963467 0.00028473
+v 0.03333704 -0.07250098 0.00028478
+v 0.02338888 -0.03972053 0.00028473
+v 0.03333704 -0.05286062 0.00191923
+v 0.02693092 -0.04203873 0.00028490
+v 0.02683240 -0.04219972 0.00078027
+v 0.02426976 -0.03937709 0.00076581
+v 0.02909556 -0.04994140 0.00196547
+v 0.02338888 -0.07359928 0.00161231
+v 0.02550279 -0.07010049 0.00028479
+v 0.02338888 -0.07320218 0.00147477
+v 0.02799130 -0.04942624 0.00196547
+v 0.02380151 -0.03937709 0.00076581
+v 0.02337229 -0.03906227 0.00028474
+v 0.02338888 -0.06903083 0.00028480
+v 0.03333704 -0.05390166 0.00028485
+v 0.02338888 -0.03906227 0.00028474
+v 0.02491066 -0.06986438 0.00028479
+v 0.02974037 -0.04709014 0.00028488
+v 0.02447364 -0.03904080 0.00028491
+v 0.02418489 -0.03904080 0.00028491
+v 0.02338888 -0.03907300 0.00030284
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 24
+f 1 24 12
+f 1 12 5
+f 1 5 16
+f 1 16 20
+f 1 20 8
+f 1 8 2
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+f 2 7 3
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+f 2 22 9
+f 2 9 6
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+f 15 20 16
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+f 19 23 26
+f 21 29 30
+f 21 30 22
+f 22 30 29
+f 22 29 28
+f 22 28 25
+f 24 25 27
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_51.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5591865e6f38cc4c78aa33ff124adde87d6ea121
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_51.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.06425052 -0.07848819 0.00676261
+v 0.06425052 -0.07845403 0.00698295
+v 0.05076928 -0.07989231 0.01080352
+v 0.05074508 -0.07988610 0.01077741
+v 0.04932886 -0.07988920 0.01077465
+v 0.04796107 -0.07988610 0.01077900
+v 0.06300680 -0.07843227 0.00676261
+v 0.06425052 -0.06314247 0.00676267
+v 0.06425052 -0.07783585 0.00795886
+v 0.04938938 -0.07989852 0.01080352
+v 0.06425052 -0.07742891 0.00857124
+v 0.06425052 -0.07339989 0.01080354
+v 0.06266485 -0.07841674 0.00676261
+v 0.04798528 -0.07988920 0.01080352
+v 0.04795502 -0.07988610 0.01080352
+v 0.03444049 -0.07726117 0.01070108
+v 0.03599288 -0.07746309 0.01042891
+v 0.03866189 -0.07777684 0.01014685
+v 0.03333900 -0.07436908 0.00676263
+v 0.05167711 -0.05473028 0.00676270
+v 0.05426744 -0.05502230 0.01080361
+v 0.06425052 -0.06395326 0.01080358
+v 0.03444049 -0.07726117 0.01080353
+v 0.03333900 -0.07613354 0.01080353
+v 0.03333900 -0.07597511 0.01009979
+v 0.03333900 -0.04926919 0.00676272
+v 0.05009446 -0.05391018 0.00676270
+v 0.04590030 -0.05015765 0.01040172
+v 0.04596990 -0.05011726 0.01080363
+v 0.03333900 -0.06890179 0.01080356
+v 0.03333900 -0.04927852 0.00686557
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+v 0.03830784 -0.04845220 0.00676272
+v 0.04543731 -0.04989049 0.01080363
+v 0.03333900 -0.06696960 0.01080000
+v 0.03783274 -0.05184443 0.01080362
+v 0.03333900 -0.05184442 0.00803056
+v 0.03448588 -0.05028500 0.00831856
+v 0.03860439 -0.04962645 0.01080363
+v 0.03599288 -0.04848949 0.00732406
+v 0.03599288 -0.04816330 0.00676272
+v 0.03664349 -0.04817262 0.00676272
+v 0.04399689 -0.04956432 0.01080363
+v 0.04133090 -0.04919155 0.01080363
+v 0.04302551 -0.04942764 0.01080363
+f 1 2 3
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+f 1 5 6
+f 1 6 7
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+f 1 19 26
+f 1 26 32
+f 1 32 41
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+f 35 36 37
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+f 37 39 38
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+f 39 41 40
+f 41 44 42
+f 42 44 45
+f 42 45 43
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_52.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ff5e81fa3c8b5c45765b74f8945e228b270dda8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_52.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.04420507 0.07607983 -0.00953893
+v -0.04420507 0.07549446 -0.01412665
+v -0.04420507 0.06806907 -0.00953896
+v -0.04211591 0.07606541 -0.00953893
+v -0.04420507 0.06600728 -0.01412669
+v -0.03953587 0.07603801 -0.00953893
+v 0.01410283 0.07508498 -0.01243663
+v 0.01410283 0.07479517 -0.01412666
+v -0.03051712 0.06624806 -0.00953897
+v -0.01862151 0.06308615 -0.01412670
+v -0.03694441 0.07599908 -0.00953893
+v 0.01410283 0.07508497 -0.01161789
+v 0.01410283 0.06135164 -0.01412670
+v -0.01735432 0.06298522 -0.01412670
+v -0.01735432 0.06474135 -0.01062942
+v -0.01735432 0.06531231 -0.00953897
+v -0.00513906 0.07499702 -0.00953893
+v 0.01410283 0.07498693 -0.01135920
+v 0.01221346 0.06139490 -0.01412670
+v 0.01410283 0.06243589 -0.01294598
+v -0.00527605 0.06524599 -0.00953897
+v -0.00816434 0.06521283 -0.00953897
+v -0.01088138 0.06521715 -0.00953897
+v -0.01355275 0.06523157 -0.00953897
+v -0.01468866 0.06524022 -0.00953897
+v 0.01198514 0.06140067 -0.01412670
+v -0.00491645 0.07498549 -0.00953893
+v 0.01410283 0.07458610 -0.01035004
+v 0.01410283 0.06570161 -0.00953897
+v 0.01410283 0.07384212 -0.00953894
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 16
+f 1 16 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 29
+f 1 29 30
+f 1 30 27
+f 1 27 17
+f 1 17 11
+f 1 11 6
+f 1 6 4
+f 1 4 2
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+f 2 7 8
+f 2 8 13
+f 2 13 19
+f 2 19 26
+f 2 26 14
+f 2 14 10
+f 2 10 5
+f 3 5 9
+f 5 10 9
+f 6 11 7
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+f 7 18 28
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+f 7 30 29
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+f 7 20 13
+f 7 13 8
+f 7 11 12
+f 9 10 14
+f 9 14 15
+f 9 15 16
+f 11 17 12
+f 12 17 18
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 19
+f 14 26 15
+f 15 26 16
+f 16 26 25
+f 17 27 28
+f 17 28 18
+f 19 25 26
+f 20 29 21
+f 27 30 28
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_53.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..518dc58db76037d3230d97fb91f7f216fedde9fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_53.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.00753408 -0.06279759 0.00028465
+v -0.00753408 -0.06410488 0.00028464
+v -0.00753408 -0.06279761 0.00668976
+v 0.01336285 -0.06279759 0.00028465
+v -0.00753408 -0.06434626 0.00031081
+v 0.00398214 -0.06709588 0.00028463
+v -0.00753408 -0.06519590 0.00678180
+v -0.00659110 -0.06787264 0.00950466
+v -0.00610222 -0.06577786 0.00950467
+v -0.00262690 -0.06391730 0.00950468
+v -0.00135050 -0.06369384 0.00950468
+v -0.00030729 -0.06356837 0.00950468
+v 0.00131684 -0.06345724 0.00950468
+v -0.00135050 -0.06279761 0.00679445
+v 0.01336285 -0.06279762 0.00697315
+v 0.01336285 -0.06794192 0.00028463
+v -0.00753408 -0.06472865 0.00035323
+v 0.00420101 -0.06715085 0.00028463
+v -0.00753408 -0.06527834 0.00041460
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_54.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e76f9c687218d3088dc34e74d1a3b6f3271e3053
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_54.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_55.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..157bf871b94ac68f764c33e42c3a0eedca665d5b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_55.obj
@@ -0,0 +1,400 @@
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+f 91 118 92
+f 91 113 119
+f 91 119 118
+f 92 118 120
+f 92 120 93
+f 93 120 121
+f 93 121 94
+f 94 121 122
+f 94 122 95
+f 95 122 123
+f 95 123 96
+f 96 123 97
+f 97 123 98
+f 98 123 124
+f 98 124 99
+f 99 124 109
+f 99 108 100
+f 103 111 104
+f 104 111 110
+f 104 110 125
+f 104 125 124
+f 104 124 126
+f 104 126 127
+f 104 127 119
+f 104 119 105
+f 105 119 128
+f 109 124 110
+f 110 124 125
+f 112 129 113
+f 113 117 114
+f 113 129 119
+f 114 117 115
+f 115 117 116
+f 118 119 120
+f 119 127 120
+f 119 129 130
+f 119 130 131
+f 119 131 132
+f 119 132 133
+f 119 133 134
+f 119 134 128
+f 120 127 121
+f 121 127 122
+f 122 126 123
+f 122 127 126
+f 123 126 124
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_56.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edcbb2a000d5bcc23e418a14d02b9e8594c1ca32
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_56.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.08016467 -0.07424731 -0.00909823
+v 0.08003439 -0.07520021 -0.00955497
+v 0.08016467 -0.07336739 -0.00909823
+v 0.08014463 -0.07553451 -0.00909824
+v 0.08003439 -0.07367478 -0.00955496
+v 0.07999264 -0.07697925 -0.00945106
+v 0.07941308 -0.07600327 -0.01054525
+v 0.07941475 -0.07295241 -0.01054524
+v 0.07927445 -0.04170603 -0.00909811
+v 0.08010120 -0.07663343 -0.00909824
+v 0.07761093 -0.04170601 -0.01237166
+v 0.07856962 -0.04170602 -0.01076281
+v 0.08003439 -0.07731354 -0.00909824
+v 0.07983898 -0.07843552 -0.00909825
+v 0.07898216 -0.07854309 -0.01076295
+v 0.07782471 -0.07854308 -0.01257511
+v 0.07793996 -0.07587262 -0.01270243
+v 0.07793494 -0.07320215 -0.01270981
+v 0.07309971 -0.04170603 -0.00909811
+v 0.07665390 -0.04170601 -0.01329417
+v 0.07731363 -0.07194953 -0.01329428
+v 0.07981393 -0.07854310 -0.00909825
+v 0.07759589 -0.08008004 -0.01231758
+v 0.07685600 -0.07909639 -0.01329431
+v 0.07703804 -0.07854308 -0.01329431
+v 0.07719839 -0.07716751 -0.01329430
+v 0.07731864 -0.07587262 -0.01329430
+v 0.07733033 -0.07463537 -0.01329429
+v 0.07733200 -0.07320215 -0.01329429
+v 0.06538003 -0.04170601 -0.01291424
+v 0.06310354 -0.04949457 -0.00909814
+v 0.06477875 -0.04170601 -0.01329417
+v 0.07979889 -0.07857000 -0.00909825
+v 0.07803015 -0.08024143 -0.01076295
+v 0.07344043 -0.08070252 -0.01329432
+v 0.07585053 -0.08025295 -0.01321668
+v 0.07579875 -0.08024142 -0.01329431
+v 0.06310354 -0.07827030 -0.00909825
+v 0.06310354 -0.04796912 -0.01329420
+v 0.07852620 -0.08025682 -0.00909825
+v 0.07779966 -0.08035672 -0.00909826
+v 0.07600252 -0.08051809 -0.01076296
+v 0.07333520 -0.08072173 -0.01329432
+v 0.07574531 -0.08025295 -0.01329431
+v 0.06310354 -0.08007237 -0.01183620
+v 0.07531440 -0.08027218 -0.00909825
+v 0.06310354 -0.08076015 -0.01329432
+v 0.07603926 -0.08033366 -0.00909826
+v 0.06800225 -0.08094074 -0.01329432
+v 0.07066956 -0.08095996 -0.01329432
+v 0.06310354 -0.08064488 -0.01304295
+v 0.06533493 -0.08084469 -0.01329432
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 19
+f 1 19 31
+f 1 31 38
+f 1 38 46
+f 1 46 48
+f 1 48 41
+f 1 41 40
+f 1 40 33
+f 1 33 22
+f 1 22 14
+f 1 14 13
+f 1 13 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 9
+f 4 10 6
+f 5 8 11
+f 5 11 12
+f 5 12 9
+f 6 10 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 11
+f 9 12 11
+f 9 11 20
+f 9 20 32
+f 9 32 30
+f 9 30 19
+f 11 18 21
+f 11 21 20
+f 14 22 15
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 17 26 27
+f 18 29 21
+f 19 30 31
+f 20 21 29
+f 20 29 28
+f 20 28 27
+f 20 27 26
+f 20 26 25
+f 20 25 24
+f 20 24 37
+f 20 37 44
+f 20 44 35
+f 20 35 43
+f 20 43 50
+f 20 50 49
+f 20 49 52
+f 20 52 47
+f 20 47 39
+f 20 39 32
+f 22 33 23
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 23 33 34
+f 30 32 31
+f 31 32 39
+f 31 39 47
+f 31 47 51
+f 31 51 45
+f 31 45 38
+f 33 40 34
+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 34 43 35
+f 35 44 36
+f 36 44 37
+f 38 45 46
+f 41 48 49
+f 41 49 50
+f 41 50 42
+f 42 50 43
+f 45 51 46
+f 46 51 47
+f 46 47 48
+f 47 52 48
+f 48 52 49
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_57.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d19ed5dc39981dbd121d14654f6db2230e1324
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_57.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.03598950 0.06397990 0.00028512
+v 0.03598950 0.05470543 0.00028508
+v 0.03598950 0.06397878 0.00382956
+v 0.03599263 0.06397989 0.00382956
+v 0.05199556 0.06397990 0.00028512
+v 0.03598950 0.05555909 0.00148939
+v 0.03945675 0.05338903 0.00028508
+v 0.03978106 0.05350719 0.00085212
+v 0.03598950 0.05957015 0.00312725
+v 0.04470384 0.05829349 0.00869621
+v 0.04450172 0.06030233 0.00879073
+v 0.04485111 0.06191581 0.00852456
+v 0.04386875 0.06397988 0.00495758
+v 0.05199556 0.06397989 0.00372205
+v 0.05199556 0.05441277 0.00028508
+v 0.03598950 0.05763310 0.00270326
+v 0.04505323 0.05350387 0.00330063
+v 0.04132746 0.05293844 0.00028507
+v 0.04666073 0.05797543 0.00880806
+v 0.04666073 0.06030233 0.00914274
+v 0.04666073 0.06197986 0.00858438
+v 0.04501562 0.06397988 0.00499226
+v 0.05199556 0.06030235 0.00394746
+v 0.05046953 0.06397988 0.00452319
+v 0.04824786 0.06181531 0.00842138
+v 0.04848601 0.06030233 0.00860258
+v 0.05123724 0.05374353 0.00028508
+v 0.05199556 0.05441830 0.00030849
+v 0.05101163 0.05358229 0.00076022
+v 0.04232862 0.05274739 0.00028507
+v 0.04666073 0.05341000 0.00339427
+v 0.04829643 0.05346080 0.00334659
+v 0.04837790 0.05609581 0.00621562
+v 0.04839670 0.05831889 0.00854881
+v 0.04938376 0.06397988 0.00472781
+v 0.04666073 0.06397988 0.00496798
+v 0.05199556 0.05974795 0.00390324
+v 0.05199556 0.05763310 0.00373156
+v 0.05101163 0.05358229 0.00052092
+v 0.05056980 0.05352376 0.00028508
+v 0.05199556 0.05478493 0.00185355
+v 0.04924275 0.05336914 0.00172870
+v 0.04765719 0.05300912 0.00028507
+v 0.04494825 0.05269769 0.00028507
+v 0.04666073 0.05307869 0.00191337
+v 0.05118084 0.05584513 0.00365353
+v 0.04666073 0.05288875 0.00028507
+f 1 2 6
+f 1 6 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 13
+f 1 13 22
+f 1 22 36
+f 1 36 35
+f 1 35 24
+f 1 24 14
+f 1 14 5
+f 1 5 15
+f 1 15 27
+f 1 27 40
+f 1 40 43
+f 1 43 47
+f 1 47 44
+f 1 44 30
+f 1 30 18
+f 1 18 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 5 14 23
+f 5 23 37
+f 5 37 38
+f 5 38 41
+f 5 41 28
+f 5 28 15
+f 6 8 17
+f 6 17 10
+f 6 10 16
+f 7 18 8
+f 8 18 17
+f 9 16 10
+f 10 17 19
+f 10 19 20
+f 10 20 11
+f 11 20 12
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 14 24 25
+f 14 25 26
+f 14 26 23
+f 15 28 29
+f 15 29 27
+f 17 18 30
+f 17 30 31
+f 17 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 26
+f 20 26 25
+f 20 25 21
+f 21 25 24
+f 21 24 35
+f 21 35 36
+f 21 36 22
+f 23 26 37
+f 26 34 38
+f 26 38 37
+f 27 29 39
+f 27 39 40
+f 28 41 29
+f 29 41 32
+f 29 32 42
+f 29 42 43
+f 29 43 39
+f 30 44 31
+f 31 45 32
+f 31 44 45
+f 32 45 42
+f 32 41 33
+f 33 41 46
+f 33 46 34
+f 34 46 38
+f 38 46 41
+f 39 43 40
+f 42 45 43
+f 43 45 47
+f 44 47 45
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_58.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54af709d08dac14793c078c6df9e214c279bebd0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_58.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.04589348 -0.08019032 -0.01329431
+v 0.04589348 -0.07753334 -0.00634164
+v 0.02775868 -0.08008405 -0.01176947
+v 0.02775868 -0.08034974 -0.01329432
+v 0.04589348 -0.05992838 -0.01329424
+v 0.04589348 -0.07737392 -0.00609642
+v 0.04399390 -0.07751120 -0.00639660
+v 0.04132560 -0.07747577 -0.00647834
+v 0.03865909 -0.07743591 -0.00657346
+v 0.03599257 -0.07738499 -0.00667563
+v 0.03332605 -0.07732742 -0.00677499
+v 0.03135368 -0.07726984 -0.00686941
+v 0.02775868 -0.07711928 -0.00752543
+v 0.02775868 -0.07976077 -0.01329431
+v 0.04399035 -0.06018523 -0.01329424
+v 0.04589348 -0.05797992 -0.00970762
+v 0.04459040 -0.07733185 -0.00609642
+v 0.04589348 -0.05932837 -0.00609636
+v 0.04208189 -0.07723443 -0.00609642
+v 0.03959290 -0.07711486 -0.00609642
+v 0.03711989 -0.07697758 -0.00609642
+v 0.03465044 -0.07683144 -0.00609642
+v 0.03247390 -0.07667202 -0.00609642
+v 0.03071102 -0.07650375 -0.00609642
+v 0.02775868 -0.07604098 -0.00609642
+v 0.02775868 -0.07327323 -0.01328653
+v 0.02791846 -0.07323116 -0.01329429
+v 0.03050331 -0.06314780 -0.01329425
+v 0.02775868 -0.06323858 -0.01271997
+v 0.04589348 -0.05772973 -0.00861895
+v 0.02775868 -0.06267397 -0.01076248
+v 0.04589348 -0.05795557 -0.00798267
+v 0.02775868 -0.06329617 -0.00890435
+v 0.03228217 -0.06412428 -0.00609638
+v 0.02775868 -0.06868770 -0.00609639
+v 0.04589348 -0.05774080 -0.00829623
+v 0.02775868 -0.06272047 -0.01060676
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 27
+f 1 27 28
+f 1 28 15
+f 1 15 5
+f 1 5 16
+f 1 16 30
+f 1 30 36
+f 1 36 32
+f 1 32 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 25
+f 3 25 35
+f 3 35 33
+f 3 33 37
+f 3 37 31
+f 3 31 29
+f 3 29 26
+f 3 26 14
+f 3 14 4
+f 5 15 16
+f 6 17 7
+f 6 18 34
+f 6 34 35
+f 6 35 25
+f 6 25 24
+f 6 24 23
+f 6 23 22
+f 6 22 21
+f 6 21 20
+f 6 20 19
+f 6 19 17
+f 7 17 8
+f 8 17 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 14 26 27
+f 15 28 29
+f 15 29 16
+f 16 29 31
+f 16 31 30
+f 18 32 33
+f 18 33 34
+f 26 29 28
+f 26 28 27
+f 30 31 36
+f 31 37 36
+f 32 36 33
+f 33 35 34
+f 33 36 37
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_59.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cac0bb93fa49291b1696872fc46f9ba33ea04c53
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_59.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.02451209 0.07552912 -0.00266707
+v -0.02451209 0.07539454 -0.00953893
+v -0.02451209 0.07552911 -0.00104574
+v 0.01410853 0.07527686 -0.00303922
+v -0.01201785 0.07516772 -0.00953893
+v -0.02451209 0.06662909 -0.00953897
+v -0.02451209 0.07500657 -0.00018027
+v 0.01410853 0.07527686 -0.00151695
+v 0.01410853 0.07384283 -0.00953894
+v -0.00491825 0.07498541 -0.00953893
+v -0.00513751 0.07499707 -0.00953893
+v -0.02451209 0.06659516 -0.00822633
+v -0.01990000 0.06563913 -0.00953897
+v -0.02451209 0.07471086 0.00028419
+v 0.01410853 0.07494722 -0.00134866
+v -0.02291676 0.07459533 0.00028419
+v -0.01735578 0.07417772 0.00028419
+v 0.01410853 0.06570167 -0.00953897
+v -0.02451209 0.06656442 -0.00606457
+v -0.01735578 0.06531268 -0.00953897
+v -0.00923925 0.06470107 0.00028416
+v -0.02451209 0.06877855 0.00028417
+v 0.01410853 0.07365307 -0.00068803
+v 0.01410853 0.07157776 0.00028418
+v 0.01410853 0.06470109 -0.00615496
+v -0.00527361 0.06524591 -0.00953897
+v -0.02451209 0.06660999 -0.00570973
+v -0.01468682 0.06523955 -0.00953897
+v -0.00897840 0.06470109 -0.00524814
+v -0.00923547 0.06470109 -0.00466443
+v -0.00950388 0.06470108 -0.00315754
+v -0.00951522 0.06470108 -0.00242477
+v -0.00949254 0.06470107 -0.00062266
+v 0.01410853 0.06470107 0.00028416
+v -0.00135333 0.06470109 -0.00616939
+v -0.00815806 0.06521199 -0.00953897
+v -0.00668370 0.06470109 -0.00588186
+v -0.00827147 0.06470109 -0.00545585
+v -0.01354892 0.06523213 -0.00953897
+v -0.00402229 0.06470109 -0.00613958
+v -0.01087617 0.06521623 -0.00953897
+f 1 2 6
+f 1 6 12
+f 1 12 19
+f 1 19 27
+f 1 27 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 5 11
+f 2 11 10
+f 2 10 9
+f 2 9 18
+f 2 18 26
+f 2 26 36
+f 2 36 41
+f 2 41 39
+f 2 39 28
+f 2 28 20
+f 2 20 13
+f 2 13 6
+f 2 4 5
+f 3 7 8
+f 4 8 15
+f 4 15 23
+f 4 23 24
+f 4 24 34
+f 4 34 25
+f 4 25 18
+f 4 18 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 13 12
+f 7 14 8
+f 8 14 16
+f 8 16 17
+f 8 17 15
+f 12 13 19
+f 13 20 21
+f 13 21 19
+f 14 22 21
+f 14 21 34
+f 14 34 24
+f 14 24 17
+f 14 17 16
+f 15 17 23
+f 17 24 23
+f 18 25 26
+f 19 21 27
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 22 27
+f 21 33 32
+f 21 32 31
+f 21 31 30
+f 21 30 29
+f 21 29 38
+f 21 38 37
+f 21 37 40
+f 21 40 35
+f 21 35 25
+f 21 25 34
+f 25 35 36
+f 25 36 26
+f 28 37 38
+f 28 38 29
+f 28 39 40
+f 28 40 37
+f 35 40 41
+f 35 41 36
+f 39 41 40
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_6.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6314d790e52b803c9814df8b835b0aac97fd1ef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_6.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.08046373 -0.07320070 0.00028594
+v 0.08042519 -0.07052864 0.00028595
+v 0.08020305 -0.07052864 0.00130179
+v 0.08022118 -0.07320071 0.00137912
+v 0.08014185 -0.07586891 0.00115894
+v 0.08031865 -0.07586891 0.00028593
+v 0.06425427 -0.06417868 0.00028528
+v 0.06425427 -0.05053046 0.00028533
+v 0.08037986 -0.06915807 0.00028596
+v 0.08015091 -0.06786043 0.00114713
+v 0.07971343 -0.06518838 0.00223752
+v 0.07975877 -0.06786044 0.00241449
+v 0.07979277 -0.07052865 0.00256915
+v 0.07981997 -0.07320071 0.00264648
+v 0.07977690 -0.07586892 0.00242630
+v 0.08004891 -0.07758118 0.00083566
+v 0.08009651 -0.07792286 0.00028592
+v 0.05982053 -0.06766463 0.00028527
+v 0.07984944 -0.07908229 0.00028592
+v 0.07979277 -0.07930496 0.00028592
+v 0.07860500 -0.08024555 0.00028592
+v 0.08002397 -0.05938356 0.00028599
+v 0.08010558 -0.06143751 0.00028598
+v 0.06273103 -0.04897945 0.00028534
+v 0.07922155 -0.04110533 0.00028606
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_60.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..715607a53f16ef33f0c97fbb3016b059869de0dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_60.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.00404056 -0.07810340 -0.01147516
+v -0.00404056 -0.07532475 -0.00620170
+v -0.00668657 -0.07535783 -0.00620247
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+v -0.02870444 -0.07699288 -0.01147515
+v -0.00404056 -0.05491474 -0.01147507
+v -0.00404056 -0.07531530 -0.00618569
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+v -0.00404056 -0.07372749 -0.00491804
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+v -0.02870444 -0.07379365 -0.00538406
+v -0.02870444 -0.05123820 -0.01147506
+v -0.02535589 -0.05146976 -0.01147506
+v -0.00668657 -0.02983111 -0.01057268
+v -0.00467551 -0.02983111 -0.01053912
+v -0.00404056 -0.02983111 -0.01052387
+v -0.02870444 -0.07138830 -0.00469302
+v -0.02870444 -0.07320295 -0.00509728
+v -0.00404056 -0.07054715 -0.00383344
+v -0.02870444 -0.07073144 -0.00455955
+v -0.02791257 -0.05126183 -0.01147506
+v -0.02870444 -0.02983111 -0.01015395
+v -0.02802362 -0.02983111 -0.01020658
+v -0.02601256 -0.02983111 -0.01027904
+v -0.02535589 -0.02983111 -0.01030039
+v -0.01468978 -0.02983111 -0.01050938
+v -0.01267871 -0.02983111 -0.01054217
+v -0.01001098 -0.02983111 -0.01056277
+v -0.00734324 -0.02983111 -0.01057192
+v -0.00404056 -0.02983114 -0.00397439
+v -0.00404056 -0.07053297 -0.00383115
+v -0.02870444 -0.06973433 -0.00444056
+v -0.02870444 -0.02983114 -0.00388821
+v -0.00603231 -0.02983114 -0.00390422
+v -0.00404056 -0.02983586 -0.00375168
+v -0.02870444 -0.06939409 -0.00440166
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+v -0.02870444 -0.04383790 -0.00392105
+v -0.02870444 -0.04451366 -0.00392410
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_61.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1209cd7a7f86e571d6f923d5c741a9bbdd6a07fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_61.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.05552138 0.07872603 0.00028517
+v -0.04669644 0.07792631 0.00028517
+v -0.04669644 0.07792631 -0.00026934
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+v -0.05469884 0.07846392 -0.00044327
+v -0.05790537 0.07870498 0.00028517
+v -0.04508969 0.07777708 0.00028517
+v -0.04486662 0.07775603 0.00016673
+v -0.02451210 0.07552907 -0.00266670
+v -0.04881903 0.07759725 -0.00178544
+v -0.05059656 0.07766421 -0.00189767
+v -0.05200465 0.07667317 -0.00394551
+v -0.05736514 0.07855575 -0.00010576
+v -0.05910085 0.07530141 -0.00394551
+v -0.05943197 0.07828408 0.00028517
+v -0.04486662 0.07775603 0.00028517
+v -0.02451210 0.07552906 -0.00104583
+v -0.02451210 0.07461074 -0.00394552
+v -0.05469884 0.07633071 -0.00394551
+v -0.05719087 0.07577205 -0.00394551
+v -0.05989900 0.07365222 -0.00394552
+v -0.05949470 0.07818459 0.00028517
+v -0.02451210 0.07471021 0.00028515
+v -0.02451210 0.07500676 -0.00018031
+v -0.02451210 0.06734821 -0.00394554
+v -0.06002447 0.07099095 -0.00394553
+v -0.06011858 0.07632304 0.00028516
+v -0.02451210 0.06877928 0.00028513
+v -0.02451210 0.06754910 -0.00319805
+v -0.02651967 0.05918074 -0.00315667
+v -0.02650921 0.05918074 -0.00394557
+v -0.05997219 0.06837560 -0.00394554
+v -0.05976656 0.06057163 -0.00394557
+v -0.05988506 0.06831437 0.00028513
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+v -0.02892108 0.05918073 0.00028510
+v -0.02800792 0.05918073 -0.00060733
+v -0.02695882 0.05918074 -0.00164802
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+v -0.05972473 0.05918074 -0.00394557
+v -0.05976656 0.06564353 0.00028512
+v -0.05943197 0.05918073 0.00028510
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+f 31 38 37
+f 31 37 43
+f 31 43 41
+f 31 41 32
+f 34 41 35
+f 35 41 42
+f 41 43 42
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_62.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5911a4c1d338518fb1ad220ee77b8f9f2a4dd34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_62.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.05382977 0.06604055 0.01167517
+v -0.05382977 0.07062762 0.00569341
+v -0.05382977 0.08137167 0.01167523
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+v -0.05382977 0.07929476 0.00569344
+v -0.05819376 0.04999052 0.00569333
+v -0.05382977 0.08129178 0.01106856
+v -0.06266675 0.08090162 0.00569345
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+v -0.05436558 0.08137474 0.01167523
+v -0.06638198 0.04999050 0.01167511
+v -0.06157673 0.08074185 0.00569345
+v -0.05382977 0.08000754 0.00692786
+v -0.06628217 0.04999052 0.00569333
+v -0.05382977 0.08102141 0.00960342
+v -0.06557301 0.08096612 0.00683593
+v -0.06512255 0.08081559 0.00569345
+v -0.05736771 0.08128256 0.01167523
+v -0.06679172 0.04999050 0.01113813
+v -0.06635965 0.06297433 0.01167516
+v -0.06685869 0.06297433 0.01104624
+v -0.06686001 0.06030444 0.01104740
+v -0.06638329 0.04999052 0.00580166
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+v -0.06691385 0.08060359 0.00758256
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+v -0.06003496 0.08116275 0.01167523
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+v -0.06632682 0.06564422 0.01167517
+v -0.06684556 0.06564422 0.01102517
+v -0.06724479 0.06297434 0.00951785
+v -0.06723823 0.06564423 0.00951786
+v -0.06656715 0.04999052 0.00600018
+v -0.06658291 0.05229480 0.00597618
+v -0.06650017 0.06328773 0.00569338
+v -0.06691385 0.08060359 0.00902486
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+v -0.06412185 0.08083400 0.01167523
+v -0.06661968 0.07899367 0.00586092
+v -0.06704255 0.07899366 0.00712813
+v -0.06647391 0.07899367 0.00569344
+v -0.06690860 0.04999050 0.01084006
+v -0.06624146 0.06831103 0.01167518
+v -0.06676939 0.07632069 0.01088291
+v -0.06713711 0.07632070 0.00951790
+v -0.06716337 0.07365082 0.00951789
+v -0.06722641 0.04999051 0.00951780
+v -0.06707013 0.07632070 0.00700456
+v -0.06707670 0.07365082 0.00701392
+v -0.06708983 0.06831104 0.00707129
+v -0.06709508 0.06564423 0.00709822
+v -0.06707013 0.04999051 0.00726739
+v -0.06659867 0.05496468 0.00594749
+v -0.06661311 0.05763457 0.00591705
+v -0.06654089 0.06590846 0.00569339
+v -0.06699790 0.07907354 0.00972931
+v -0.06666696 0.08001675 0.01071486
+v -0.06559008 0.07912884 0.01167522
+v -0.06665120 0.07641288 0.00569343
+v -0.06669454 0.07632071 0.00573676
+v -0.06588819 0.07628997 0.01167521
+v -0.06674050 0.07823478 0.01084017
+v -0.06669060 0.07365083 0.00574671
+v -0.06668009 0.07098094 0.00577481
+v -0.06665383 0.06564424 0.00583042
+v -0.06657371 0.06831105 0.00569340
+v -0.06562554 0.07906432 0.01167522
+v -0.06562291 0.07907968 0.01167522
+v -0.06665645 0.07632071 0.00569343
+v -0.06664463 0.07376143 0.00569342
+v -0.06664332 0.07365083 0.00569342
+v -0.06660917 0.07098094 0.00569341
+f 1 2 5
+f 1 5 13
+f 1 13 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 18
+f 1 18 28
+f 1 28 39
+f 1 39 59
+f 1 59 69
+f 1 69 68
+f 1 68 62
+f 1 62 44
+f 1 44 30
+f 1 30 20
+f 1 20 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 14
+f 2 14 24
+f 2 24 36
+f 2 36 56
+f 2 56 67
+f 2 67 73
+f 2 73 72
+f 2 72 71
+f 2 71 70
+f 2 70 60
+f 2 60 42
+f 2 42 27
+f 2 27 17
+f 2 17 9
+f 2 9 8
+f 2 8 12
+f 2 12 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 19
+f 4 19 29
+f 4 29 43
+f 4 43 48
+f 4 48 53
+f 4 53 34
+f 4 34 23
+f 4 23 14
+f 4 14 6
+f 5 12 13
+f 7 15 8
+f 8 15 12
+f 9 16 10
+f 9 17 16
+f 10 16 18
+f 11 20 21
+f 11 21 22
+f 11 22 19
+f 12 15 13
+f 14 23 24
+f 16 25 18
+f 16 17 26
+f 16 26 25
+f 17 27 26
+f 18 25 28
+f 19 22 29
+f 20 30 31
+f 20 31 21
+f 21 32 22
+f 21 31 33
+f 21 33 32
+f 22 32 29
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 25 37 38
+f 25 38 39
+f 25 39 28
+f 25 26 37
+f 26 27 40
+f 26 40 41
+f 26 41 37
+f 27 42 40
+f 29 32 43
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 31 47 33
+f 32 48 43
+f 32 33 49
+f 32 49 50
+f 32 50 51
+f 32 51 52
+f 32 52 48
+f 33 47 49
+f 34 53 35
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 37 41 57
+f 37 57 58
+f 37 58 38
+f 38 58 59
+f 38 59 39
+f 40 42 60
+f 40 60 61
+f 40 61 41
+f 41 61 49
+f 41 49 46
+f 41 46 57
+f 44 62 63
+f 44 63 45
+f 45 63 46
+f 46 49 47
+f 46 63 57
+f 48 52 53
+f 49 61 50
+f 50 61 51
+f 51 61 52
+f 52 61 64
+f 52 64 53
+f 53 55 54
+f 53 64 65
+f 53 65 66
+f 53 66 55
+f 55 66 56
+f 56 66 65
+f 56 65 67
+f 57 63 58
+f 58 63 68
+f 58 68 69
+f 58 69 59
+f 60 70 61
+f 61 70 71
+f 61 71 64
+f 62 68 63
+f 64 71 72
+f 64 72 73
+f 64 73 65
+f 65 73 67
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_63.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db6c1ce899808215eb88eb052d7e2b554cd4f8f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_63.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.04936376 0.07983251 0.00569285
+v -0.05070579 0.07816032 0.00028517
+v -0.05070579 0.07943221 0.00569285
+v -0.04669721 0.07962685 0.00569285
+v -0.04669721 0.07792650 0.00028517
+v -0.04756157 0.07799260 0.00028517
+v -0.05070579 0.06732640 0.00028513
+v -0.05070579 0.07296369 0.00569283
+v -0.04402891 0.07931959 0.00569285
+v -0.04486702 0.07775511 0.00028517
+v -0.04509098 0.07777715 0.00028517
+v -0.05070579 0.06732640 0.00128346
+v -0.03434254 0.06732640 0.00028513
+v -0.04402541 0.07230753 0.00569283
+v -0.04136411 0.07895845 0.00569285
+v -0.03579829 0.07817621 0.00569285
+v -0.03431629 0.07600945 0.00028516
+v -0.04136411 0.06732640 0.00121464
+v -0.03283254 0.07138206 0.00569282
+v -0.03283254 0.06785401 0.00028513
+v -0.03283254 0.06794827 0.00049475
+v -0.03501617 0.06732640 0.00063079
+v -0.03283254 0.07748210 0.00569284
+v -0.03283254 0.07576094 0.00028516
+v -0.03693035 0.06732640 0.00111619
+v -0.03606425 0.06732640 0.00103361
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 19
+f 1 19 23
+f 1 23 16
+f 1 16 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 12
+f 2 12 8
+f 2 8 3
+f 2 6 5
+f 2 5 11
+f 2 11 10
+f 2 10 17
+f 2 17 24
+f 2 24 20
+f 2 20 13
+f 2 13 7
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 7 13 22
+f 7 22 26
+f 7 26 25
+f 7 25 18
+f 7 18 12
+f 8 12 14
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 12 18 19
+f 12 19 14
+f 13 20 21
+f 13 21 22
+f 16 23 24
+f 16 24 17
+f 18 25 19
+f 19 25 26
+f 19 26 22
+f 19 22 21
+f 19 21 20
+f 19 20 24
+f 19 24 23
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_64.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e3bb5b141ef162d0793c1d01cefc7f6f620b74d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_64.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.06737623 0.05034539 0.00932837
+v 0.05912205 0.05034539 0.00932837
+v 0.06737623 0.05034542 0.00028506
+v 0.06737623 0.07046139 0.00932845
+v 0.05721150 0.06217024 0.00932842
+v 0.05721150 0.05212755 0.00162174
+v 0.05721150 0.05151821 0.00028507
+v 0.05749709 0.05080434 0.00028507
+v 0.05773889 0.05034542 0.00061436
+v 0.05775083 0.05034542 0.00028506
+v 0.06737623 0.07552739 0.00028516
+v 0.06705980 0.07531577 0.00353654
+v 0.06425367 0.07523927 0.00587438
+v 0.06378997 0.07536420 0.00596644
+v 0.06266552 0.07566250 0.00619394
+v 0.05999971 0.07601434 0.00651350
+v 0.05733190 0.07606533 0.00661707
+v 0.05721150 0.07606533 0.00661884
+v 0.05721150 0.07054553 0.00932314
+v 0.05743738 0.07048689 0.00932845
+v 0.06737623 0.07538461 0.00295053
+v 0.05721150 0.06972967 0.00932845
+v 0.05721150 0.07407925 0.00028515
+v 0.06677321 0.07556054 0.00028516
+v 0.06266552 0.07624635 0.00444919
+v 0.06737623 0.07553249 0.00058436
+v 0.06737623 0.07554013 0.00240613
+v 0.06521890 0.07562935 0.00440936
+v 0.06378997 0.07564975 0.00540611
+v 0.05999971 0.07639167 0.00444919
+v 0.05733190 0.07637383 0.00444919
+v 0.05721150 0.07635853 0.00454922
+v 0.05721150 0.07637128 0.00444919
+v 0.06378997 0.07597610 0.00443060
+v 0.06737623 0.07554778 0.00185110
+f 1 2 9
+f 1 9 10
+f 1 10 3
+f 1 3 11
+f 1 11 26
+f 1 26 35
+f 1 35 27
+f 1 27 21
+f 1 21 4
+f 1 4 20
+f 1 20 22
+f 1 22 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 8
+f 3 8 7
+f 3 7 23
+f 3 23 24
+f 3 24 11
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 21 12
+f 5 22 19
+f 5 19 18
+f 5 18 32
+f 5 32 33
+f 5 33 23
+f 5 23 7
+f 5 7 6
+f 8 10 9
+f 11 24 25
+f 11 25 26
+f 12 21 27
+f 12 27 28
+f 12 28 13
+f 13 28 14
+f 14 28 29
+f 14 29 15
+f 15 29 25
+f 15 25 16
+f 16 25 30
+f 16 30 17
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 19 22 20
+f 23 33 24
+f 24 33 31
+f 24 31 30
+f 24 30 25
+f 25 29 34
+f 25 34 27
+f 25 27 35
+f 25 35 26
+f 27 34 28
+f 28 34 29
+f 31 33 32
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_65.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f199fc25adbacc36daccce252f2c6305a407107d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_65.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.07168154 0.05015603 0.01363689
+v 0.07168154 0.05034432 0.01363689
+v 0.07167938 0.04892381 0.01363689
+v 0.07203499 0.05034432 0.01335329
+v 0.05708881 0.05034432 0.01363689
+v 0.07202637 0.03965907 0.01334411
+v 0.07167507 0.04695098 0.01363688
+v 0.07292076 0.03965907 0.01239918
+v 0.07324835 0.03965908 0.01205284
+v 0.07326344 0.05034433 0.01205287
+v 0.05775261 0.05034437 0.00028506
+v 0.05715132 0.04962047 0.01363689
+v 0.07189059 0.03965907 0.01345128
+v 0.07165998 0.04161306 0.01363686
+v 0.07420741 0.03965908 0.01102034
+v 0.07456085 0.05034433 0.01064789
+v 0.05848106 0.04853264 0.00028506
+v 0.05865347 0.04161306 0.01363686
+v 0.05773968 0.04481289 0.01363687
+v 0.05742502 0.04690810 0.01363688
+v 0.07910397 0.05034437 0.00028506
+v 0.07165783 0.04088816 0.01363686
+v 0.07165352 0.03965907 0.01363686
+v 0.07455655 0.03965908 0.01064002
+v 0.07481086 0.05034433 0.01030547
+v 0.06129357 0.04242484 0.00028504
+v 0.06115564 0.04254304 0.00040528
+v 0.06157806 0.04076268 0.00142731
+v 0.06098322 0.04163716 0.00212914
+v 0.06131728 0.04026267 0.00311720
+v 0.05958882 0.03965907 0.01363686
+v 0.07877854 0.05034436 0.00191352
+v 0.07878286 0.03965911 0.00191349
+v 0.07910613 0.03965912 0.00028503
+v 0.07480008 0.03965908 0.01030021
+v 0.07547250 0.05034434 0.00938146
+v 0.06194875 0.04127734 0.00028503
+v 0.06317289 0.03990808 0.00028503
+v 0.06525695 0.03967167 0.00028503
+v 0.05978494 0.03965907 0.01329444
+v 0.07856733 0.05034436 0.00260098
+v 0.07798544 0.05034435 0.00444901
+v 0.07797682 0.03965910 0.00444898
+v 0.07118369 0.03965912 0.00028503
+v 0.07545310 0.03965909 0.00937358
+v 0.07680655 0.05034434 0.00715702
+v 0.06075693 0.03965908 0.01207244
+v 0.07768156 0.05034435 0.00521620
+v 0.07741216 0.05034435 0.00589058
+v 0.07766862 0.03965910 0.00521617
+v 0.07678715 0.03965909 0.00713477
+v 0.07740354 0.03965910 0.00586964
+f 1 2 5
+f 1 5 12
+f 1 12 20
+f 1 20 19
+f 1 19 18
+f 1 18 31
+f 1 31 23
+f 1 23 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 10
+f 2 10 16
+f 2 16 25
+f 2 25 36
+f 2 36 46
+f 2 46 49
+f 2 49 48
+f 2 48 42
+f 2 42 41
+f 2 41 32
+f 2 32 21
+f 2 21 11
+f 2 11 5
+f 3 6 4
+f 3 7 6
+f 4 8 9
+f 4 9 10
+f 4 6 8
+f 5 11 12
+f 6 7 13
+f 6 13 23
+f 6 23 31
+f 6 31 40
+f 6 40 47
+f 6 47 44
+f 6 44 34
+f 6 34 33
+f 6 33 43
+f 6 43 50
+f 6 50 52
+f 6 52 51
+f 6 51 45
+f 6 45 35
+f 6 35 24
+f 6 24 15
+f 6 15 9
+f 6 9 8
+f 7 14 13
+f 9 15 10
+f 10 15 16
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 11 21 34
+f 11 34 44
+f 11 44 39
+f 11 39 38
+f 11 38 37
+f 11 37 26
+f 11 26 17
+f 13 14 22
+f 13 22 23
+f 15 24 16
+f 16 24 25
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 21 32 33
+f 21 33 34
+f 24 35 25
+f 25 35 36
+f 26 37 27
+f 27 37 28
+f 28 37 38
+f 28 38 30
+f 28 30 29
+f 30 38 31
+f 31 38 39
+f 31 39 40
+f 32 41 33
+f 33 41 42
+f 33 42 43
+f 35 45 36
+f 36 45 46
+f 39 44 47
+f 39 47 40
+f 42 48 43
+f 43 48 49
+f 43 49 50
+f 45 51 46
+f 46 52 49
+f 46 51 52
+f 49 52 50
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_66.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0518bdfe98681c9c6ddab3554c0a12f07c92f071
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_66.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.02433792 0.07784903 0.01299293
+v 0.02433792 0.07784903 0.01369554
+v 0.02532490 0.07784487 0.01300879
+v 0.02433792 0.07512899 0.00932847
+v 0.02532490 0.07784487 0.01370659
+v 0.02433792 0.07739453 0.01423763
+v 0.02532490 0.07745688 0.01423763
+v 0.03332587 0.07757466 0.01423763
+v 0.03599286 0.07759961 0.01423764
+v 0.03332587 0.07775619 0.01318420
+v 0.03599286 0.07772432 0.01323130
+v 0.02707233 0.07503754 0.00932847
+v 0.02433792 0.06893230 0.00932844
+v 0.03840366 0.07757466 0.01423763
+v 0.03332587 0.07775619 0.01371332
+v 0.02433792 0.06830180 0.01423760
+v 0.03599286 0.07772432 0.01370083
+v 0.03773220 0.07768691 0.01328272
+v 0.03116315 0.07482969 0.00932846
+v 0.03065887 0.06749953 0.00932844
+v 0.03332587 0.06620114 0.01423759
+v 0.04399383 0.07728368 0.01423763
+v 0.03773220 0.07768691 0.01355088
+v 0.04399383 0.07726151 0.01417900
+v 0.04666082 0.07692895 0.01423763
+v 0.04666082 0.07691370 0.01421552
+v 0.05188693 0.07121588 0.00932845
+v 0.03312631 0.06715172 0.00932844
+v 0.04389135 0.06383997 0.01423758
+v 0.05030939 0.07624443 0.01423763
+v 0.05188693 0.07579409 0.01423763
+v 0.05188693 0.06634943 0.00932843
+v 0.03332587 0.06713648 0.00932844
+v 0.04546620 0.06372496 0.01423758
+v 0.05188693 0.06473372 0.01423759
+v 0.04666082 0.06369309 0.01423758
+v 0.05179524 0.06634527 0.00932843
+v 0.03497082 0.06701870 0.00932844
+v 0.04399383 0.06654757 0.00932843
+v 0.04666082 0.06646582 0.00932843
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 13
+f 1 13 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 5 15
+f 3 15 10
+f 3 10 11
+f 3 11 4
+f 4 12 19
+f 4 19 27
+f 4 27 32
+f 4 32 37
+f 4 37 40
+f 4 40 39
+f 4 39 38
+f 4 38 33
+f 4 33 28
+f 4 28 20
+f 4 20 13
+f 4 11 12
+f 5 9 14
+f 5 14 15
+f 6 16 21
+f 6 21 29
+f 6 29 34
+f 6 34 36
+f 6 36 35
+f 6 35 31
+f 6 31 30
+f 6 30 25
+f 6 25 22
+f 6 22 14
+f 6 14 9
+f 6 9 8
+f 6 8 7
+f 10 15 17
+f 10 17 11
+f 11 17 23
+f 11 23 18
+f 11 18 12
+f 12 18 19
+f 13 20 21
+f 13 21 16
+f 14 22 23
+f 14 23 17
+f 14 17 15
+f 18 23 22
+f 18 22 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 20 28 29
+f 20 29 21
+f 22 25 24
+f 25 30 26
+f 26 30 27
+f 27 30 31
+f 27 31 35
+f 27 35 32
+f 28 33 29
+f 29 33 34
+f 32 35 36
+f 32 36 37
+f 33 38 34
+f 34 39 40
+f 34 40 36
+f 34 38 39
+f 36 40 37
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_67.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..832e8bec9c0d2c94b863721cac647fdc5e26b9ac
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_67.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.07022578 0.04093352 -0.01361102
+v 0.07022578 0.04009197 -0.01361102
+v 0.07022318 0.04062625 -0.01361102
+v 0.06088020 0.06296971 -0.00985500
+v 0.06266643 0.06296971 -0.01036785
+v 0.06533215 0.06296971 -0.01030799
+v 0.06707811 0.06296971 -0.00979514
+v 0.06819792 0.06296970 -0.00822665
+v 0.07022578 0.06296969 -0.00412109
+v 0.06730545 0.03965854 -0.00315803
+v 0.06731714 0.03958517 -0.00569238
+v 0.06543867 0.03958517 -0.00569238
+v 0.06580242 0.03984889 -0.00778189
+v 0.06508143 0.04031896 -0.00846615
+v 0.06253133 0.04149071 -0.00839269
+v 0.06332897 0.04206627 -0.00973536
+v 0.06155053 0.04349254 -0.00934901
+v 0.06126733 0.04527425 -0.00955034
+v 0.06117639 0.04695276 -0.00963196
+v 0.06108805 0.04962416 -0.00971357
+v 0.06102960 0.05229098 -0.00976933
+v 0.06098413 0.05496009 -0.00981013
+v 0.06094386 0.05763149 -0.00983733
+v 0.06090358 0.06030060 -0.00984548
+v 0.07022578 0.04179107 -0.00075972
+v 0.05695568 0.06296969 -0.00595893
+v 0.07022578 0.06296967 0.00028375
+v 0.06533215 0.03954617 -0.00062233
+v 0.06709760 0.03993370 -0.00062233
+v 0.06317178 0.03990848 0.00028367
+v 0.06266643 0.04091285 -0.00569238
+v 0.06094126 0.04227952 -0.00765809
+v 0.05695568 0.05030059 -0.00489654
+v 0.05695568 0.05266702 -0.00550189
+v 0.05695568 0.05496007 -0.00576443
+v 0.05695568 0.06030058 -0.00589636
+v 0.07022578 0.04204789 0.00028367
+v 0.05695568 0.06296967 0.00028375
+v 0.06525420 0.03967229 0.00028367
+v 0.06693911 0.04007128 0.00028367
+v 0.06194804 0.04127743 0.00028367
+v 0.06081654 0.04218091 -0.00569238
+v 0.05695568 0.05016989 -0.00476459
+v 0.05695568 0.05215565 0.00028371
+v 0.06129071 0.04242395 0.00028368
+v 0.05695568 0.05025472 -0.00374024
+v 0.05749740 0.05080275 0.00028371
+v 0.05847950 0.04853493 0.00028370
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 27
+f 1 27 37
+f 1 37 25
+f 1 25 2
+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 17 18
+f 2 18 19
+f 2 19 20
+f 2 20 21
+f 2 21 22
+f 2 22 23
+f 2 23 24
+f 2 24 4
+f 2 4 3
+f 2 25 10
+f 4 24 26
+f 4 26 38
+f 4 38 27
+f 4 27 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 10 28 11
+f 10 25 29
+f 10 29 28
+f 11 28 12
+f 12 28 30
+f 12 30 31
+f 12 31 15
+f 12 15 14
+f 12 14 13
+f 15 32 16
+f 15 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 18
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 35 20
+f 20 35 21
+f 21 35 22
+f 22 35 23
+f 23 35 36
+f 23 36 26
+f 23 26 24
+f 25 37 29
+f 26 36 35
+f 26 35 34
+f 26 34 33
+f 26 33 43
+f 26 43 46
+f 26 46 44
+f 26 44 38
+f 27 38 44
+f 27 44 47
+f 27 47 48
+f 27 48 45
+f 27 45 41
+f 27 41 30
+f 27 30 39
+f 27 39 40
+f 27 40 37
+f 28 29 39
+f 28 39 30
+f 29 40 39
+f 29 37 40
+f 30 41 42
+f 30 42 32
+f 30 32 31
+f 32 42 43
+f 32 43 33
+f 41 45 42
+f 42 45 46
+f 42 46 43
+f 44 46 47
+f 45 48 46
+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_68.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..660762c8e8dfb2809e3bccfce7dca4c32a6fff4f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_68.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.05943200 0.05918007 0.00028510
+v -0.05722307 0.05918008 -0.00289795
+v -0.05717321 0.05763188 -0.00289796
+v -0.05928491 0.05494364 0.00028508
+v -0.03396450 0.05918007 0.00028510
+v -0.03396450 0.05918008 -0.00289795
+v -0.05707847 0.05496266 -0.00289797
+v -0.05926496 0.05440508 0.00028508
+v -0.03396450 0.05526207 0.00028508
+v -0.03396450 0.05379642 -0.00289797
+v -0.05697875 0.05248736 -0.00289798
+v -0.05919266 0.05248735 0.00028507
+v -0.03909290 0.05248735 0.00028507
+v -0.03909290 0.05248735 -0.00008165
+v -0.04060375 0.05248736 -0.00289798
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
+f 2 15 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 7 12 8
+f 9 13 10
+f 10 14 15
+f 10 13 14
+f 11 15 14
+f 11 14 13
+f 11 13 12
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_69.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d54de3e136e3c03802507a879b71231b211b6b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_69.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.04669573 0.08163275 0.00951792
+v -0.04402791 0.08159155 0.00951792
+v -0.03869639 0.08090779 0.00744553
+v -0.04136421 0.08092611 0.00737643
+v -0.04402791 0.08093984 0.00731728
+v -0.04669573 0.08093679 0.00725873
+v -0.04936354 0.08081622 0.00722769
+v -0.04936354 0.08152134 0.00951792
+v -0.05382771 0.08137023 0.01167523
+v -0.05163262 0.08141754 0.01167523
+v -0.04896481 0.08132597 0.01167523
+v -0.04136421 0.08149387 0.00951792
+v -0.03602858 0.08085590 0.00755445
+v -0.04669573 0.08001953 0.00599150
+v -0.04936354 0.08014010 0.00595988
+v -0.05225539 0.08022709 0.00682714
+v -0.05382771 0.08102225 0.00960342
+v -0.05382771 0.08129239 0.01106856
+v -0.05382771 0.06604072 0.01167517
+v -0.04063045 0.08087115 0.01167523
+v -0.03602858 0.08072921 0.01145856
+v -0.03336076 0.08064069 0.01132446
+v -0.03602858 0.08125730 0.00951792
+v -0.03869639 0.08138856 0.00951792
+v -0.04136421 0.07968223 0.00610862
+v -0.04402791 0.07986385 0.00604948
+v -0.03336076 0.08075364 0.00769675
+v -0.04669573 0.07962729 0.00569344
+v -0.04936354 0.07983181 0.00569344
+v -0.05382771 0.07929610 0.00569344
+v -0.05382771 0.08000731 0.00692786
+v -0.05382771 0.07063013 0.00569341
+v -0.03283254 0.07138104 0.00569341
+v -0.03283254 0.07103762 0.01167519
+v -0.03644375 0.08057353 0.01167523
+v -0.03602858 0.08054301 0.01167523
+v -0.03336076 0.08034154 0.01167523
+v -0.03283254 0.08029729 0.01167522
+v -0.03283254 0.08062085 0.01129401
+v -0.03336076 0.08106652 0.00951792
+v -0.03283254 0.08098105 0.00918648
+v -0.03283254 0.08073075 0.00772544
+v -0.03869639 0.07944109 0.00617831
+v -0.04136421 0.07895880 0.00569344
+v -0.04402791 0.07931899 0.00569344
+v -0.03283254 0.07748140 0.00569343
+v -0.03283254 0.08102379 0.00951792
+v -0.03283254 0.08040566 0.00749589
+v -0.03283254 0.07899238 0.00651502
+v -0.03579838 0.07817584 0.00569344
+v -0.03283254 0.07869781 0.00634520
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 3
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 5
+f 5 15 6
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 9
+f 9 18 17
+f 9 17 31
+f 9 31 30
+f 9 30 32
+f 9 32 19
+f 9 19 34
+f 9 34 38
+f 9 38 37
+f 9 37 36
+f 9 36 35
+f 9 35 20
+f 9 20 11
+f 9 11 10
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 13
+f 13 25 26
+f 13 26 14
+f 13 24 23
+f 13 23 27
+f 13 27 25
+f 14 26 28
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 17
+f 19 32 33
+f 19 33 34
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 27
+f 25 27 42
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 28
+f 25 28 26
+f 28 45 44
+f 28 44 50
+f 28 50 46
+f 28 46 33
+f 28 33 32
+f 28 32 30
+f 28 30 29
+f 33 46 51
+f 33 51 49
+f 33 49 48
+f 33 48 42
+f 33 42 41
+f 33 41 47
+f 33 47 39
+f 33 39 38
+f 33 38 34
+f 39 47 40
+f 40 47 41
+f 42 48 43
+f 43 48 49
+f 43 49 50
+f 43 50 44
+f 46 50 51
+f 49 51 50
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_7.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3879551159876def916172c0b3320345ae13e96e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_7.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04505974 -0.06483298 -0.00051833
+v -0.04505974 -0.06483298 0.00048167
+v -0.04505974 -0.00646363 -0.00051833
+v -0.04505974 -0.00646363 0.00048167
+v -0.00403857 -0.06483298 -0.00051833
+v -0.00403857 -0.06483298 0.00048167
+v -0.00403857 -0.00646363 -0.00051833
+v -0.00403857 -0.00646363 0.00048167
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_70.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4b05d7aa1771a74c5f6c5d33d8056542a4b8ea4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_70.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.02775557 -0.08034951 -0.01329432
+v 0.02265346 -0.08030201 -0.01109020
+v 0.01732157 -0.08045049 -0.01076255
+v 0.02532008 -0.08040593 -0.01329432
+v 0.02775557 -0.07976155 -0.01329431
+v 0.02775557 -0.08008375 -0.01176947
+v 0.02016053 -0.08029903 -0.01053142
+v 0.02116251 -0.07985510 -0.00953436
+v 0.01938699 -0.07995458 -0.00938568
+v 0.01465362 -0.08042970 -0.01076255
+v 0.02265346 -0.08043415 -0.01329432
+v 0.01732157 -0.07999616 -0.00932438
+v 0.01465362 -0.07999764 -0.00932156
+v 0.02539489 -0.07386407 -0.01329429
+v 0.02775557 -0.07327462 -0.01328653
+v 0.02775557 -0.07711869 -0.00752543
+v 0.02775557 -0.07606749 -0.00613165
+v 0.02775557 -0.07604076 -0.00609642
+v 0.01410988 -0.08041485 -0.01076255
+v 0.01410988 -0.08039704 -0.01126355
+v 0.01410988 -0.07999022 -0.00933283
+v 0.01410988 -0.08030200 -0.01314069
+v 0.01410988 -0.08025152 -0.01329431
+v 0.02521186 -0.07387001 -0.01329429
+v 0.01410988 -0.07464802 -0.01329429
+v 0.01410988 -0.07008239 -0.01028547
+v 0.01410854 -0.06528217 -0.00609568
+v 0.01989734 -0.06631407 -0.00609638
+v 0.02775557 -0.06868821 -0.00609639
+v 0.01410988 -0.07504300 -0.00609642
+v 0.01410988 -0.07883210 -0.00855069
+v 0.01432096 -0.06551676 -0.00609568
+v 0.01410854 -0.06551676 -0.00609568
+v 0.01410854 -0.06551676 -0.00615275
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 23
+f 1 23 25
+f 1 25 24
+f 1 24 14
+f 1 14 5
+f 1 5 15
+f 1 15 29
+f 1 29 18
+f 1 18 17
+f 1 17 16
+f 1 16 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 11
+f 3 11 4
+f 3 7 12
+f 3 12 13
+f 3 13 10
+f 5 14 15
+f 6 16 8
+f 7 9 12
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 12
+f 10 19 20
+f 10 20 11
+f 10 13 21
+f 10 21 19
+f 11 20 22
+f 11 22 23
+f 12 18 13
+f 13 18 21
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 18 30 31
+f 18 31 21
+f 18 29 32
+f 18 32 33
+f 18 33 30
+f 19 21 33
+f 19 33 34
+f 19 34 20
+f 20 34 22
+f 21 31 33
+f 22 34 23
+f 23 34 25
+f 25 34 27
+f 25 27 26
+f 27 34 33
+f 27 33 32
+f 27 32 29
+f 27 29 28
+f 30 33 31
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_71.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2042b562058ccadec816db90001081dbf4432a32
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_71.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01410854 -0.05379646 0.00028468
+v 0.01427344 -0.05379645 -0.00226093
+v 0.01410854 -0.05379833 -0.00226093
+v 0.01410854 -0.06818352 0.00028463
+v 0.03326164 -0.05379646 0.00028468
+v 0.03145398 -0.05379645 -0.00226093
+v 0.01410854 -0.06744309 -0.00226098
+v 0.01447256 -0.06802485 -0.00226098
+v 0.01462190 -0.06807962 -0.00226098
+v 0.01727272 -0.06900892 -0.00226098
+v 0.01457834 -0.06833651 0.00028463
+v 0.04589348 -0.05400234 0.00028468
+v 0.03308119 -0.05379646 -0.00023037
+v 0.03285095 -0.05379646 -0.00055879
+v 0.04589348 -0.05430266 -0.00057100
+v 0.04589348 -0.05935521 -0.00226095
+v 0.02810935 -0.07101105 -0.00226099
+v 0.03076016 -0.07218023 0.00028461
+v 0.04589348 -0.07304720 0.00028461
+v 0.04589348 -0.07244466 -0.00226100
+v 0.03066060 -0.07137560 -0.00226099
+v 0.03599025 -0.07300565 0.00028461
+v 0.03332387 -0.07260333 0.00028461
+v 0.04399248 -0.07309064 0.00028461
+v 0.03865662 -0.07304342 0.00028461
+v 0.03332387 -0.07162492 -0.00226099
+v 0.03078505 -0.07139070 -0.00226099
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 11
+f 1 11 18
+f 1 18 23
+f 1 23 22
+f 1 22 25
+f 1 25 24
+f 1 24 19
+f 1 19 12
+f 1 12 5
+f 1 5 13
+f 1 13 14
+f 1 14 6
+f 1 6 2
+f 2 6 16
+f 2 16 20
+f 2 20 26
+f 2 26 27
+f 2 27 21
+f 2 21 17
+f 2 17 10
+f 2 10 9
+f 2 9 8
+f 2 8 7
+f 2 7 3
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 6 14 12
+f 6 12 15
+f 6 15 16
+f 10 17 18
+f 10 18 11
+f 12 19 20
+f 12 20 16
+f 12 16 15
+f 12 14 13
+f 17 21 22
+f 17 22 23
+f 17 23 18
+f 19 24 20
+f 20 24 25
+f 20 25 22
+f 20 22 26
+f 21 27 22
+f 22 27 26
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_72.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f2dc7ea699513dbff6389827b761fc98339a81f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_72.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.06003320 0.07774242 -0.00718241
+v -0.06269790 0.07773516 -0.00715503
+v -0.06003320 0.07774241 -0.00677287
+v -0.05736358 0.07773334 -0.00717529
+v -0.07063299 0.07699749 -0.00953893
+v -0.06269790 0.07773515 -0.00676849
+v -0.06536752 0.07772607 -0.00712930
+v -0.05200469 0.07667224 -0.00394551
+v -0.05736358 0.07773333 -0.00680517
+v -0.05469889 0.07770972 -0.00712273
+v -0.07289455 0.07601272 -0.00953893
+v -0.07054942 0.07730454 -0.00802450
+v -0.06956122 0.07768610 -0.00704498
+v -0.06803221 0.07770972 -0.00710412
+v -0.04669988 0.07703201 -0.00822653
+v -0.03694571 0.07599819 -0.00953893
+v -0.06536752 0.07772606 -0.00678875
+v -0.05041669 0.07766430 -0.00694588
+v -0.05202928 0.07768246 -0.00691084
+v -0.05469889 0.07770972 -0.00685609
+v -0.06803221 0.07770972 -0.00684021
+v -0.06956122 0.07768610 -0.00690263
+v -0.05469889 0.07633066 -0.00394551
+v -0.02451701 0.07461003 -0.00394552
+v -0.05202928 0.07768246 -0.00704334
+v -0.07389258 0.07365254 -0.00953894
+v -0.07291421 0.07610901 -0.00822653
+v -0.02451701 0.07539497 -0.00953893
+v -0.03176872 0.07575836 -0.00953893
+v -0.03432034 0.07588554 -0.00953893
+v -0.05041669 0.07766430 -0.00698476
+v -0.02451701 0.07538951 -0.00881456
+v -0.02451701 0.07539133 -0.00901058
+v -0.07247665 0.07567476 -0.00656428
+v -0.07054942 0.07646694 -0.00624124
+v -0.06686210 0.07504974 -0.00440323
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_73.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b857d8abc0bec8bf3ba9e417febd43787c47b9a5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_73.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.06655722 0.06732638 0.00569281
+v -0.06589032 0.06732638 0.00490781
+v -0.06654071 0.06590774 0.00569280
+v -0.05632591 0.06732638 0.00569281
+v -0.06549414 0.06732638 0.00444782
+v -0.06650109 0.06328598 0.00569279
+v -0.05662965 0.06297205 0.00569279
+v -0.03283254 0.05763352 0.00118814
+v -0.03283254 0.06029600 0.00102194
+v -0.03283254 0.06079660 0.00098329
+v -0.03283254 0.06283461 0.00078533
+v -0.03606470 0.06732640 0.00103361
+v -0.06546443 0.06564132 0.00444781
+v -0.06628649 0.05018906 0.00569274
+v -0.06467537 0.06732639 0.00355377
+v -0.05678482 0.06143123 0.00569279
+v -0.04136358 0.04999222 0.00267236
+v -0.03283254 0.05507115 0.00101186
+v -0.03283254 0.06414464 0.00062125
+v -0.03501813 0.06732640 0.00063079
+v -0.06627989 0.04999221 0.00569274
+v -0.06419996 0.06732639 0.00304138
+v -0.06418015 0.06564133 0.00306042
+v -0.06523332 0.04999221 0.00456791
+v -0.05819125 0.04999221 0.00569274
+v -0.04105654 0.04999222 0.00253420
+v -0.03283254 0.05439916 0.00091552
+v -0.03283254 0.06476063 0.00035711
+v -0.03434462 0.06732640 0.00028513
+v -0.06270108 0.06732639 0.00200812
+v -0.06270108 0.06564133 0.00205469
+v -0.06385660 0.04999222 0.00330015
+v -0.03867617 0.04999222 0.00145013
+v -0.03283254 0.05408693 0.00028508
+v -0.03283254 0.06489299 0.00028512
+v -0.05983869 0.06732640 0.00028513
+v -0.06095129 0.06732640 0.00087957
+v -0.06090838 0.06564134 0.00090709
+v -0.05917509 0.04999223 0.00033588
+v -0.03867617 0.04999223 0.00028506
+v -0.05976936 0.06564134 0.00028512
+v -0.05918500 0.05229327 0.00028507
+v -0.05908265 0.04999223 0.00028506
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+f 1 16 7
+f 1 7 4
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+f 32 38 39
+f 33 40 34
+f 36 41 37
+f 37 41 42
+f 37 42 43
+f 37 43 39
+f 37 39 38
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_74.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49e6f42ad9fbf7049cad5d8356e2f23a49a305c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_74.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.07473497 0.05917888 -0.00953899
+v -0.07473981 0.05763159 -0.00953900
+v -0.07473497 0.05917887 -0.00938687
+v -0.06750462 0.05917888 -0.00953899
+v -0.07473981 0.05763158 -0.00938298
+v -0.07473497 0.03990374 -0.00953906
+v -0.07444479 0.05917887 -0.00865165
+v -0.06750462 0.05889206 -0.00953899
+v -0.03069513 0.05917887 -0.00797689
+v -0.03069513 0.05496155 -0.00803346
+v -0.07473497 0.03990373 -0.00938174
+v -0.07455119 0.03990373 -0.00892540
+v -0.06753364 0.03990374 -0.00953906
+v -0.07422232 0.03990373 -0.00811412
+v -0.07422716 0.05763158 -0.00811601
+v -0.07422716 0.05917887 -0.00811925
+v -0.02970367 0.05917887 -0.00775262
+v -0.02833498 0.05763158 -0.00745815
+v -0.02830113 0.05496155 -0.00748091
+v -0.03069513 0.05229152 -0.00798277
+v -0.03336479 0.03990373 -0.00806277
+v -0.03336479 0.04428332 -0.00810306
+v -0.03336479 0.04695335 -0.00811735
+v -0.07288748 0.03990372 -0.00625039
+v -0.07288748 0.04161329 -0.00624909
+v -0.07289232 0.05763157 -0.00624383
+v -0.07289232 0.05917886 -0.00624577
+v -0.02838335 0.05917887 -0.00744514
+v -0.02533161 0.05229151 -0.00597017
+v -0.02533161 0.05226509 -0.00597082
+v -0.03064676 0.03990373 -0.00741790
+v -0.02533161 0.03990372 -0.00595916
+v -0.07209915 0.03990372 -0.00585840
+v -0.07070145 0.05496154 -0.00509518
+v -0.07070145 0.05763157 -0.00508737
+v -0.07070145 0.05917886 -0.00509061
+v -0.02702917 0.05917886 -0.00604425
+v -0.02700015 0.05763157 -0.00651296
+v -0.02533161 0.05500871 -0.00548587
+v -0.02533161 0.03990371 -0.00289802
+v -0.07070145 0.03990372 -0.00516544
+v -0.06821556 0.05496154 -0.00453873
+v -0.06822040 0.05763157 -0.00453482
+v -0.06926505 0.05917886 -0.00476818
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+v -0.02533161 0.05625597 -0.00289796
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+v -0.06973902 0.03990372 -0.00500877
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+v -0.05670020 0.04810814 -0.00289799
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+v -0.05697104 0.05229150 -0.00289798
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+v -0.05717900 0.05783346 -0.00289796
+v -0.05718384 0.05797309 -0.00289796
+v -0.05722253 0.05917885 -0.00289795
+v -0.06822040 0.05917886 -0.00453611
+v -0.02647299 0.05917886 -0.00490794
+v -0.02533161 0.05641448 -0.00315734
+v -0.02656488 0.05917885 -0.00289795
+v -0.05585384 0.04090190 -0.00289802
+v -0.05644388 0.04573059 -0.00289800
+v -0.02652135 0.05917885 -0.00315733
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+f 50 63 51
+f 59 64 60
+f 60 64 61
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_75.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a85941031cf6dd0f429fe8bc911b6635f58883
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_75.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.03282802 0.08041876 0.00750393
+v -0.03282802 0.07526284 0.00358014
+v -0.03282802 0.07274621 0.00750390
+v -0.01201839 0.07850329 0.00750392
+v 0.01335833 0.07603293 0.00452921
+v 0.01335833 0.07544247 0.00387473
+v 0.01335833 0.07516147 0.00358014
+v -0.03282802 0.07007133 0.00358012
+v -0.03282802 0.07177692 0.00633398
+v -0.00985241 0.06710651 0.00750388
+v -0.00945449 0.07826497 0.00750392
+v 0.01335833 0.07603293 0.00677339
+v 0.01335833 0.06308885 0.00358009
+v -0.03282802 0.07055864 0.00443662
+v -0.00581891 0.06340009 0.00358009
+v -0.00401920 0.06305505 0.00358009
+v -0.00938666 0.06703715 0.00750388
+v 0.01335833 0.07533574 0.00750391
+v 0.01335833 0.07544957 0.00738639
+v 0.00664788 0.06230630 0.00358009
+v 0.01335833 0.06871607 0.00750388
+v 0.00421512 0.06697490 0.00750388
+v 0.00131208 0.06244502 0.00358009
+v -0.00851846 0.06692154 0.00750388
+v 0.00375389 0.06692866 0.00750388
+v 0.00333335 0.06689131 0.00750388
+v 0.00131208 0.06679349 0.00750388
+v -0.00135582 0.06670279 0.00750388
+v 0.00397998 0.06224938 0.00358009
+v -0.00668711 0.06677571 0.00750388
+v -0.00401920 0.06667255 0.00750387
+f 1 2 8
+f 1 8 14
+f 1 14 9
+f 1 9 3
+f 1 3 10
+f 1 10 17
+f 1 17 24
+f 1 24 30
+f 1 30 31
+f 1 31 28
+f 1 28 27
+f 1 27 26
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+f 1 25 22
+f 1 22 21
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+f 1 4 5
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+f 23 29 30
+f 28 31 29
+f 29 31 30
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_76.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4057049c55f29a0f3db1b7b0eeb94332d7af0f34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_76.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.02338736 -0.07458378 0.00196617
+v 0.02283982 -0.07512785 0.00901741
+v 0.02283982 -0.07602112 0.00444850
+v 0.02283982 -0.07560571 0.00247904
+v 0.02283982 -0.07556160 0.00233201
+v 0.01998633 -0.07320159 0.00148919
+v 0.02338736 -0.07388900 0.00171400
+v 0.02338736 -0.04941027 0.00196626
+v 0.02265436 -0.07512050 0.00901741
+v 0.02283982 -0.07106951 0.00901743
+v 0.01998731 -0.07488891 0.00901741
+v 0.01773435 -0.07467937 0.00901742
+v 0.01336384 -0.07499917 0.00391339
+v 0.01336384 -0.07499917 0.00262521
+v 0.01465419 -0.07510945 0.00252691
+v 0.01732124 -0.07528590 0.00240724
+v 0.01998731 -0.07542191 0.00234996
+v 0.02265436 -0.07555057 0.00233201
+v 0.01732124 -0.07320159 0.00153364
+v 0.02338736 -0.07320159 0.00147551
+v 0.01732124 -0.06887855 0.00028565
+v 0.02338736 -0.06902927 0.00028565
+v 0.02338736 -0.04915663 0.00182094
+v 0.02283982 -0.04687749 0.00613684
+v 0.02283982 -0.04917134 0.00668048
+v 0.02283982 -0.05185118 0.00719507
+v 0.02239531 -0.07079748 0.00901743
+v 0.01998731 -0.04116493 0.00679078
+v 0.01732124 -0.04116494 0.00692755
+v 0.01413805 -0.07419414 0.00901742
+v 0.01336384 -0.07406915 0.00901742
+v 0.01336286 -0.07369050 0.00196617
+v 0.01336384 -0.07418677 0.00219526
+v 0.01336286 -0.07320159 0.00174050
+v 0.01465419 -0.07320159 0.00164647
+v 0.01873228 -0.07438159 0.00196617
+v 0.01457765 -0.06833450 0.00028565
+v 0.02338736 -0.04885518 0.00028572
+v 0.02338736 -0.04908310 0.00158502
+v 0.02338736 -0.04892870 0.00108838
+v 0.02184483 -0.04116493 0.00617960
+v 0.01998731 -0.07004021 0.00901743
+v 0.02153475 -0.03954747 0.00593855
+v 0.01998731 -0.03926810 0.00617277
+v 0.01732124 -0.03909900 0.00629501
+v 0.01336384 -0.03852186 0.00636596
+v 0.01336384 -0.04116494 0.00692071
+v 0.01336384 -0.06820955 0.00901744
+v 0.01336286 -0.04138548 0.00196629
+v 0.01336286 -0.06793749 0.00028565
+v 0.01336286 -0.04201040 0.00028575
+v 0.01336286 -0.04196629 0.00030797
+v 0.02153475 -0.03954747 0.00542652
+v 0.01998731 -0.03926810 0.00513761
+v 0.01336384 -0.03846672 0.00459738
+v 0.01336286 -0.04140018 0.00191329
+v 0.01336286 -0.04174205 0.00070289
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 20
+f 1 20 22
+f 1 22 38
+f 1 38 40
+f 1 40 39
+f 1 39 23
+f 1 23 8
+f 1 8 10
+f 1 10 2
+f 2 9 3
+f 2 10 27
+f 2 27 42
+f 2 42 48
+f 2 48 31
+f 2 31 30
+f 2 30 12
+f 2 12 11
+f 2 11 9
+f 3 9 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 5
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 20 7
+f 6 19 21
+f 6 21 22
+f 6 22 20
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 10
+f 10 26 28
+f 10 28 29
+f 10 29 27
+f 12 30 13
+f 13 30 31
+f 13 31 32
+f 13 32 14
+f 14 32 33
+f 14 33 15
+f 15 33 16
+f 16 33 32
+f 16 32 34
+f 16 34 35
+f 16 35 36
+f 16 36 17
+f 17 36 18
+f 18 36 19
+f 19 36 35
+f 19 35 21
+f 21 37 50
+f 21 50 51
+f 21 51 38
+f 21 38 22
+f 21 35 37
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 25 41 26
+f 26 41 28
+f 27 29 42
+f 28 41 43
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 48
+f 29 48 42
+f 31 48 49
+f 31 49 32
+f 32 49 56
+f 32 56 57
+f 32 57 52
+f 32 52 51
+f 32 51 50
+f 32 50 34
+f 34 50 37
+f 34 37 35
+f 38 51 52
+f 38 52 53
+f 38 53 43
+f 38 43 41
+f 38 41 40
+f 43 53 54
+f 43 54 44
+f 44 54 55
+f 44 55 46
+f 44 46 45
+f 46 55 49
+f 46 49 47
+f 47 49 48
+f 49 55 56
+f 52 57 55
+f 52 55 54
+f 52 54 53
+f 55 57 56
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_77.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57c7a14c929ddd5ff2bbe39adb9540cb1342fbe0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_77.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.08003684 0.07254731 -0.00395530
+v 0.08003684 0.07254732 -0.00505525
+v 0.07978238 0.07352416 -0.00312903
+v 0.07950967 0.07365157 -0.00062195
+v 0.07966907 0.07097972 -0.00062196
+v 0.07993218 0.07097973 -0.00278376
+v 0.08003012 0.07097973 -0.00405116
+v 0.07982367 0.07326162 -0.00561302
+v 0.07974877 0.07352417 -0.00561302
+v 0.08003012 0.07097974 -0.00492015
+v 0.07998499 0.07097974 -0.00561303
+v 0.07841597 0.07567862 -0.00315674
+v 0.07831226 0.07573267 -0.00062194
+v 0.07824120 0.07578286 0.00028458
+v 0.07900939 0.07444308 0.00028457
+v 0.07933299 0.07365157 0.00028457
+v 0.07943573 0.07193726 0.00028456
+v 0.07946358 0.07097972 0.00028456
+v 0.07911502 0.03633839 0.00028443
+v 0.07928210 0.03633839 -0.00055857
+v 0.07929458 0.03633839 -0.00062209
+v 0.07941749 0.03633840 -0.00309280
+v 0.07942037 0.03633840 -0.00315689
+v 0.07942805 0.03633841 -0.00561316
+v 0.07964411 0.07368634 -0.00561302
+v 0.07835931 0.07563230 -0.00561301
+v 0.07662993 0.07563230 -0.00561301
+v 0.07613829 0.07576742 0.00028458
+v 0.07311835 0.03633839 0.00028443
+v 0.07561496 0.03633841 -0.00561316
+v 0.07022708 0.07481376 -0.00450960
+v 0.07022708 0.07506086 -0.00315674
+v 0.07022708 0.07458210 -0.00561302
+v 0.07022708 0.07461298 -0.00558242
+v 0.07022708 0.07511104 -0.00129635
+v 0.07022708 0.07491413 -0.00061559
+v 0.07022708 0.07462069 0.00028457
+v 0.07252492 0.03718009 0.00028444
+v 0.07022708 0.04238866 -0.00234503
+v 0.07022708 0.04299484 -0.00255405
+v 0.07022708 0.04428443 -0.00289934
+v 0.07022708 0.06489087 -0.00561305
+v 0.07022708 0.04204888 0.00028445
+v 0.07174521 0.03847741 0.00028444
+v 0.07022708 0.04179019 -0.00114866
+v 0.07022708 0.04179405 -0.00076007
+v 0.07067839 0.04067434 0.00028445
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 10
+f 1 10 2
+f 2 8 9
+f 2 9 3
+f 2 10 11
+f 2 11 8
+f 3 9 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 16 17
+f 4 17 5
+f 4 15 16
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 21 7
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 10
+f 8 11 24
+f 8 24 30
+f 8 30 42
+f 8 42 33
+f 8 33 27
+f 8 27 26
+f 8 26 25
+f 8 25 9
+f 9 25 12
+f 10 24 11
+f 12 26 14
+f 12 14 13
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+f 14 26 27
+f 14 27 28
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+f 14 37 43
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+f 14 47 44
+f 14 44 38
+f 14 38 29
+f 14 29 19
+f 14 19 18
+f 14 18 17
+f 14 17 16
+f 14 16 15
+f 19 29 30
+f 19 30 24
+f 19 24 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
+f 27 31 32
+f 27 32 28
+f 27 33 34
+f 27 34 31
+f 28 35 36
+f 28 36 37
+f 28 32 35
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 31 34 33
+f 31 33 42
+f 31 42 41
+f 31 41 40
+f 31 40 39
+f 31 39 45
+f 31 45 46
+f 31 46 43
+f 31 43 37
+f 31 37 36
+f 31 36 35
+f 31 35 32
+f 38 44 39
+f 39 44 45
+f 43 46 47
+f 44 47 45
+f 45 47 46
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_78.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ea04b9dd1d574b16ab25f21032cea0936e7bc3a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_78.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01336285 -0.06279225 0.00697288
+v 0.01336285 -0.06279222 0.00028465
+v 0.01336285 -0.06252129 0.00697815
+v 0.00131889 -0.06279225 0.00683205
+v -0.00753408 -0.06279222 0.00028465
+v 0.01336285 -0.04200332 0.00028473
+v 0.01336285 -0.05984921 0.00700777
+v -0.00134846 -0.06279224 0.00679388
+v -0.00753408 -0.05184128 0.00679524
+v -0.00753408 -0.05450920 0.00677483
+v -0.00753408 -0.05535960 0.00676825
+v -0.00753408 -0.06279224 0.00668990
+v -0.00753408 -0.02020978 0.00028481
+v 0.01336285 -0.04196580 0.00030842
+v 0.00831658 -0.02808430 0.00028478
+v 0.01336285 -0.05184129 0.00700715
+v -0.00668315 -0.03849754 0.00687031
+v -0.00753408 -0.03934377 0.00686307
+v -0.00753408 -0.04467961 0.00684331
+v -0.00753408 -0.04734752 0.00682619
+v -0.00753408 -0.02024730 0.00186358
+v 0.00059682 -0.02089760 0.00122522
+v 0.00059682 -0.02089760 0.00037562
+v 0.00075637 -0.02117273 0.00028480
+v 0.01336285 -0.03846835 0.00459659
+v 0.00643880 -0.02519545 0.00028479
+v 0.01336285 -0.03852254 0.00636555
+v 0.01336285 -0.04116546 0.00692163
+v 0.00931683 -0.03849754 0.00694402
+v 0.00664949 -0.03849754 0.00696047
+v -0.00753408 -0.03849754 0.00686307
+v 0.00131889 -0.03582963 0.00687690
+v -0.00753408 -0.02154375 0.00306460
+v -0.00134846 -0.02228576 0.00269672
+v 0.00135366 -0.02246084 0.00216696
+v 0.00338281 -0.02307780 0.00142002
+v 0.00535673 -0.02381980 0.00028479
+v 0.01148917 -0.03632568 0.00609837
+v 0.00881773 -0.03389538 0.00609970
+v 0.00955002 -0.03559200 0.00642874
+v 0.00664949 -0.03582963 0.00690388
+v -0.00134846 -0.03582963 0.00681175
+v -0.00753408 -0.03582962 0.00647020
+v 0.00664949 -0.03367027 0.00627936
+v 0.00033500 -0.02361972 0.00320147
+v 0.00211050 -0.02412829 0.00311000
+f 1 2 6
+f 1 6 14
+f 1 14 25
+f 1 25 27
+f 1 27 28
+f 1 28 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 5
+f 1 5 2
+f 2 5 13
+f 2 13 24
+f 2 24 37
+f 2 37 26
+f 2 26 15
+f 2 15 6
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 8
+f 5 12 11
+f 5 11 10
+f 5 10 9
+f 5 9 20
+f 5 20 19
+f 5 19 18
+f 5 18 31
+f 5 31 43
+f 5 43 33
+f 5 33 21
+f 5 21 13
+f 6 15 14
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 9
+f 8 11 12
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 14 15 25
+f 15 26 27
+f 15 27 25
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 17 31 18
+f 17 30 32
+f 17 32 31
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 23 37 24
+f 26 37 27
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 27 37 38
+f 28 40 41
+f 28 41 29
+f 29 41 30
+f 30 41 32
+f 31 32 42
+f 31 42 43
+f 32 41 33
+f 32 33 42
+f 33 43 42
+f 33 41 44
+f 33 44 45
+f 33 45 34
+f 34 45 35
+f 35 45 46
+f 35 46 36
+f 36 46 39
+f 36 39 38
+f 36 38 37
+f 39 44 41
+f 39 41 40
+f 39 46 45
+f 39 45 44
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_79.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b831f4c1d1eb7aad37aa9884c3dccaf3a5365f77
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_79.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.06259604 0.05034744 0.01187907
+v 0.05803503 0.05034744 0.01187907
+v 0.06259604 0.05034745 0.00932837
+v 0.06259604 0.07004350 0.01187915
+v 0.05852876 0.05034744 0.01054267
+v 0.05188693 0.06609519 0.01187913
+v 0.05188693 0.06633512 0.00941458
+v 0.05188693 0.06634753 0.00932843
+v 0.05912103 0.05034745 0.00932837
+v 0.06259604 0.06745405 0.00932844
+v 0.06259604 0.06801040 0.00957914
+v 0.06213271 0.06822965 0.00932844
+v 0.05743542 0.07048819 0.00932845
+v 0.05720480 0.07054403 0.00932845
+v 0.05498666 0.07105903 0.00932845
+v 0.05255783 0.07145612 0.01187915
+v 0.05896904 0.05034744 0.00961853
+v 0.05188693 0.07146647 0.01187915
+v 0.05188693 0.07121622 0.00932845
+v 0.06232874 0.06799593 0.00932844
+v 0.06259604 0.06747059 0.00933169
+v 0.06259604 0.06778290 0.00945379
+v 0.05466485 0.07108798 0.00932845
+v 0.05221504 0.07147474 0.01187915
+v 0.05233349 0.07120381 0.00932845
+f 1 2 5
+f 1 5 17
+f 1 17 9
+f 1 9 3
+f 1 3 10
+f 1 10 21
+f 1 21 22
+f 1 22 11
+f 1 11 4
+f 1 4 16
+f 1 16 24
+f 1 24 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 8
+f 3 8 19
+f 3 19 25
+f 3 25 23
+f 3 23 15
+f 3 15 14
+f 3 14 13
+f 3 13 12
+f 3 12 20
+f 3 20 10
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 5 8 17
+f 6 18 19
+f 6 19 8
+f 6 8 7
+f 8 9 17
+f 10 20 21
+f 11 22 20
+f 11 20 12
+f 15 23 16
+f 16 23 24
+f 18 24 19
+f 19 24 25
+f 20 22 21
+f 23 25 24
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_8.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f11100dde5325f12086c3f061cd106496d8f129
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_8.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01410854 -0.06818453 0.00028463
+v 0.00664968 -0.06752643 0.00028463
+v 0.01410854 -0.06744028 -0.00225193
+v 0.01410854 -0.04315280 0.00028472
+v 0.00420188 -0.06714742 0.00028463
+v 0.00398339 -0.06709229 0.00028463
+v -0.00311842 -0.06519381 0.00028464
+v -0.00403857 -0.06483203 0.00028464
+v 0.01317596 -0.06667193 -0.00225192
+v 0.01410854 -0.04959248 -0.00225186
+v 0.01410854 -0.04320449 0.00012706
+v 0.01110474 -0.03673035 0.00021647
+v 0.01110474 -0.03673035 0.00028475
+v -0.00403857 -0.06481825 0.00028315
+v 0.01180640 -0.06537297 -0.00225192
+v -0.00403857 -0.03298851 0.00028476
+v 0.01180817 -0.05165979 -0.00225187
+v 0.00398339 -0.03298851 -0.00080922
+v 0.00665323 -0.03298851 -0.00074590
+v 0.00846688 -0.03298851 0.00001462
+v 0.01410854 -0.04350769 -0.00004427
+v 0.00845267 -0.03298851 0.00028476
+v -0.00403857 -0.06252353 0.00003685
+v 0.01088092 -0.06255109 -0.00225191
+v -0.00403857 -0.03298851 -0.00008296
+v 0.00131710 -0.03298851 -0.00060338
+v 0.01087559 -0.05451268 -0.00225188
+v 0.01087204 -0.06252352 -0.00225191
+v -0.00403857 -0.05985325 -0.00004259
+v -0.00403857 -0.04915490 -0.00011008
+v 0.01087204 -0.05985324 -0.00225190
+v -0.00403857 -0.05983258 -0.00004284
+v -0.00403857 -0.05716230 -0.00007163
+v -0.00403857 -0.05449202 -0.00009248
+v -0.00403857 -0.05184241 -0.00010960
+v -0.00403857 -0.04917558 -0.00011008
+f 1 2 3
+f 1 3 10
+f 1 10 21
+f 1 21 11
+f 1 11 4
+f 1 4 13
+f 1 13 22
+f 1 22 16
+f 1 16 8
+f 1 8 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 15
+f 3 15 24
+f 3 24 28
+f 3 28 31
+f 3 31 27
+f 3 27 17
+f 3 17 10
+f 4 11 12
+f 4 12 13
+f 8 14 15
+f 8 15 9
+f 8 16 25
+f 8 25 30
+f 8 30 36
+f 8 36 35
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+f 8 32 29
+f 8 29 23
+f 8 23 14
+f 10 17 18
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+f 10 20 12
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+f 11 21 12
+f 12 20 13
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+f 16 22 20
+f 16 20 19
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+f 16 18 26
+f 16 26 25
+f 17 25 26
+f 17 26 18
+f 17 27 25
+f 23 28 24
+f 23 29 28
+f 25 27 30
+f 27 31 30
+f 28 29 32
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 28 35 36
+f 28 36 30
+f 28 30 31
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_80.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d12ef0b9739ae0c1eb16a71f3bf4e2d1f7d3f2c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_80.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01336285 0.07516063 0.00358014
+v 0.01336285 0.06308863 0.00358009
+v 0.01336285 0.07485806 0.00326115
+v -0.01307266 0.07266208 0.00028515
+v 0.00084376 0.07494788 0.00358014
+v 0.01336285 0.06030405 0.00344430
+v 0.00665047 0.06230857 0.00358009
+v 0.00665047 0.06030405 0.00349655
+v 0.00931576 0.06030405 0.00347752
+v 0.01336285 0.07157000 0.00028514
+v -0.01307266 0.05570172 0.00028508
+v -0.01307266 0.07425056 0.00358013
+v -0.00175425 0.07488406 0.00358014
+v 0.01336285 0.05763294 0.00328721
+v 0.00398259 0.06224948 0.00358009
+v 0.00398259 0.06030405 0.00349074
+v 0.01336285 0.05619338 0.00319142
+v 0.01336285 0.05101664 0.00028507
+v -0.01307266 0.05567336 0.00028895
+v 0.01198363 0.05120574 0.00028507
+v -0.01307266 0.06745696 0.00358011
+v 0.00131472 0.06244567 0.00358009
+v 0.00131472 0.06030405 0.00347881
+v 0.00665047 0.05788587 0.00329883
+v 0.00131472 0.05818371 0.00329108
+v 0.01050867 0.05629266 0.00318175
+v 0.01336285 0.05485783 0.00298338
+v 0.01336285 0.05114429 0.00041473
+v 0.01198363 0.05256729 0.00168550
+v 0.01198363 0.05123175 0.00031216
+v -0.01307266 0.05618867 0.00080662
+v -0.01307266 0.05763294 0.00164230
+v -0.00607563 0.05887631 0.00320595
+v -0.00630594 0.06356848 0.00358009
+v -0.00401845 0.06305554 0.00358009
+v -0.00581428 0.06339829 0.00358009
+v -0.00135057 0.06030405 0.00343688
+v -0.00135057 0.05838228 0.00327044
+v 0.00873095 0.05636122 0.00317368
+v 0.01336285 0.05249165 0.00171614
+v 0.00131472 0.05684816 0.00306209
+v 0.01198363 0.05491692 0.00295242
+v -0.00135057 0.05704908 0.00297952
+v -0.00935161 0.05763294 0.00226543
+v -0.01307266 0.05709400 0.00133687
+f 1 2 6
+f 1 6 14
+f 1 14 17
+f 1 17 27
+f 1 27 40
+f 1 40 28
+f 1 28 18
+f 1 18 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 21
+f 1 21 34
+f 1 34 36
+f 1 36 35
+f 1 35 22
+f 1 22 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 10 4
+f 4 11 19
+f 4 19 31
+f 4 31 45
+f 4 45 32
+f 4 32 21
+f 4 21 12
+f 4 12 13
+f 4 13 5
+f 4 10 18
+f 4 18 20
+f 4 20 11
+f 6 9 14
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 14
+f 8 14 9
+f 11 20 19
+f 15 22 16
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 18 28 29
+f 18 29 30
+f 18 30 20
+f 19 20 30
+f 19 30 29
+f 19 29 31
+f 21 32 33
+f 21 33 34
+f 22 35 23
+f 23 25 24
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 25
+f 25 39 26
+f 25 38 39
+f 26 39 27
+f 27 39 41
+f 27 41 42
+f 27 42 40
+f 28 40 29
+f 29 40 42
+f 29 42 43
+f 29 43 31
+f 31 43 44
+f 31 44 45
+f 32 45 44
+f 32 44 33
+f 33 44 43
+f 33 43 41
+f 33 41 38
+f 33 38 37
+f 33 37 36
+f 33 36 34
+f 38 41 39
+f 41 43 42
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_81.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffd0ad70e7d3b62677ad32ea91743709b37c901e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_81.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02433685 0.06830156 0.01423760
+v 0.01336286 0.06334177 0.01423758
+v 0.02433685 0.06893238 0.00932844
+v 0.02433685 0.07739426 0.01423763
+v 0.01336286 0.06908298 0.00932844
+v 0.01336286 0.07705470 0.01423763
+v 0.02433685 0.07512963 0.00932847
+v 0.02433685 0.07784889 0.01369554
+v 0.02265449 0.07785600 0.01367728
+v 0.02265449 0.07737721 0.01423763
+v 0.01336286 0.07541946 0.00932847
+v 0.01465309 0.07711011 0.01423763
+v 0.01336286 0.07781338 0.01355473
+v 0.02414992 0.07513957 0.00932847
+v 0.02433685 0.07784889 0.01299293
+v 0.02265449 0.07785600 0.01296505
+v 0.01998700 0.07785032 0.01363835
+v 0.01465309 0.07782190 0.01356963
+v 0.01336286 0.07582152 0.00983549
+v 0.02136318 0.07521203 0.00932847
+v 0.01336286 0.07781338 0.01292757
+v 0.01732058 0.07707745 0.01166026
+v 0.01465309 0.07713854 0.01165594
+v 0.01998700 0.07785032 0.01294054
+v 0.01336286 0.07715701 0.01166026
+v 0.01465309 0.07782190 0.01292324
+v 0.01732058 0.07783611 0.01292709
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 21
+f 2 21 25
+f 2 25 19
+f 2 19 11
+f 2 11 5
+f 3 5 11
+f 3 11 20
+f 3 20 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 7 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 24
+f 9 24 17
+f 9 17 10
+f 10 17 18
+f 10 18 13
+f 10 13 12
+f 11 19 20
+f 13 18 26
+f 13 26 21
+f 14 20 19
+f 14 19 22
+f 14 22 15
+f 15 22 23
+f 15 23 16
+f 16 23 25
+f 16 25 24
+f 17 24 26
+f 17 26 18
+f 19 25 23
+f 19 23 22
+f 21 26 25
+f 24 27 26
+f 24 25 27
+f 25 26 27
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_82.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f04e5f7556e794391d8bb1e608d1e7e341a3de0a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_82.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.03282802 0.08102461 0.00951854
+v -0.03282802 0.08098061 0.00918699
+v -0.03282802 0.08062123 0.01129428
+v -0.02374811 0.08034108 0.01081247
+v -0.02220615 0.08027068 0.00951853
+v -0.02365315 0.08035429 0.00821603
+v -0.03282802 0.08073125 0.00772524
+v -0.03282802 0.08038215 0.01157519
+v -0.02292513 0.07964876 0.01167481
+v 0.01335833 0.07716404 0.01167480
+v -0.02002209 0.08009614 0.00951853
+v -0.00945449 0.07826560 0.00750393
+v -0.03282802 0.08041737 0.00750394
+v -0.01201839 0.07850322 0.00750393
+v -0.03282802 0.08029708 0.01167481
+v 0.01335833 0.06838832 0.01167477
+v 0.01335833 0.07533498 0.00750392
+v -0.03282802 0.07274759 0.00750391
+v -0.03282802 0.07103732 0.01167478
+v 0.00397998 0.06654605 0.01167476
+v 0.01335833 0.06871689 0.00750389
+v -0.00985241 0.06710637 0.00750389
+v -0.00935501 0.06628203 0.01167476
+v 0.00269125 0.06639937 0.01167476
+v 0.00421512 0.06697582 0.00750389
+v -0.00938666 0.06703742 0.00750389
+v -0.00851846 0.06692155 0.00750389
+v -0.00668711 0.06677634 0.00750389
+v -0.00668711 0.06607374 0.01167476
+v 0.00122616 0.06627176 0.01167476
+v 0.00333335 0.06689075 0.00750389
+v 0.00375389 0.06692889 0.00750389
+v -0.00401920 0.06667220 0.00750388
+v -0.00401920 0.06604148 0.01167476
+v -0.00005805 0.06618669 0.01167476
+v -0.00135582 0.06611628 0.01167476
+v 0.00131208 0.06679394 0.00750389
+v -0.00135582 0.06670300 0.00750389
+v -0.00222402 0.06609134 0.01167476
+f 1 2 7
+f 1 7 13
+f 1 13 18
+f 1 18 19
+f 1 19 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 11 5
+f 4 10 11
+f 5 11 6
+f 6 12 7
+f 6 11 10
+f 6 10 12
+f 7 12 14
+f 7 14 13
+f 8 15 9
+f 9 15 19
+f 9 19 23
+f 9 23 29
+f 9 29 34
+f 9 34 39
+f 9 39 36
+f 9 36 35
+f 9 35 30
+f 9 30 24
+f 9 24 20
+f 9 20 16
+f 9 16 10
+f 10 16 21
+f 10 21 17
+f 10 17 12
+f 12 17 21
+f 12 21 25
+f 12 25 32
+f 12 32 31
+f 12 31 37
+f 12 37 38
+f 12 38 33
+f 12 33 28
+f 12 28 27
+f 12 27 26
+f 12 26 22
+f 12 22 18
+f 12 18 13
+f 12 13 14
+f 16 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 25
+f 20 25 21
+f 22 26 23
+f 23 26 27
+f 23 27 28
+f 23 28 29
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 28 33 29
+f 29 33 34
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 33 38 34
+f 34 38 39
+f 36 39 38
+f 36 38 37
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_83.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e46c12715d368fe84a6cec3cb2b88ac0b7f552b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_83.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.01336286 0.06397990 0.00028547
+v 0.01336286 0.05101450 0.00028542
+v 0.01336286 0.06397989 0.00375587
+v 0.03598950 0.06397990 0.00028547
+v 0.01336286 0.05115691 0.00042764
+v 0.01763304 0.05040230 0.00028542
+v 0.01802285 0.05078026 0.00093118
+v 0.01336286 0.05619293 0.00319154
+v 0.02899508 0.06397989 0.00387210
+v 0.03433059 0.06397989 0.00384436
+v 0.03598950 0.06397855 0.00382856
+v 0.03598950 0.05470502 0.00028543
+v 0.01336286 0.05249176 0.00171635
+v 0.01976813 0.05038367 0.00028542
+v 0.01939161 0.05078026 0.00093118
+v 0.01721000 0.05208185 0.00172583
+v 0.01336286 0.05485806 0.00298330
+v 0.01465410 0.05480217 0.00301245
+v 0.01732075 0.05470501 0.00304897
+v 0.01465410 0.05613703 0.00319681
+v 0.03166173 0.06397989 0.00386999
+v 0.01732075 0.05603988 0.00320454
+v 0.03598950 0.05956936 0.00312659
+v 0.01929858 0.05611441 0.00319646
+v 0.02010700 0.05511891 0.00301807
+v 0.03598950 0.05555943 0.00148917
+v 0.02016458 0.05205790 0.00167281
+v 0.03598950 0.05763161 0.00270275
+v 0.02265626 0.05496320 0.00275541
+f 1 2 5
+f 1 5 13
+f 1 13 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 21
+f 1 21 10
+f 1 10 4
+f 1 4 12
+f 1 12 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 11
+f 4 11 23
+f 4 23 28
+f 4 28 26
+f 4 26 12
+f 5 7 13
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 13
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 22
+f 9 22 21
+f 10 21 11
+f 11 21 24
+f 11 24 25
+f 11 25 23
+f 12 26 14
+f 13 16 17
+f 14 26 15
+f 15 27 16
+f 15 26 27
+f 16 27 19
+f 16 19 18
+f 16 18 17
+f 19 27 25
+f 19 25 24
+f 19 24 22
+f 19 22 20
+f 21 22 24
+f 23 25 28
+f 25 27 29
+f 25 29 28
+f 26 28 27
+f 27 28 29
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_84.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94ca2e48e8698c102ec05d621946608a2c1345ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_84.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.05199658 0.07420071 0.00028515
+v 0.05199556 0.07420071 0.00028604
+v 0.05199556 0.07629817 0.00444919
+v 0.05466345 0.07634197 0.00444919
+v 0.05721086 0.07637604 0.00444919
+v 0.05466345 0.07416664 0.00028515
+v 0.05199556 0.07378706 0.00028515
+v 0.05199556 0.07605241 0.00666133
+v 0.05466345 0.07605971 0.00664717
+v 0.05721086 0.07606457 0.00661884
+v 0.05721086 0.07407905 0.00028515
+v 0.05199556 0.05441334 0.00028508
+v 0.05199658 0.07605241 0.00666133
+v 0.05199556 0.07121262 0.00932845
+v 0.05199658 0.07121262 0.00932845
+v 0.05233351 0.07120532 0.00932845
+v 0.05466345 0.07108853 0.00932845
+v 0.05498557 0.07105933 0.00932845
+v 0.05720371 0.07054347 0.00932845
+v 0.05721086 0.07054591 0.00932403
+v 0.05721086 0.05152019 0.00028507
+v 0.05199556 0.05441822 0.00030898
+v 0.05199556 0.07119072 0.00932845
+v 0.05721086 0.06973076 0.00932845
+v 0.05721086 0.05160292 0.00047185
+v 0.05199556 0.05478563 0.00185279
+v 0.05199556 0.06635094 0.00932755
+v 0.05199658 0.06635094 0.00932843
+v 0.05721086 0.06216815 0.00932842
+v 0.05721086 0.05212850 0.00162174
+v 0.05199556 0.05763255 0.00373122
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 21
+f 1 21 12
+f 1 12 7
+f 1 7 2
+f 2 7 12
+f 2 12 22
+f 2 22 26
+f 2 26 31
+f 2 31 27
+f 2 27 23
+f 2 23 14
+f 2 14 8
+f 2 8 3
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 5 10 20
+f 5 20 24
+f 5 24 29
+f 5 29 30
+f 5 30 25
+f 5 25 21
+f 5 21 11
+f 5 11 6
+f 8 13 9
+f 8 14 15
+f 8 15 13
+f 9 13 15
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 12 21 22
+f 14 23 28
+f 14 28 29
+f 14 29 24
+f 14 24 19
+f 14 19 18
+f 14 18 17
+f 14 17 16
+f 14 16 15
+f 19 24 20
+f 21 25 26
+f 21 26 22
+f 23 27 28
+f 25 30 26
+f 26 30 29
+f 26 29 31
+f 27 31 28
+f 28 31 29
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_85.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b16ff4937a30ef16261ae9b0332d557256e36b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_85.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.07565483 0.06564075 0.00932843
+v 0.07556280 0.06564075 0.00947601
+v 0.07556152 0.06297305 0.00945977
+v 0.07564333 0.06297305 0.00932842
+v 0.07562799 0.06831115 0.00932844
+v 0.07554107 0.06831115 0.00946878
+v 0.07462966 0.06831114 0.01073601
+v 0.07463478 0.06564074 0.01074324
+v 0.07459898 0.05763493 0.01069577
+v 0.07456320 0.05034538 0.01064904
+v 0.07554618 0.06030264 0.00944378
+v 0.07564205 0.06281088 0.00932842
+v 0.07551295 0.07365196 0.00932846
+v 0.07548227 0.07365196 0.00937566
+v 0.07356998 0.06831114 0.01187914
+v 0.07358660 0.06564074 0.01187913
+v 0.07459643 0.07098155 0.01069457
+v 0.07342681 0.05034538 0.01187907
+v 0.07481246 0.05034538 0.01030595
+v 0.07561649 0.06016209 0.00932841
+v 0.07547332 0.05034539 0.00938181
+v 0.07545159 0.07399522 0.00932846
+v 0.07510901 0.07580342 0.00932847
+v 0.07454914 0.07365195 0.01064289
+v 0.07345110 0.07111399 0.01187915
+v 0.06259732 0.05034538 0.01187907
+v 0.07550528 0.05034539 0.00932837
+v 0.07497735 0.07632236 0.00932847
+v 0.07417971 0.07632235 0.01027834
+v 0.07330282 0.07365195 0.01187916
+v 0.06259732 0.05034539 0.00932837
+v 0.06259732 0.07004366 0.01187915
+v 0.07456447 0.07715755 0.00932847
+v 0.07233645 0.07788459 0.01108538
+v 0.07284648 0.07632235 0.01156605
+v 0.07313409 0.07423577 0.01187916
+v 0.06259732 0.06745435 0.00932844
+v 0.06495445 0.07354384 0.01187916
+v 0.06259732 0.06801113 0.00957914
+v 0.07345621 0.07794407 0.00932848
+v 0.07326959 0.07795488 0.00943311
+v 0.07059161 0.07784405 0.01187918
+v 0.07069004 0.07784405 0.01187918
+v 0.07188267 0.07717375 0.01187917
+v 0.07247322 0.07632235 0.01187917
+v 0.07266752 0.07581963 0.01187917
+v 0.06259732 0.06747057 0.00933169
+v 0.06260243 0.06746246 0.00932844
+v 0.06619053 0.07530068 0.01187917
+v 0.06259732 0.06778410 0.00945379
+v 0.06689486 0.07629533 0.01187917
+v 0.06996398 0.07654940 0.00932847
+v 0.07334756 0.07795488 0.00932848
+v 0.07327981 0.07795488 0.00932848
+v 0.06865759 0.07775756 0.01187918
+v 0.06727195 0.07663859 0.01187917
+v 0.06933252 0.07765756 0.01078424
+v 0.07117195 0.07780622 0.00932848
+v 0.07133173 0.07784677 0.00932848
+v 0.07088689 0.07783595 0.00977096
+v 0.06853615 0.07772242 0.01187918
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 20
+f 1 20 27
+f 1 27 31
+f 1 31 37
+f 1 37 48
+f 1 48 52
+f 1 52 58
+f 1 58 59
+f 1 59 54
+f 1 54 53
+f 1 53 40
+f 1 40 33
+f 1 33 28
+f 1 28 23
+f 1 23 22
+f 1 22 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
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+f 15 26 18
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+f 23 29 24
+f 24 29 30
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+f 26 39 50
+f 26 50 47
+f 26 47 37
+f 26 37 31
+f 28 33 29
+f 29 33 34
+f 29 34 35
+f 29 35 36
+f 29 36 30
+f 32 38 39
+f 33 40 34
+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 34 43 44
+f 34 44 45
+f 34 45 35
+f 35 46 36
+f 35 45 46
+f 37 47 48
+f 38 49 39
+f 39 49 51
+f 39 51 52
+f 39 52 50
+f 40 53 41
+f 41 53 54
+f 41 54 55
+f 41 55 42
+f 47 50 52
+f 47 52 48
+f 51 56 57
+f 51 57 52
+f 52 57 58
+f 54 59 60
+f 54 60 55
+f 55 60 59
+f 55 59 58
+f 55 58 61
+f 56 61 57
+f 57 61 58
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_86.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e8c45e8f7d22aed93dc84d45b3c70960458cc33
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_86.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.07152192 -0.04611405 -0.00909813
+v 0.06356260 -0.04930905 -0.00909814
+v 0.06310187 -0.04418901 -0.00496879
+v 0.06873282 -0.04194191 -0.00266623
+v 0.06985456 -0.04194191 -0.00266623
+v 0.06998231 -0.04172965 -0.00062269
+v 0.07079168 -0.04383403 -0.00062270
+v 0.07152192 -0.04649469 -0.00324579
+v 0.07152192 -0.07810433 -0.00909825
+v 0.06310187 -0.04949570 -0.00909814
+v 0.06310187 -0.04417072 -0.00351948
+v 0.06842622 -0.04172965 -0.00062269
+v 0.06981005 -0.04189800 0.00028381
+v 0.07152192 -0.04770243 -0.00171292
+v 0.07152192 -0.04651299 -0.00312915
+v 0.07016116 -0.04281295 0.00028380
+v 0.07040101 -0.04383403 0.00028380
+v 0.07152192 -0.04919197 -0.00066956
+v 0.07152192 -0.07883997 -0.00234676
+v 0.07066805 -0.07891682 -0.00315774
+v 0.06800010 -0.07870454 -0.00569173
+v 0.06533381 -0.07833489 -0.00909825
+v 0.06310187 -0.07827268 -0.00909825
+v 0.06679348 -0.04361078 0.00028380
+v 0.06859435 -0.04189800 0.00028381
+v 0.06310187 -0.04704733 -0.00111316
+v 0.07125900 -0.05142079 0.00028377
+v 0.07152192 -0.05184532 -0.00008820
+v 0.07152192 -0.07893879 -0.00062283
+v 0.07066805 -0.07911080 0.00028367
+v 0.06434807 -0.07831293 -0.00909825
+v 0.06450384 -0.07831660 -0.00909825
+v 0.06310187 -0.07790305 -0.00550070
+v 0.06619263 -0.04446718 0.00028380
+v 0.06310187 -0.04858445 -0.00013411
+v 0.07128043 -0.05184532 0.00028377
+v 0.07152192 -0.05889409 0.00028374
+v 0.07152192 -0.07895343 -0.00033260
+v 0.07152192 -0.07898271 0.00028367
+v 0.06794571 -0.07839714 0.00028367
+v 0.06310187 -0.07773104 -0.00511128
+v 0.06576239 -0.04518084 0.00028379
+v 0.06310187 -0.04964579 0.00028378
+v 0.06697562 -0.07751147 0.00028368
+v 0.06310187 -0.07732480 -0.00429477
+v 0.06310187 -0.06442038 0.00028372
+v 0.06552997 -0.07452142 0.00028369
+v 0.06310187 -0.07607682 -0.00354348
+v 0.06310187 -0.07728454 -0.00426997
+v 0.06310187 -0.06786425 -0.00060902
+v 0.06484012 -0.07190100 0.00028370
+v 0.06310187 -0.07034925 -0.00132633
+v 0.06310187 -0.07323682 -0.00237061
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 15
+f 1 15 14
+f 1 14 18
+f 1 18 28
+f 1 28 37
+f 1 37 39
+f 1 39 38
+f 1 38 29
+f 1 29 19
+f 1 19 9
+f 1 9 22
+f 1 22 32
+f 1 32 31
+f 1 31 23
+f 1 23 10
+f 1 10 2
+f 2 10 3
+f 3 11 12
+f 3 12 4
+f 3 10 23
+f 3 23 33
+f 3 33 41
+f 3 41 45
+f 3 45 49
+f 3 49 48
+f 3 48 53
+f 3 53 52
+f 3 52 50
+f 3 50 46
+f 3 46 43
+f 3 43 35
+f 3 35 26
+f 3 26 11
+f 4 12 6
+f 4 6 5
+f 6 12 25
+f 6 25 13
+f 6 13 7
+f 7 14 15
+f 7 15 8
+f 7 13 16
+f 7 16 17
+f 7 17 18
+f 7 18 14
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 11 24 25
+f 11 25 12
+f 11 26 24
+f 13 25 24
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+f 13 42 43
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+f 13 47 44
+f 13 44 40
+f 13 40 30
+f 13 30 39
+f 13 39 37
+f 13 37 36
+f 13 36 27
+f 13 27 17
+f 13 17 16
+f 17 27 28
+f 17 28 18
+f 19 29 20
+f 20 29 30
+f 20 30 21
+f 21 30 23
+f 21 23 31
+f 21 31 32
+f 21 32 22
+f 23 30 33
+f 24 26 34
+f 26 35 34
+f 27 36 28
+f 28 36 37
+f 29 38 30
+f 30 38 39
+f 30 40 33
+f 33 40 41
+f 34 35 42
+f 35 43 42
+f 40 44 45
+f 40 45 41
+f 44 47 48
+f 44 48 49
+f 44 49 45
+f 46 50 51
+f 47 51 52
+f 47 52 53
+f 47 53 48
+f 50 52 51
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_87.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e70e0a23931849dc9bf3019b1112d895c6a3a92
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_87.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.03448172 -0.07681875 -0.00609534
+v 0.03448172 -0.07655957 -0.00579730
+v 0.03247153 -0.07667226 -0.00609534
+v 0.03448172 -0.06383250 -0.00609529
+v 0.03448172 -0.07626658 -0.00546398
+v 0.03332307 -0.07621925 -0.00550715
+v 0.01410854 -0.07504278 -0.00609534
+v 0.01410854 -0.06175226 -0.00608703
+v 0.01410854 -0.05985458 -0.00608252
+v 0.01410854 -0.05379644 -0.00603108
+v 0.02532217 -0.05379644 -0.00569250
+v 0.02727254 -0.05379644 -0.00562231
+v 0.02798847 -0.05379644 -0.00557539
+v 0.02977531 -0.05379644 -0.00510280
+v 0.03036960 -0.05379644 -0.00490386
+v 0.03206071 -0.05574595 -0.00449922
+v 0.03448172 -0.06322398 -0.00582015
+v 0.01410854 -0.06528393 -0.00609530
+v 0.03448172 -0.07493234 -0.00408828
+v 0.03332307 -0.07488501 -0.00412431
+v 0.03065677 -0.07475880 -0.00422828
+v 0.02845512 -0.07464612 -0.00432775
+v 0.01410854 -0.07291522 -0.00406462
+v 0.01410854 -0.05379644 -0.00601456
+v 0.03122513 -0.05379645 -0.00315767
+v 0.03264503 -0.05512843 -0.00226093
+v 0.03448172 -0.06278449 -0.00526724
+v 0.03448172 -0.07166213 -0.00226099
+v 0.03332307 -0.07162606 -0.00226099
+v 0.01410854 -0.07264252 -0.00380524
+v 0.01410854 -0.05379870 -0.00226093
+v 0.01427207 -0.05379645 -0.00226093
+v 0.03133880 -0.05379645 -0.00275190
+v 0.03145646 -0.05379645 -0.00226093
+v 0.03302393 -0.05623728 -0.00226094
+v 0.03448172 -0.06165987 -0.00338480
+v 0.03448172 -0.06110995 -0.00226095
+v 0.03078440 -0.07138942 -0.00226099
+v 0.03065876 -0.07137590 -0.00226099
+v 0.02810613 -0.07101079 -0.00226099
+v 0.01410854 -0.07096571 -0.00310255
+v 0.01410854 -0.06744306 -0.00226098
+v 0.03448172 -0.06153141 -0.00315770
+v 0.01410854 -0.07053298 -0.00292763
+v 0.01727141 -0.06900943 -0.00226098
+v 0.01410854 -0.06840542 -0.00244115
+v 0.01447348 -0.06802453 -0.00226098
+v 0.01462305 -0.06807862 -0.00226098
+f 1 2 3
+f 1 3 7
+f 1 7 18
+f 1 18 4
+f 1 4 17
+f 1 17 27
+f 1 27 36
+f 1 36 43
+f 1 43 37
+f 1 37 28
+f 1 28 19
+f 1 19 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 18 8
+f 5 19 20
+f 5 20 6
+f 6 20 21
+f 6 21 7
+f 7 21 22
+f 7 22 23
+f 7 23 30
+f 7 30 41
+f 7 41 44
+f 7 44 46
+f 7 46 42
+f 7 42 31
+f 7 31 24
+f 7 24 10
+f 7 10 9
+f 7 9 8
+f 7 8 18
+f 10 24 32
+f 10 32 34
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+f 10 33 25
+f 10 25 15
+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 20 30 21
+f 21 30 22
+f 22 30 23
+f 24 31 32
+f 25 33 26
+f 26 33 34
+f 26 34 32
+f 26 32 31
+f 26 31 42
+f 26 42 47
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+f 26 48 45
+f 26 45 40
+f 26 40 39
+f 26 39 38
+f 26 38 29
+f 26 29 28
+f 26 28 37
+f 26 37 35
+f 26 35 27
+f 27 35 36
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 35 37 43
+f 35 43 36
+f 40 44 41
+f 40 45 44
+f 42 46 47
+f 44 45 48
+f 44 48 47
+f 44 47 46
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_88.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fedb1def64f29adabf79708cbfad26ed7fc3a596
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_88.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.05730831 -0.07811555 0.00444724
+v 0.05730831 -0.07811220 0.00443329
+v 0.05730831 -0.07771914 0.00650668
+v 0.04609989 -0.07744701 0.00376309
+v 0.04609989 -0.07744701 0.00287223
+v 0.05466309 -0.07762170 0.00281515
+v 0.05730831 -0.07760490 0.00289187
+v 0.05730831 -0.07771578 0.00652063
+v 0.04609989 -0.07695654 0.00476365
+v 0.05199594 -0.07755787 0.00280819
+v 0.04609989 -0.07305618 0.00028524
+v 0.04675599 -0.07307969 0.00028524
+v 0.05730831 -0.07759147 0.00288680
+v 0.04923004 -0.07263961 0.00028524
+v 0.05730831 -0.07752429 0.00675525
+v 0.04609989 -0.07681880 0.00503059
+v 0.04609989 -0.05284565 0.00028532
+v 0.05730831 -0.06829918 0.00028526
+v 0.05578108 -0.07710771 0.00676159
+v 0.04609989 -0.07504836 0.00676159
+v 0.04609989 -0.07515923 0.00669057
+v 0.04609989 -0.07548509 0.00647816
+v 0.04609989 -0.07576729 0.00617254
+v 0.05730831 -0.07623426 0.00676159
+v 0.04609989 -0.05266087 0.00054212
+v 0.04714328 -0.04650634 0.00028534
+v 0.05730831 -0.04991955 0.00028533
+v 0.04609989 -0.05327232 0.00676167
+v 0.05730831 -0.06525889 0.00676163
+v 0.04609989 -0.05256683 0.00510613
+v 0.04609989 -0.05286918 0.00622463
+v 0.04764687 -0.04424542 0.00028535
+v 0.05082309 -0.04479973 0.00028535
+v 0.05730831 -0.05061496 0.00132266
+v 0.04781802 -0.05348732 0.00676167
+v 0.04932988 -0.04468215 0.00088074
+v 0.04770502 -0.04459144 0.00093527
+v 0.04609989 -0.05287590 0.00624492
+v 0.05730831 -0.05705507 0.00494379
+v 0.05636805 -0.05789158 0.00606102
+v 0.05551228 -0.05881879 0.00676165
+v 0.04874072 -0.04379525 0.00028535
+v 0.04932988 -0.04385572 0.00028535
+v 0.05068485 -0.04509536 0.00066896
+v 0.05730831 -0.05206962 0.00337259
+v 0.05730831 -0.05101139 0.00191297
+v 0.05009788 -0.05391062 0.00676167
+v 0.05730831 -0.05225439 0.00350765
+v 0.05098767 -0.05300692 0.00594056
+v 0.05477171 -0.05707523 0.00655305
+v 0.05454350 -0.05734063 0.00676166
+v 0.05167886 -0.05473033 0.00676167
+v 0.05323352 -0.05602036 0.00676166
+v 0.05432737 -0.05706515 0.00676166
+f 1 2 7
+f 1 7 13
+f 1 13 18
+f 1 18 27
+f 1 27 34
+f 1 34 46
+f 1 46 45
+f 1 45 48
+f 1 48 39
+f 1 39 29
+f 1 29 24
+f 1 24 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 6
+f 3 8 4
+f 4 8 9
+f 4 9 16
+f 4 16 23
+f 4 23 22
+f 4 22 21
+f 4 21 20
+f 4 20 28
+f 4 28 38
+f 4 38 31
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+f 4 25 17
+f 4 17 11
+f 4 11 5
+f 5 10 6
+f 5 11 10
+f 6 10 12
+f 6 12 7
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+f 7 14 13
+f 8 15 16
+f 8 16 9
+f 10 11 12
+f 11 17 26
+f 11 26 32
+f 11 32 42
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+f 11 33 27
+f 11 27 18
+f 11 18 14
+f 11 14 12
+f 13 14 18
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+f 19 24 29
+f 19 29 41
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+f 19 52 47
+f 19 47 35
+f 19 35 28
+f 19 28 20
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+f 27 33 34
+f 28 35 36
+f 28 36 37
+f 28 37 32
+f 28 32 38
+f 29 39 40
+f 29 40 41
+f 31 38 32
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+f 33 43 44
+f 33 44 45
+f 33 45 46
+f 33 46 34
+f 35 47 36
+f 36 48 43
+f 36 43 42
+f 36 42 37
+f 36 47 49
+f 36 49 48
+f 39 48 40
+f 40 48 50
+f 40 50 51
+f 40 51 41
+f 43 48 45
+f 43 45 44
+f 47 52 49
+f 48 49 52
+f 48 52 53
+f 48 53 54
+f 48 54 50
+f 50 54 51
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_89.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..461598dc85420e3f2511c5e84b87b7a1b2fcea7a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_89.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.04609762 -0.07744275 0.00376323
+v 0.03865937 -0.07737991 0.00361365
+v 0.04132548 -0.07740385 0.00366152
+v 0.04399387 -0.07742779 0.00370425
+v 0.04609762 -0.07744275 0.00287258
+v 0.04609762 -0.07695207 0.00476330
+v 0.02532427 -0.07531546 0.00901741
+v 0.03599099 -0.07734700 0.00355467
+v 0.03334081 -0.07731708 0.00301703
+v 0.03865937 -0.07737991 0.00293925
+v 0.04132548 -0.07740385 0.00291275
+v 0.04399387 -0.07742779 0.00288882
+v 0.03599099 -0.07300261 0.00028525
+v 0.03865937 -0.07304151 0.00028525
+v 0.04399387 -0.07308938 0.00028525
+v 0.04609762 -0.07305348 0.00028525
+v 0.04609762 -0.07682042 0.00502998
+v 0.02789703 -0.07519877 0.00901741
+v 0.02284030 -0.07513295 0.00901741
+v 0.02900354 -0.07723032 0.00324440
+v 0.03065876 -0.07727220 0.00335381
+v 0.03332487 -0.07731409 0.00347604
+v 0.03599099 -0.07734700 0.00297429
+v 0.03065876 -0.07727220 0.00308370
+v 0.03065876 -0.07587494 0.00220160
+v 0.03332487 -0.07587494 0.00211270
+v 0.03599099 -0.07587195 0.00205629
+v 0.03334081 -0.07260767 0.00028952
+v 0.03378934 -0.07263759 0.00028525
+v 0.02284030 -0.07556078 0.00233152
+v 0.04609762 -0.05284853 0.00028533
+v 0.04609762 -0.07548300 0.00647793
+v 0.04609762 -0.07515687 0.00668991
+v 0.04609762 -0.07504617 0.00676086
+v 0.03334081 -0.06983412 0.00901743
+v 0.02284030 -0.07601558 0.00444875
+v 0.02284030 -0.07107281 0.00901743
+v 0.02900354 -0.07723032 0.00314524
+v 0.03334081 -0.07249697 0.00028525
+v 0.02284030 -0.07462429 0.00199134
+v 0.02284030 -0.07455248 0.00196569
+v 0.02284030 -0.07560566 0.00247854
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_9.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f7cffca647d1603e8e1ec870b468e8bc0dea051
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_9.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_90.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecfc9e2f26819ff89b2eafdd46a6a92b6bb846fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_90.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.01410854 -0.08041296 -0.01076194
+v 0.01198380 -0.08035353 -0.01076194
+v 0.01121100 -0.08031032 -0.01147516
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+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_91.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85860c56d69be9954815c74581b350040d3e1f9f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_91.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.01410854 -0.05282139 -0.00225270
+v 0.01142952 -0.05282139 -0.00225270
+v 0.01410854 -0.05282138 -0.00605314
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+v -0.00404056 -0.02982639 -0.01052436
+v -0.00401747 -0.02982642 -0.00375049
+v 0.00665064 -0.03849537 -0.01053183
+v 0.00665064 -0.03582331 -0.01048142
+v 0.00931722 -0.03582331 -0.01042606
+v -0.00401747 -0.02982639 -0.01052353
+v 0.00665064 -0.03315351 -0.01035500
+v -0.00404056 -0.02982642 -0.00397438
+f 1 2 5
+f 1 5 13
+f 1 13 24
+f 1 24 39
+f 1 39 26
+f 1 26 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 19
+f 1 19 33
+f 1 33 22
+f 1 22 11
+f 1 11 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 21
+f 4 21 36
+f 4 36 35
+f 4 35 34
+f 4 34 45
+f 4 45 40
+f 4 40 47
+f 4 47 41
+f 4 41 25
+f 4 25 14
+f 4 14 6
+f 5 12 13
+f 5 6 14
+f 5 14 12
+f 7 15 16
+f 7 16 17
+f 7 17 9
+f 7 9 8
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 11 20 21
+f 11 22 20
+f 12 23 38
+f 12 38 47
+f 12 47 40
+f 12 40 24
+f 12 24 13
+f 12 14 23
+f 14 25 23
+f 15 26 27
+f 15 27 28
+f 15 28 18
+f 15 18 16
+f 16 18 17
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 20 22 37
+f 20 37 34
+f 22 33 37
+f 23 25 38
+f 24 40 39
+f 25 41 38
+f 26 39 27
+f 27 39 29
+f 27 29 28
+f 29 39 30
+f 30 39 31
+f 31 39 42
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 32 44 40
+f 32 40 45
+f 32 45 46
+f 32 46 37
+f 32 37 33
+f 34 37 46
+f 34 46 45
+f 38 41 47
+f 39 40 42
+f 40 44 43
+f 40 43 42
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_92.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d87c78008231cf9459eeb35c3dc6c843c7db920a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_92.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.06419799 0.08094424 0.00569286
+v -0.06266644 0.08090293 0.00569286
+v -0.06270078 0.08091892 0.00444787
+v -0.06463201 0.08064965 0.00444787
+v -0.06512223 0.08081495 0.00569286
+v -0.05070754 0.07943263 0.00569285
+v -0.06057910 0.08053902 0.00285034
+v -0.06270078 0.08049237 0.00292656
+v -0.06404655 0.08033641 0.00317217
+v -0.06638369 0.07919002 0.00569285
+v -0.05070754 0.07296361 0.00569283
+v -0.05070754 0.07815964 0.00028517
+v -0.05790942 0.07870483 0.00028517
+v -0.05552388 0.07872483 0.00028517
+v -0.05943316 0.07828361 0.00028517
+v -0.06414803 0.07899275 0.00308323
+v -0.06539857 0.07899274 0.00444786
+v -0.06647424 0.07899274 0.00569285
+v -0.05949405 0.07818630 0.00028517
+v -0.06011854 0.07632277 0.00028516
+v -0.06108181 0.07632277 0.00081503
+v -0.05070754 0.06732640 0.00128346
+v -0.05632947 0.06732638 0.00569281
+v -0.05070754 0.06732640 0.00028513
+v -0.06270078 0.07632276 0.00191181
+v -0.06423546 0.07632276 0.00300965
+v -0.06556249 0.07632275 0.00444785
+v -0.06665690 0.07632275 0.00569284
+v -0.06097720 0.06831414 0.00086369
+v -0.05988748 0.06831414 0.00028513
+v -0.06270078 0.06831413 0.00198059
+v -0.06656011 0.06732638 0.00569281
+v -0.05983908 0.06732640 0.00028513
+v -0.06421516 0.06831413 0.00302973
+v -0.06553283 0.07098411 0.00444783
+v -0.06664442 0.07365410 0.00569283
+v -0.06095222 0.06732640 0.00087957
+v -0.06270078 0.06732639 0.00200812
+v -0.06420267 0.06732639 0.00304138
+v -0.06593562 0.06732638 0.00495863
+v -0.06467728 0.06732639 0.00355377
+v -0.06551409 0.06831412 0.00444782
+v -0.06589191 0.06732638 0.00490781
+v -0.06549536 0.06732638 0.00444782
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 18
+f 1 18 28
+f 1 28 36
+f 1 36 32
+f 1 32 23
+f 1 23 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 22
+f 6 22 24
+f 6 24 12
+f 6 12 7
+f 7 13 8
+f 7 12 14
+f 7 14 13
+f 8 13 15
+f 8 15 9
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 9 15 19
+f 9 19 20
+f 9 20 21
+f 9 21 16
+f 11 23 22
+f 12 24 33
+f 12 33 30
+f 12 30 20
+f 12 20 19
+f 12 19 15
+f 12 15 13
+f 12 13 14
+f 16 21 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 20 29 21
+f 20 30 29
+f 21 29 31
+f 21 31 25
+f 22 23 32
+f 22 32 40
+f 22 40 43
+f 22 43 44
+f 22 44 41
+f 22 41 39
+f 22 39 38
+f 22 38 37
+f 22 37 33
+f 22 33 24
+f 25 31 34
+f 25 34 26
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 29 30 33
+f 29 33 37
+f 29 37 38
+f 29 38 31
+f 31 38 39
+f 31 39 34
+f 32 36 40
+f 34 39 41
+f 34 41 42
+f 34 42 35
+f 35 42 36
+f 36 42 40
+f 40 42 43
+f 41 44 42
+f 42 44 43
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_93.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b4a3fe6118199b32f7f33ea5f28f59f5b31eeb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_93.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01988068 -0.03219364 0.00028476
+v 0.01924970 -0.03261964 0.00116263
+v 0.01982964 -0.03297278 0.00028476
+v 0.01975882 -0.03048254 0.00028477
+v 0.01932370 -0.03048254 0.00125779
+v 0.01790479 -0.03261964 0.00116263
+v 0.01465289 -0.02781335 0.00196078
+v 0.01750412 -0.03291894 0.00028476
+v 0.01946151 -0.02950702 0.00028477
+v 0.01895047 -0.02879835 0.00094477
+v 0.01725084 -0.02787035 0.00130603
+v 0.01465289 -0.03002646 0.00140528
+v 0.01336349 -0.02966143 0.00119315
+v 0.01465289 -0.02573958 0.00120072
+v 0.01336349 -0.02544819 0.00112492
+v 0.01336349 -0.02781335 0.00160609
+v 0.01336349 -0.02911112 0.00133129
+v 0.01336349 -0.02988788 0.00028477
+v 0.01904107 -0.02867245 0.00028477
+v 0.01699053 -0.02660661 0.00028478
+v 0.01631680 -0.02622179 0.00091164
+v 0.01461525 -0.02511801 0.00028479
+v 0.01336349 -0.02488363 0.00028479
+v 0.01336349 -0.02512118 0.00063833
+v 0.01644632 -0.02611965 0.00028478
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 23
+f 1 23 22
+f 1 22 25
+f 1 25 20
+f 1 20 19
+f 1 19 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 6
+f 3 6 8
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 7
+f 6 12 13
+f 6 13 8
+f 6 7 12
+f 7 11 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 12
+f 8 13 18
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 14
+f 12 17 13
+f 13 17 16
+f 13 16 15
+f 13 15 24
+f 13 24 23
+f 13 23 18
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 20 25 21
+f 21 25 22
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_94.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef3ab382010605e7682b9ddb31a4930a6e7e05df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_94.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.04589237 -0.07737484 -0.00609534
+v 0.04589237 -0.07694379 -0.00543808
+v 0.04458989 -0.07733244 -0.00609534
+v 0.04589237 -0.05932927 -0.00609528
+v 0.04589237 -0.07668764 -0.00507323
+v 0.04208212 -0.07723351 -0.00609534
+v 0.03499892 -0.06354609 -0.00609529
+v 0.03448173 -0.06322281 -0.00582015
+v 0.03448173 -0.06278469 -0.00526724
+v 0.03448173 -0.06165940 -0.00338480
+v 0.03448173 -0.06153220 -0.00315770
+v 0.03448173 -0.06110999 -0.00226095
+v 0.04589237 -0.05935401 -0.00226095
+v 0.04399338 -0.07662228 -0.00512878
+v 0.03712131 -0.07697736 -0.00609534
+v 0.03959445 -0.07711515 -0.00609534
+v 0.04589237 -0.07535389 -0.00382965
+v 0.03599309 -0.07499527 -0.00404173
+v 0.03448173 -0.06383051 -0.00609529
+v 0.03448173 -0.07166351 -0.00226099
+v 0.04589237 -0.07244434 -0.00226100
+v 0.03465040 -0.07683250 -0.00609534
+v 0.04132588 -0.07651982 -0.00521061
+v 0.04589237 -0.07374630 -0.00293740
+v 0.03448173 -0.07493343 -0.00408828
+v 0.03865948 -0.07642442 -0.00530520
+v 0.03448173 -0.07682014 -0.00609534
+v 0.04589237 -0.07303261 -0.00254515
+v 0.03599309 -0.07633080 -0.00540805
+v 0.03448173 -0.07626720 -0.00546398
+f 1 2 3
+f 1 3 6
+f 1 6 16
+f 1 16 15
+f 1 15 22
+f 1 22 27
+f 1 27 19
+f 1 19 7
+f 1 7 4
+f 1 4 13
+f 1 13 21
+f 1 21 28
+f 1 28 24
+f 1 24 17
+f 1 17 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 5 17 18
+f 5 18 14
+f 7 19 8
+f 8 19 27
+f 8 27 30
+f 8 30 25
+f 8 25 20
+f 8 20 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 12 20 21
+f 12 21 13
+f 14 22 15
+f 14 18 23
+f 14 23 22
+f 17 24 18
+f 18 25 26
+f 18 26 23
+f 18 24 20
+f 18 20 25
+f 20 24 28
+f 20 28 21
+f 22 23 26
+f 22 26 29
+f 22 29 27
+f 25 30 29
+f 25 29 26
+f 27 29 30
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_95.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c32884956b36449155c22b0d89e52eeddb314e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_95.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.07946407 0.07098145 0.00028514
+v 0.07943568 0.07193736 0.00028514
+v 0.07901686 0.07365226 0.00191347
+v 0.07909376 0.07098144 0.00191346
+v 0.07878142 0.05034541 0.00191338
+v 0.07901686 0.05034542 0.00072650
+v 0.07910441 0.05034542 0.00028506
+v 0.07933275 0.07365227 0.00028515
+v 0.07778171 0.07576353 0.00444798
+v 0.07776397 0.07573762 0.00453960
+v 0.07818751 0.07375328 0.00453959
+v 0.07823247 0.07365225 0.00444797
+v 0.07807393 0.05763251 0.00444791
+v 0.07804554 0.05496428 0.00444790
+v 0.07798757 0.05034540 0.00444788
+v 0.07856965 0.05034541 0.00259968
+v 0.06737875 0.05034542 0.00028506
+v 0.07900976 0.07444497 0.00028515
+v 0.07773084 0.07578166 0.00453960
+v 0.07811179 0.07586457 0.00191348
+v 0.07596093 0.07681009 0.00453960
+v 0.07819461 0.07365225 0.00453959
+v 0.07803844 0.05763251 0.00453953
+v 0.07801005 0.05496428 0.00453952
+v 0.07795326 0.05046715 0.00453951
+v 0.07795089 0.05034540 0.00453950
+v 0.06737875 0.05034541 0.00375158
+v 0.06737875 0.07552781 0.00028516
+v 0.07824075 0.07578168 0.00028516
+v 0.07594673 0.07681009 0.00453960
+v 0.06744974 0.05034540 0.00453950
+v 0.06737875 0.05044643 0.00453951
+v 0.06737875 0.07553299 0.00058417
+v 0.07613839 0.07576873 0.00028516
+v 0.07407271 0.07618578 0.00453960
+v 0.06737875 0.07554852 0.00185059
+v 0.06737875 0.07554075 0.00240613
+v 0.06737875 0.07538532 0.00295043
+v 0.06737875 0.07500970 0.00337146
+v 0.06737875 0.06733658 0.00453957
+v 0.06737875 0.07396054 0.00375833
+v 0.06737875 0.07365226 0.00386328
+v 0.06737875 0.06848418 0.00445711
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 28
+f 1 28 34
+f 1 34 29
+f 1 29 18
+f 1 18 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 15
+f 5 15 26
+f 5 26 31
+f 5 31 27
+f 5 27 17
+f 5 17 7
+f 5 7 6
+f 8 18 9
+f 9 19 10
+f 9 18 20
+f 9 20 21
+f 9 21 19
+f 10 19 21
+f 10 21 30
+f 10 30 35
+f 10 35 40
+f 10 40 32
+f 10 32 31
+f 10 31 26
+f 10 26 25
+f 10 25 24
+f 10 24 23
+f 10 23 22
+f 10 22 11
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 14
+f 14 24 15
+f 15 25 26
+f 15 24 25
+f 17 27 32
+f 17 32 40
+f 17 40 43
+f 17 43 42
+f 17 42 41
+f 17 41 39
+f 17 39 38
+f 17 38 37
+f 17 37 36
+f 17 36 33
+f 17 33 28
+f 18 29 20
+f 20 29 21
+f 21 29 30
+f 27 31 32
+f 28 33 30
+f 28 30 34
+f 29 34 30
+f 30 33 36
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 35
+f 35 39 41
+f 35 41 42
+f 35 42 43
+f 35 43 40
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_96.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0149e131ca5f70226dd99245b728c2cfa3bd35b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_96.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.06677283 0.07556267 0.00028516
+v 0.06917353 0.07543078 0.00028516
+v 0.06986724 0.07538025 -0.00062233
+v 0.06781339 0.07548995 -0.00079835
+v 0.05695568 0.07539135 -0.00315737
+v 0.05695568 0.07533219 -0.00142620
+v 0.05695568 0.07408851 0.00028515
+v 0.06970875 0.07529273 0.00028516
+v 0.06988283 0.07529891 -0.00315737
+v 0.07022578 0.07491434 -0.00061548
+v 0.07022578 0.07511401 -0.00129591
+v 0.07022578 0.07506226 -0.00315737
+v 0.05695568 0.07510170 -0.00430031
+v 0.06960872 0.07511896 -0.00510265
+v 0.06878251 0.07511896 -0.00510265
+v 0.06798097 0.07457911 -0.00749903
+v 0.05695568 0.06297319 0.00028511
+v 0.07022578 0.07462345 0.00028515
+v 0.07022578 0.07481575 -0.00450910
+v 0.05695568 0.07504624 -0.00449156
+v 0.07022578 0.07461484 -0.00558270
+v 0.07022578 0.07364975 -0.00749903
+v 0.05695568 0.07176761 -0.00749904
+v 0.05695568 0.06297321 -0.00595762
+v 0.07022578 0.06297319 0.00028511
+v 0.07022578 0.06556532 -0.00749906
+v 0.05695568 0.06571816 -0.00749906
+v 0.05947979 0.06297322 -0.00749907
+v 0.07022578 0.06297321 -0.00411978
+v 0.07022578 0.06302252 -0.00419216
+v 0.06845254 0.06297322 -0.00749907
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 25
+f 1 25 18
+f 1 18 8
+f 1 8 2
+f 2 8 3
+f 3 9 4
+f 3 8 10
+f 3 10 11
+f 3 11 12
+f 3 12 9
+f 4 9 5
+f 5 13 20
+f 5 20 23
+f 5 23 27
+f 5 27 24
+f 5 24 17
+f 5 17 7
+f 5 7 6
+f 5 9 14
+f 5 14 15
+f 5 15 16
+f 5 16 13
+f 8 18 10
+f 9 12 19
+f 9 19 14
+f 10 18 25
+f 10 25 29
+f 10 29 30
+f 10 30 26
+f 10 26 22
+f 10 22 21
+f 10 21 19
+f 10 19 12
+f 10 12 11
+f 13 16 20
+f 14 19 21
+f 14 21 22
+f 14 22 16
+f 14 16 15
+f 16 22 26
+f 16 26 31
+f 16 31 28
+f 16 28 27
+f 16 27 23
+f 16 23 20
+f 17 24 28
+f 17 28 31
+f 17 31 29
+f 17 29 25
+f 24 27 28
+f 26 30 31
+f 29 31 30
+
diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_97.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e69c98c8700a7d547e82c8e48dd8713b268176b1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_97.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.07944019 0.06309488 -0.00561442
+v 0.07943929 0.06309488 -0.00569272
+v 0.07933739 0.06309488 -0.00561442
+v 0.07942847 0.03634102 -0.00561452
+v 0.07942847 0.03634102 -0.00569282
+v 0.07922556 0.06309489 -0.00811126
+v 0.07558306 0.06297441 -0.00561442
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_98.obj b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_98.obj
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index 0000000000000000000000000000000000000000..fbb5984d0af5a99b518efa9533a1279446872ebe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/mjcf/mesh/napkin_collision_98.obj
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/textures/material_0.png b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/textures/material_0.png
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+++ b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/video.mp4 b/dataset/kitchen_supplies/tableware/6d72e2bda69a53b387e34bb6eccd80db/video.mp4
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