diff --git a/.gitattributes b/.gitattributes
index a40c93477dbf7140b2a467c39c5f21e31b6dd456..15ba148598e664ea4c76fee756c86e2538824e16 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4143,5 +4143,6 @@ dataset/kitchen_supplies/tableware/296122b6b55d5ef19926256abd615b27/mesh/tray_05
 dataset/kitchen_supplies/tableware/296122b6b55d5ef19926256abd615b27/tray_050.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2bb12fb230d853f4b5de689f8fd38125/chopsticks_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2bb12fb230d853f4b5de689f8fd38125/mesh/chopsticks_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/2656f6c2dd8e58af9a31ae47abf5c14e/mesh/tray_043.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/2656f6c2dd8e58af9a31ae47abf5c14e/tray_043.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/2e0e3260adec5432a7ee428aee3a02bd.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/red_napkin.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/red_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/2e0e3260adec5432a7ee428aee3a02bd.urdf b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/2e0e3260adec5432a7ee428aee3a02bd.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5f769b9fb51f788594a8999e3e7c32b98d0a1f38
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/2e0e3260adec5432a7ee428aee3a02bd.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="red_napkin">
+   <link name="red_napkin">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/red_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/red_napkin_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>0.188364</scale>
+         <version>v0.1.7</version>
+         <category>red napkin</category>
+         <description>folded red napkin with layered edges and compact structure</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <generate_time>20260120024225</generate_time>
+         <gs_model>mesh/red_napkin_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: overlapping and redundant geometry visible.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>3.7333297729492188</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/2e0e3260adec5432a7ee428aee3a02bd/2e0e3260adec5432a7ee428aee3a02bd.usd b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/2e0e3260adec5432a7ee428aee3a02bd.usd
new file mode 100644
index 0000000000000000000000000000000000000000..24a3d1a88215e4da1c288af287fa03165ce4902e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/2e0e3260adec5432a7ee428aee3a02bd.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2d13a958fe6badcbcfcb34b8b133665c1e39bc2ea45194fb85c40e339bb2217
+size 901775
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/material.mtl b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/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/2e0e3260adec5432a7ee428aee3a02bd/mesh/material_0.png b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd9ac6344b62a98e1f2f80666e31f660708eefd1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bacfbf62930515112d18421e268aee5ac71d5646eb4c1b433c998a60b806867f
+size 2117189
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/red_napkin.glb b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/red_napkin.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6e4df5bd2e17fb1a8b801207676c6f17b9f4332f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/red_napkin.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66729ad7fe2e2b6f637339dfb695b6ae2b496014d81b64ed2cf70adae024641b
+size 2747868
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/red_napkin.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/red_napkin.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cbb2beb4a21a1ceed1015e88a34cd395067b135
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/red_napkin.obj
@@ -0,0 +1,57985 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/red_napkin_collision.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/red_napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d3b0cb71fabb953f4b118b3bee5063d7ff72928
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/red_napkin_collision.obj
@@ -0,0 +1,14042 @@
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/red_napkin_gs.ply b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mesh/red_napkin_gs.ply
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--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..af58079bd98f9431249434eb6534a6154b38b1ff
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd9ac6344b62a98e1f2f80666e31f660708eefd1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bacfbf62930515112d18421e268aee5ac71d5646eb4c1b433c998a60b806867f
+size 2117189
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f719cff6ef4d9c4ce07b00a06790e0ab012bd7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin.obj
@@ -0,0 +1,57985 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.031612 -0.084087 0.014960
+v 0.031001 -0.084735 0.014944
+v 0.030372 -0.085309 0.014549
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+v 0.011831 -0.051197 0.011013
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+v 0.011579 -0.051629 0.011486
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+v -0.027539 -0.080016 0.015840
+v -0.037106 -0.078388 0.015695
+v 0.054691 0.083349 -0.005603
+v 0.055688 0.084637 -0.005621
+v 0.053322 0.082396 -0.005707
+v 0.022514 0.014725 -0.018592
+v 0.022278 0.007625 -0.018666
+v 0.005964 0.005561 -0.018697
+v 0.039053 0.009913 -0.018621
+v 0.038081 0.014383 -0.018550
+v 0.023078 0.000265 -0.018684
+v 0.031192 -0.013420 -0.018679
+v 0.017134 -0.005915 -0.018690
+v 0.031314 0.001508 -0.018659
+v 0.047299 -0.016050 -0.018587
+v 0.039311 -0.021427 -0.018637
+v 0.042060 -0.007617 -0.018657
+v 0.021725 -0.016085 -0.018692
+v 0.002292 -0.003982 -0.018717
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2e20595e158aa40d44b3d54a68bfc8265cea5f4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision.obj
@@ -0,0 +1,14042 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_0.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10fb120b564537d25f692ab87e412e5ee062cb28
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_0.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+v -0.06180937 0.04112686 0.00664608
+v -0.06179239 0.03871865 0.00664607
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+v -0.05601340 0.00262575 0.00664594
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+v -0.05578134 0.01699583 0.00664599
+v -0.00411007 0.04112685 0.00935545
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+v -0.02836936 0.00262574 0.00739306
+v -0.05581530 0.01378112 0.00664598
+v -0.05854914 0.00262573 0.01220777
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+v -0.00411007 0.04112683 0.01305148
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+v -0.02526762 0.00262574 0.00755908
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+v -0.05815859 0.04112683 0.01429667
+v -0.00516852 0.04112683 0.01318035
+v -0.00411007 0.03247388 0.01326333
+v -0.00411007 0.00262573 0.00976405
+v -0.02404503 0.00262574 0.00767372
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+v -0.05195510 0.00262572 0.01388463
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_1.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f49305ec805908fc7a706b24f391d14d0539c85e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_1.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.00411007 0.04112685 0.00935498
+v -0.00411007 0.04112683 0.01305163
+v -0.00232308 0.04112685 0.00908509
+v -0.00411007 0.03871864 0.00936335
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+v -0.00411007 0.02448799 0.01342967
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_10.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6369ea6eeb95c77a7e63484fb4d0f85797a5e315
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_10.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
+v -0.06114386 -0.06645134 0.00635625
+v -0.06116044 -0.06778466 0.00635624
+v -0.06122122 -0.07946137 0.00859698
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+v -0.05529742 -0.06645134 0.00635625
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+v -0.06099466 -0.06645135 0.00818436
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+v -0.06124333 -0.07946136 0.00635620
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_11.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd2be63986aff7a60cadb4680a2d7dcffdb8af46
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_12.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e93f57889af094761351f65f8c4cf5ca2ee2d377
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_12.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_13.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ca33e7a575cfda47c2c68cbb873df80bb5d38b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_13.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_14.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..160e902673585785768679757057fb0d117e5276
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_15.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4117c53e33deaa57ab80faf2469e1476180786f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_15.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_16.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eb1d6553544e190940d5f1b6814df7730450796
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_16.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_17.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5af82fd8f3ca7de1ef902b083b468a7f5c4a3ab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_17.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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+f 29 47 48
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+f 32 34 51
+f 32 51 50
+f 33 49 52
+f 33 52 34
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+f 36 53 54
+f 36 54 55
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+f 59 82 62
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+f 68 93 69
+f 69 93 94
+f 69 94 95
+f 69 95 96
+f 69 96 70
+f 70 96 71
+f 71 97 76
+f 71 96 98
+f 71 98 88
+f 71 88 81
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+f 73 99 74
+f 74 99 75
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+f 83 91 84
+f 84 100 85
+f 84 91 101
+f 84 101 102
+f 84 102 103
+f 84 103 100
+f 88 98 104
+f 88 104 105
+f 88 105 106
+f 88 106 89
+f 89 106 94
+f 89 94 107
+f 89 107 90
+f 90 107 91
+f 91 108 102
+f 91 102 101
+f 91 107 109
+f 91 109 110
+f 91 110 108
+f 92 111 93
+f 93 111 107
+f 93 107 94
+f 94 106 112
+f 94 112 95
+f 95 112 104
+f 95 104 98
+f 95 98 96
+f 102 113 103
+f 102 108 110
+f 102 110 114
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+f 102 115 113
+f 104 112 105
+f 105 112 106
+f 107 111 116
+f 107 116 109
+f 109 116 117
+f 109 117 110
+f 110 117 118
+f 110 118 114
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_18.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b497cac710586edf07c76b07a39efcd9ae3c9965
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_18.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.05097546 0.04112693 -0.01483828
+v -0.05411057 0.04112692 -0.00963972
+v -0.05097546 0.04112695 -0.01870468
+v -0.05097546 0.04817157 -0.01471450
+v -0.05954753 0.04112692 -0.00963972
+v -0.05405849 0.04807578 -0.00963969
+v -0.05506255 0.04112695 -0.01881933
+v -0.05816329 0.06687582 -0.01893570
+v -0.05097546 0.04183015 -0.01870377
+v -0.05097546 0.05114570 -0.01469265
+v -0.06042244 0.04112693 -0.01249698
+v -0.06063284 0.06687579 -0.00963962
+v -0.05404495 0.05115829 -0.00963968
+v -0.05746232 0.04112695 -0.01841440
+v -0.05831432 0.06687582 -0.01887292
+v -0.05097546 0.06687582 -0.01862905
+v -0.05097546 0.05737878 -0.01866458
+v -0.05097546 0.05639076 -0.01866731
+v -0.05816329 0.04112695 -0.01829611
+v -0.05097546 0.05231770 -0.01469083
+v -0.06097656 0.04112694 -0.01514949
+v -0.05624473 0.06687579 -0.00963962
+v -0.06161608 0.06687581 -0.01514939
+v -0.05097546 0.05525403 -0.01476999
+v -0.05409286 0.05385517 -0.00963967
+v -0.06084115 0.06687582 -0.01779098
+v -0.05097546 0.06687581 -0.01525039
+v -0.05979334 0.04112694 -0.01745349
+v -0.06043078 0.04112694 -0.01674100
+v -0.05614474 0.06653049 -0.00963963
+v -0.05410119 0.05426852 -0.00963967
+v -0.06026934 0.04112694 -0.01720689
+v -0.05489278 0.06004034 -0.00963965
+v -0.05438033 0.05737875 -0.00963966
+v -0.05432721 0.05693263 -0.00963966
+f 1 2 5
+f 1 5 11
+f 1 11 21
+f 1 21 29
+f 1 29 32
+f 1 32 28
+f 1 28 19
+f 1 19 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 17
+f 1 17 16
+f 1 16 27
+f 1 27 24
+f 1 24 20
+f 1 20 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 25
+f 2 25 31
+f 2 31 35
+f 2 35 34
+f 2 34 33
+f 2 33 30
+f 2 30 22
+f 2 22 12
+f 2 12 5
+f 3 7 8
+f 3 8 9
+f 4 10 6
+f 5 12 11
+f 6 10 13
+f 7 14 8
+f 8 15 26
+f 8 26 23
+f 8 23 12
+f 8 12 22
+f 8 22 27
+f 8 27 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 14 19
+f 8 19 15
+f 10 20 13
+f 11 12 21
+f 12 23 21
+f 13 20 24
+f 13 24 25
+f 15 19 26
+f 19 28 26
+f 21 23 26
+f 21 26 29
+f 22 30 27
+f 24 27 31
+f 24 31 25
+f 26 28 32
+f 26 32 29
+f 27 30 33
+f 27 33 34
+f 27 34 35
+f 27 35 31
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_19.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c0b4e11aa46555113861fe6c331e2b762c43580
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_19.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.05075789 -0.07576583 -0.00039260
+v -0.05518272 -0.05768552 0.00635562
+v -0.05530560 -0.06701730 0.00635558
+v -0.05577790 -0.07576585 0.00635555
+v -0.05966205 -0.07576583 -0.00039260
+v -0.05106242 -0.04526870 -0.00039249
+v -0.05516241 -0.04725633 0.00635566
+v -0.05515814 -0.04835373 0.00635565
+v -0.05515173 -0.05037204 0.00635564
+v -0.06123066 -0.07576585 0.00635555
+v -0.06000932 -0.07576583 0.00009828
+v -0.05972402 -0.07323336 -0.00039259
+v -0.05505877 0.00262577 -0.00039231
+v -0.05624485 0.00262575 0.00635584
+v -0.05622134 0.00167416 0.00635584
+v -0.06125524 -0.07576585 0.00562749
+v -0.06139629 0.00262575 0.00635584
+v -0.06151917 0.00262575 0.00562778
+v -0.06167304 0.00262576 0.00266001
+v -0.06022517 -0.07576583 0.00040417
+v -0.06088873 -0.02335128 -0.00039241
+v -0.06142407 0.00262577 -0.00039231
+v -0.06120930 -0.07576585 0.00507648
+v -0.06166449 0.00139790 0.00266001
+v -0.06144865 0.00139791 -0.00030841
+v -0.06158863 0.00262576 0.00148996
+v -0.06083638 -0.07576584 0.00223293
+v -0.06140698 -0.00171781 -0.00030843
+v -0.06137278 -0.00171781 -0.00039233
+v -0.06130760 -0.00471073 -0.00039234
+v -0.06095926 -0.02024324 -0.00039239
+v -0.06145827 0.00262577 -0.00030841
+v -0.06141553 0.00143628 -0.00039231
+v -0.06097635 -0.07576584 0.00265972
+f 1 2 3
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+f 1 10 16
+f 1 16 23
+f 1 23 34
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+f 1 27 20
+f 1 20 11
+f 1 11 5
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+f 1 33 22
+f 1 22 13
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+f 1 7 8
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+f 13 17 14
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+f 16 25 23
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+f 20 29 30
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+f 22 33 32
+f 23 25 34
+f 24 26 32
+f 24 32 25
+f 25 32 33
+f 25 33 28
+f 25 28 34
+f 27 34 28
+f 28 33 29
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_2.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c8bc4fcb2df9e6b73c4da5c7546850662f1207
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_2.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02306698 -0.04840391 0.01169483
+v 0.02306698 -0.04840390 0.00784594
+v 0.02306698 -0.04839393 0.01254126
+v 0.02249150 -0.04840392 0.01251938
+v 0.01288296 -0.04840390 0.00684562
+v 0.02306698 -0.04835895 0.00783764
+v -0.00479589 -0.04840392 0.01432539
+v 0.02306698 0.00262573 0.01181271
+v 0.00077886 0.00262572 0.01335393
+v 0.02249150 -0.04524702 0.00751704
+v 0.02306698 -0.04582145 0.00761586
+v 0.01012831 -0.04840389 0.00662383
+v 0.02306698 -0.03792424 0.00710819
+v 0.02306698 -0.03913805 0.00717759
+v -0.00479589 -0.04840390 0.00701083
+v -0.00232216 0.00262572 0.01350330
+v -0.00479589 0.00262572 0.01352744
+v 0.02306698 0.00262574 0.00756550
+v 0.02306698 -0.04524702 0.00757362
+v 0.01008467 -0.04840389 0.00662157
+v 0.01008467 -0.04835894 0.00661855
+v 0.02306698 -0.03645569 0.00708179
+v -0.00479589 -0.04594133 0.00697765
+v -0.00479589 0.00262573 0.00976228
+v -0.00479589 -0.02345852 0.00703431
+v -0.00479589 -0.02149046 0.00707053
+v -0.00479589 -0.02118576 0.00707732
+v 0.02249150 0.00262574 0.00757531
+v 0.02306698 -0.02769933 0.00709691
+v 0.02249150 -0.02969736 0.00705466
+v 0.02306698 -0.02969736 0.00706748
+v 0.02306698 -0.03280929 0.00705238
+v 0.02306698 -0.03358852 0.00705691
+v 0.02306698 -0.03590124 0.00707199
+v -0.00479589 -0.02721981 0.00701544
+v -0.00479589 -0.02410788 0.00702450
+v 0.01318569 0.00262574 0.00801285
+v -0.00479589 -0.01726463 0.00741304
+v -0.00479589 -0.02007686 0.00715503
+v 0.01628672 0.00262574 0.00781445
+v 0.01816588 0.00262574 0.00773448
+v 0.01939048 0.00262574 0.00768243
+v 0.01506486 0.00262574 0.00789064
+f 1 2 6
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+f 10 19 11
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+f 13 21 22
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+f 15 23 21
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 29 30
+f 18 30 21
+f 18 21 25
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+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 21 23 35
+f 21 35 36
+f 21 36 25
+f 24 37 38
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 29 31 30
+f 37 43 39
+f 37 39 38
+f 39 43 40
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_20.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adaa5e1a1c7bbddfd313370feb0094395dca613c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_20.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.05846912 0.04112690 -0.00661929
+v 0.05838798 0.04112691 -0.00794502
+v 0.05846560 0.04112690 -0.00620217
+v 0.05826449 0.03644617 -0.00691221
+v 0.05826449 0.03644617 -0.00782466
+v 0.05834211 0.03871870 -0.00790286
+v 0.05661335 0.04112691 -0.00850553
+v 0.05603121 0.00262580 -0.00834848
+v 0.05825038 0.04112690 -0.00462340
+v 0.05821157 0.03957419 -0.00468398
+v 0.05833505 0.03860940 -0.00605113
+v 0.05640872 0.00262579 -0.00624371
+v 0.05351215 0.02938739 -0.00896333
+v 0.05351215 0.03249280 -0.00894568
+v 0.05351215 0.04112691 -0.00880610
+v 0.05503276 0.00262580 -0.00856011
+v 0.05351215 0.00762311 -0.00891587
+v 0.05351215 0.01073229 -0.00892966
+v 0.05351215 0.02627820 -0.00895950
+v 0.05793638 0.04112690 -0.00435350
+v 0.05648281 0.03850764 -0.00178945
+v 0.05691323 0.03560573 -0.00178946
+v 0.05693793 0.03249278 -0.00178947
+v 0.05685326 0.02938737 -0.00178948
+v 0.05813748 0.03750140 -0.00493395
+v 0.05543849 0.00262579 -0.00450929
+v 0.02559791 0.03871871 -0.00957977
+v 0.02559791 0.04112692 -0.00957593
+v 0.02630000 0.04112692 -0.00955676
+v 0.05351215 0.00262580 -0.00887755
+v 0.05351215 0.00451016 -0.00889287
+v 0.05450708 0.04112689 -0.00178944
+v 0.05629935 0.02602945 -0.00178949
+v 0.05090137 0.00262578 -0.00178958
+v 0.02249672 0.03871871 -0.00962195
+v 0.02319881 0.04112692 -0.00961043
+v 0.03490148 0.00262580 -0.00882004
+v 0.02242969 0.03567737 -0.00957825
+v 0.02242969 0.03871871 -0.00962271
+v 0.04806831 0.04112689 -0.00178944
+v 0.04397220 0.00262578 -0.00178958
+v 0.02249672 0.04112692 -0.00961887
+v 0.03180029 0.00262580 -0.00877097
+v 0.02242969 0.03560576 -0.00957595
+v 0.02242969 0.04112692 -0.00961964
+v 0.02242969 0.04112690 -0.00499988
+v 0.04449083 0.00762309 -0.00178956
+v 0.02983162 0.00262579 -0.00471402
+v 0.02242969 0.03871869 -0.00497459
+v 0.02242969 0.03560574 -0.00500220
+v 0.02242969 0.03553790 -0.00500450
+v 0.02869910 0.00262580 -0.00832548
+v 0.02242969 0.02316902 -0.00894034
+v 0.02831101 0.00262579 -0.00596308
+v 0.02242969 0.02627819 -0.00535494
+v 0.02242969 0.02316901 -0.00553438
+v 0.02706560 0.00262580 -0.00779104
+v 0.02374919 0.01384524 -0.00805247
+v 0.02242969 0.02007114 -0.00840133
+v 0.02756658 0.00262579 -0.00680038
+v 0.02242969 0.01997315 -0.00656953
+v 0.02706560 0.00262580 -0.00753801
+v 0.02397499 0.01211541 -0.00784085
+v 0.02242969 0.01997316 -0.00838216
+v 0.02397499 0.01211541 -0.00757709
+f 1 2 7
+f 1 7 15
+f 1 15 29
+f 1 29 28
+f 1 28 36
+f 1 36 42
+f 1 42 45
+f 1 45 46
+f 1 46 40
+f 1 40 32
+f 1 32 20
+f 1 20 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 2 8 7
+f 3 9 10
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+f 4 12 5
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+f 5 8 6
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+f 11 25 12
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+f 13 27 28
+f 13 28 14
+f 13 19 27
+f 14 28 29
+f 14 29 15
+f 16 30 31
+f 16 31 17
+f 17 31 27
+f 17 27 18
+f 18 27 19
+f 20 32 21
+f 21 32 40
+f 21 40 47
+f 21 47 41
+f 21 41 34
+f 21 34 33
+f 21 33 24
+f 21 24 23
+f 21 23 22
+f 24 33 26
+f 26 33 34
+f 27 35 36
+f 27 36 28
+f 27 31 30
+f 27 30 35
+f 30 37 38
+f 30 38 39
+f 30 39 35
+f 35 39 45
+f 35 45 42
+f 35 42 36
+f 37 43 38
+f 38 44 53
+f 38 53 59
+f 38 59 64
+f 38 64 61
+f 38 61 56
+f 38 56 55
+f 38 55 51
+f 38 51 50
+f 38 50 49
+f 38 49 46
+f 38 46 45
+f 38 45 39
+f 38 43 44
+f 40 46 47
+f 41 47 46
+f 41 46 49
+f 41 49 50
+f 41 50 51
+f 41 51 48
+f 43 52 53
+f 43 53 44
+f 48 51 55
+f 48 55 56
+f 48 56 54
+f 52 57 53
+f 53 57 58
+f 53 58 59
+f 54 56 61
+f 54 61 60
+f 57 62 65
+f 57 65 63
+f 57 63 58
+f 58 63 64
+f 58 64 59
+f 60 61 65
+f 60 65 62
+f 61 64 63
+f 61 63 65
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_21.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31ab0d03f2b5fe062e6a91d9ea64da5e3c817696
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_21.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.05097655 0.06687581 -0.01525035
+v -0.05624510 0.06687579 -0.00964054
+v -0.05097655 0.06687582 -0.01862930
+v -0.05097655 0.08370696 -0.00964508
+v -0.06063263 0.06687579 -0.00964054
+v -0.05097655 0.08377776 -0.00964048
+v -0.05816382 0.06687582 -0.01893564
+v -0.05816382 0.06981956 -0.01903775
+v -0.05097655 0.07293002 -0.01868264
+v -0.06185444 0.06981955 -0.01514915
+v -0.06161556 0.06687581 -0.01514916
+v -0.06213058 0.08536724 -0.00964048
+v -0.05097655 0.09020649 -0.00964046
+v -0.05831395 0.06687582 -0.01887309
+v -0.06098438 0.06981956 -0.01787126
+v -0.06103260 0.07293002 -0.01782157
+v -0.05816382 0.07293002 -0.01894758
+v -0.05097655 0.07604047 -0.01860903
+v -0.06203962 0.07293001 -0.01514914
+v -0.06084084 0.06687582 -0.01779123
+v -0.06098110 0.08855763 -0.00964046
+v -0.06186540 0.08536724 -0.01218228
+v -0.06217003 0.08225907 -0.01218229
+v -0.06215359 0.07604046 -0.01514913
+v -0.05097655 0.09010144 -0.00987965
+v -0.05196057 0.08987763 -0.01037826
+v -0.05196057 0.09019963 -0.00964046
+v -0.06209660 0.07914863 -0.01514912
+v -0.06099205 0.07604046 -0.01766057
+v -0.05816382 0.07604047 -0.01867159
+v -0.05097655 0.07816435 -0.01829532
+v -0.05876212 0.08994386 -0.00964046
+v -0.06054059 0.08769208 -0.01218227
+v -0.05996859 0.08709147 -0.01384553
+v -0.06056798 0.08536725 -0.01450422
+v -0.06115861 0.08250802 -0.01541589
+v -0.05097655 0.08987991 -0.01038378
+v -0.05196057 0.08865126 -0.01218226
+v -0.05506274 0.08861244 -0.01218226
+v -0.05506274 0.08985022 -0.01032030
+v -0.05506274 0.09015167 -0.00964046
+v -0.05344426 0.09017908 -0.00964046
+v -0.06080029 0.07914863 -0.01738734
+v -0.05816382 0.07914864 -0.01815089
+v -0.05506274 0.07914864 -0.01815733
+v -0.05097655 0.07914864 -0.01814813
+v -0.05816382 0.09004434 -0.00964046
+v -0.05816382 0.08979769 -0.01019979
+v -0.05816382 0.08720109 -0.01395592
+v -0.05816382 0.08536726 -0.01538920
+v -0.05816382 0.08370927 -0.01658421
+v -0.06033129 0.08163563 -0.01702027
+v -0.05816382 0.08851880 -0.01218226
+v -0.05097655 0.08865354 -0.01218226
+v -0.05196057 0.08725133 -0.01400192
+v -0.05506274 0.08723992 -0.01398996
+v -0.05816382 0.08215632 -0.01721622
+v -0.05506274 0.08220199 -0.01721806
+v -0.05097655 0.08218829 -0.01721530
+v -0.05097655 0.08122684 -0.01751060
+v -0.05506274 0.08536726 -0.01544808
+v -0.05506274 0.08375722 -0.01660813
+v -0.05097655 0.08724905 -0.01400008
+v -0.05097655 0.08665528 -0.01445821
+v -0.05196057 0.08536726 -0.01545452
+v -0.05097655 0.08325023 -0.01679672
+v -0.05097655 0.08536726 -0.01545084
+v -0.05097655 0.08374352 -0.01660077
+f 1 2 5
+f 1 5 11
+f 1 11 20
+f 1 20 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 31
+f 1 31 46
+f 1 46 60
+f 1 60 59
+f 1 59 66
+f 1 66 68
+f 1 68 67
+f 1 67 64
+f 1 64 63
+f 1 63 54
+f 1 54 37
+f 1 37 25
+f 1 25 13
+f 1 13 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 27
+f 2 27 42
+f 2 42 41
+f 2 41 47
+f 2 47 32
+f 2 32 21
+f 2 21 12
+f 2 12 5
+f 3 7 8
+f 3 8 9
+f 5 10 11
+f 5 12 10
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 19 20
+f 10 20 11
+f 10 12 19
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 19
+f 13 25 26
+f 13 26 27
+f 14 20 15
+f 15 19 24
+f 15 24 16
+f 15 20 19
+f 16 24 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 28
+f 22 28 23
+f 23 28 24
+f 25 37 26
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 28 36 43
+f 28 43 29
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 31
+f 32 47 48
+f 32 48 34
+f 32 34 33
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 35
+f 34 48 53
+f 34 53 49
+f 35 52 36
+f 36 52 43
+f 37 54 38
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 39 53 40
+f 39 56 49
+f 39 49 53
+f 40 48 41
+f 40 53 48
+f 41 48 47
+f 43 52 44
+f 44 52 57
+f 44 57 58
+f 44 58 45
+f 45 58 59
+f 45 59 60
+f 45 60 46
+f 49 56 50
+f 50 56 61
+f 50 61 51
+f 51 61 62
+f 51 62 57
+f 51 57 52
+f 54 63 55
+f 55 63 64
+f 55 64 65
+f 55 65 61
+f 55 61 56
+f 57 62 58
+f 58 62 59
+f 59 62 66
+f 61 65 62
+f 62 65 67
+f 62 67 68
+f 62 68 66
+f 64 67 65
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_22.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c025b6fd26575167ccf8fc74f0045a1788b8093
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_22.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00365224 0.06359410 0.01123792
+v -0.00365224 0.05634035 0.01027479
+v -0.00365224 0.06359408 0.01596252
+v 0.01350463 0.06359411 0.00818057
+v -0.00365224 0.05539679 0.01015179
+v -0.00365224 0.04112683 0.01298737
+v 0.05351063 0.04112682 0.01506688
+v 0.03489374 0.06359408 0.01673335
+v 0.01360320 0.06359411 0.00816498
+v -0.00365224 0.05384179 0.00997771
+v -0.00365224 0.04112685 0.00928564
+v 0.05661551 0.04112683 0.01470659
+v 0.05351063 0.06359408 0.01701310
+v 0.03799861 0.06359408 0.01678532
+v 0.01361552 0.05737850 0.00816496
+v 0.00147942 0.04112685 0.00860228
+v 0.00078329 0.04183067 0.00863779
+v -0.00365224 0.04627133 0.00941644
+v 0.04964187 0.06359411 0.00816498
+v -0.00365224 0.04183067 0.00927525
+v -0.00232158 0.04183067 0.00907431
+v -0.00232158 0.04112685 0.00908557
+v 0.05853757 0.04112683 0.01364821
+v 0.05807553 0.06359408 0.01600669
+v 0.05683112 0.06359408 0.01652808
+v 0.05667094 0.06359408 0.01658611
+v 0.01629532 0.05457641 0.00816495
+v 0.01939403 0.04112685 0.00818136
+v 0.01699145 0.04112685 0.00822206
+v 0.00078329 0.04112685 0.00864732
+v -0.00365224 0.04316133 0.00930037
+v 0.05802625 0.06359409 0.01320571
+v 0.05028255 0.06347094 0.00816498
+v -0.00161929 0.04112685 0.00898597
+v 0.05927682 0.04112685 0.00816490
+v 0.05928298 0.04183067 0.00816490
+v 0.05853757 0.04805066 0.01368461
+v 0.05832811 0.06359409 0.01476902
+v 0.04861923 0.04112685 0.00816490
+v 0.05832811 0.06359409 0.01465990
+v 0.05834043 0.06255595 0.01283935
+v 0.05736092 0.05854420 0.00816497
+v 0.05661551 0.05991665 0.00816497
+v 0.05641221 0.06027955 0.00816497
+v 0.05493986 0.06192034 0.00816498
+v 0.05351063 0.06273633 0.00816498
+v 0.05287611 0.06295847 0.00816498
+v 0.05923369 0.04474712 0.00816491
+v 0.05845132 0.06048848 0.01397133
+v 0.05848828 0.05737848 0.01383621
+v 0.05851908 0.05426847 0.01374872
+v 0.05853141 0.05116066 0.01370368
+v 0.05922754 0.04494067 0.00816492
+v 0.05913513 0.04772077 0.00816493
+v 0.05896264 0.05064162 0.00816494
+v 0.05861766 0.05345250 0.00816495
+v 0.05802625 0.05635796 0.00816496
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 31
+f 1 31 20
+f 1 20 11
+f 1 11 6
+f 1 6 3
+f 1 3 8
+f 1 8 14
+f 1 14 13
+f 1 13 26
+f 1 26 25
+f 1 25 24
+f 1 24 38
+f 1 38 40
+f 1 40 32
+f 1 32 19
+f 1 19 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 6 11 22
+f 6 22 34
+f 6 34 30
+f 6 30 16
+f 6 16 29
+f 6 29 28
+f 6 28 39
+f 6 39 35
+f 6 35 23
+f 6 23 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
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+f 9 44 43
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+f 9 27 15
+f 11 20 21
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+f 12 23 24
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+f 12 26 13
+f 15 27 28
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+f 15 29 16
+f 16 30 17
+f 17 30 21
+f 17 21 31
+f 17 31 18
+f 19 32 33
+f 20 31 21
+f 21 34 22
+f 21 30 34
+f 23 35 36
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+f 23 37 24
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+f 27 39 28
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+f 32 43 44
+f 32 44 45
+f 32 45 46
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+f 32 47 33
+f 36 48 38
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+f 36 50 51
+f 36 51 52
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+f 38 51 49
+f 38 48 53
+f 38 53 54
+f 38 54 40
+f 40 54 55
+f 40 55 41
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 49 51 50
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_23.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36aaed446abca94e9ec7f9b251b3f67f9f48be02
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_23.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.01976588 0.07103839 -0.00370798
+v 0.02134842 0.07103838 -0.00061978
+v 0.01999552 0.07103840 -0.00539187
+v 0.01406973 0.06261482 -0.00811851
+v 0.01395491 0.06277292 -0.00624436
+v 0.01436428 0.06244499 -0.00418311
+v 0.01452403 0.05945850 -0.00129044
+v 0.01708505 0.06050084 -0.00061982
+v 0.05868039 0.07103838 -0.00061978
+v 0.02139834 0.07103840 -0.00602675
+v 0.02254157 0.06702719 -0.01135700
+v 0.02010036 0.06579746 -0.01135701
+v 0.01157861 0.05912475 -0.00778742
+v 0.01157861 0.05912475 -0.00761293
+v 0.01132899 0.05737679 -0.00724190
+v 0.01052025 0.04494196 -0.00666487
+v 0.01452403 0.05872945 -0.00129044
+v 0.01669066 0.05879972 -0.00061982
+v 0.05695308 0.04112980 -0.00061989
+v 0.06142613 0.07103840 -0.00425351
+v 0.03421842 0.07103842 -0.01135699
+v 0.01949630 0.06367473 -0.01135702
+v 0.01132899 0.05737679 -0.00801027
+v 0.01052025 0.04494197 -0.00848436
+v 0.01058016 0.04182959 -0.00663651
+v 0.01062509 0.04112982 -0.00664387
+v 0.01319110 0.04112982 -0.00531946
+v 0.01629128 0.05851864 -0.00075122
+v 0.01722483 0.05816730 -0.00061983
+v 0.05825106 0.04112982 -0.00462361
+v 0.06128635 0.06807243 -0.00473703
+v 0.04874584 0.04112980 -0.00061989
+v 0.06152098 0.07103840 -0.00571667
+v 0.04394330 0.07103842 -0.01135699
+v 0.02171785 0.06219614 -0.01135702
+v 0.01629128 0.04112984 -0.00964272
+v 0.01389001 0.04112983 -0.00951238
+v 0.01319110 0.04112983 -0.00946928
+v 0.01319110 0.04182960 -0.00947139
+v 0.01319110 0.04494197 -0.00943878
+v 0.01058016 0.04182960 -0.00851171
+v 0.01062509 0.04112983 -0.00850751
+v 0.02117369 0.05596551 -0.00061983
+v 0.05846573 0.04112982 -0.00620240
+v 0.06128635 0.06807243 -0.00485686
+v 0.06112160 0.07103841 -0.00717773
+v 0.05839085 0.04112983 -0.00794516
+v 0.05661361 0.07103842 -0.00982130
+v 0.05661361 0.04112983 -0.00850540
+v 0.05351342 0.04112983 -0.00880708
+v 0.04092799 0.06689543 -0.01135700
+v 0.02249664 0.06211708 -0.01135702
+v 0.02472318 0.06203510 -0.01135702
+v 0.02559682 0.06206731 -0.01135702
+v 0.01939146 0.04112984 -0.00963221
+v 0.01116924 0.04112983 -0.00872614
+v 0.05846573 0.04112982 -0.00661864
+v 0.05970880 0.07103841 -0.00889316
+v 0.05771190 0.07103841 -0.00951437
+v 0.02559682 0.04112984 -0.00957650
+v 0.03180217 0.06279050 -0.01135702
+v 0.03479752 0.06372744 -0.01135702
+v 0.02799309 0.06220199 -0.01135702
+v 0.02249664 0.04112984 -0.00961959
+v 0.02319555 0.04112984 -0.00961013
+v 0.02870199 0.06226055 -0.01135702
+v 0.03154258 0.06273780 -0.01135702
+f 1 2 9
+f 1 9 20
+f 1 20 33
+f 1 33 46
+f 1 46 58
+f 1 58 59
+f 1 59 48
+f 1 48 34
+f 1 34 21
+f 1 21 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 18
+f 2 18 29
+f 2 29 43
+f 2 43 32
+f 2 32 19
+f 2 19 9
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 13 5
+f 4 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 19 20
+f 10 21 11
+f 11 21 34
+f 11 34 51
+f 11 51 62
+f 11 62 61
+f 11 61 67
+f 11 67 66
+f 11 66 63
+f 11 63 54
+f 11 54 53
+f 11 53 52
+f 11 52 35
+f 11 35 22
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 23 15
+f 13 15 14
+f 15 23 24
+f 15 24 16
+f 16 24 41
+f 16 41 25
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 19 30 31
+f 19 31 20
+f 19 32 27
+f 19 27 26
+f 19 26 42
+f 19 42 56
+f 19 56 38
+f 19 38 37
+f 19 37 36
+f 19 36 55
+f 19 55 64
+f 19 64 65
+f 19 65 60
+f 19 60 50
+f 19 50 49
+f 19 49 47
+f 19 47 57
+f 19 57 44
+f 19 44 30
+f 20 31 33
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 24
+f 22 24 23
+f 24 40 39
+f 24 39 41
+f 25 41 42
+f 25 42 26
+f 27 43 29
+f 27 29 28
+f 27 32 43
+f 30 44 31
+f 31 44 57
+f 31 57 45
+f 31 45 33
+f 33 45 47
+f 33 47 46
+f 34 48 49
+f 34 49 50
+f 34 50 51
+f 35 52 36
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 38 56 39
+f 39 56 41
+f 41 56 42
+f 45 57 47
+f 46 47 58
+f 47 49 58
+f 48 59 49
+f 49 59 58
+f 50 60 61
+f 50 61 62
+f 50 62 51
+f 54 63 64
+f 54 64 55
+f 60 65 66
+f 60 66 67
+f 60 67 61
+f 63 66 64
+f 64 66 65
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_24.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a1d1fade77b918cf4c32bce2ea31605054e3926
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_24.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.00365224 0.07103845 -0.01869393
+v 0.02560208 0.06670807 -0.01908362
+v 0.01939507 0.06359864 -0.01913226
+v 0.01629476 0.06048920 -0.01916854
+v -0.00365224 0.05427032 -0.01888381
+v -0.00365224 0.07103844 -0.01519368
+v 0.03800330 0.07103845 -0.01898947
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_25.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67bf4d204ab5beabff336ed63d81855727290e94
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_25.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.06150669 0.02938734 0.00579590
+v 0.06147897 0.02803814 0.00579589
+v 0.06150322 0.03119631 0.00579590
+v 0.05853863 0.04112683 0.01364795
+v 0.05855249 0.02627812 0.01359526
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+v 0.05661710 0.02316894 0.01453637
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_26.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f217fc4d281a85c9b62e4d44cc7ef5678c53738c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_26.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.06321390 0.06249377 0.01237624
+v -0.06186712 0.05737794 0.00886842
+v -0.06194874 0.05428458 0.00886841
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+v -0.06200704 0.04804977 0.00886839
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+v -0.06190210 0.04182959 0.00886836
+v -0.06314394 0.06048800 0.01240082
+v -0.06321390 0.06249377 0.01286399
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+v -0.06186712 0.04112893 0.00886836
+v -0.06296320 0.05737792 0.01267363
+v -0.06314394 0.06048800 0.01377285
+v -0.06320807 0.06249377 0.01431136
+v -0.05264369 0.06249379 0.00886844
+v -0.06135406 0.04112892 0.01156563
+v -0.06284660 0.05560640 0.01310268
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+v -0.05422368 0.04112893 0.00886836
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+v -0.06019967 0.04112891 0.01346665
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+v -0.05615932 0.06249376 0.01692933
+v -0.05195572 0.04112891 0.01467451
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_27.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f990848fd63d41834534b9d49d1d5c304c6e1b6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_27.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.04248308 -0.06644866 0.01603167
+v -0.04347357 -0.06644866 0.01598621
+v -0.04248308 -0.06644864 0.00994192
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+v -0.05624439 0.00262575 0.00635650
+v -0.04248308 0.00262572 0.01331474
+v -0.05515023 -0.05037004 0.00635630
+v -0.05516133 -0.04725980 0.00635632
+v -0.04575632 -0.04835518 0.01570688
+v -0.04248308 -0.03902446 0.01587740
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_28.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44e8a5e9fbdf9b12547136d045ccc9287392229d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_28.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.06034298 -0.01104076 0.00562777
+v 0.06021039 -0.00793383 0.00562778
+v 0.06032259 -0.01104076 0.00609731
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+v 0.06005060 -0.01726462 0.00562775
+v 0.05929584 -0.01104075 0.00341222
+v 0.05935024 0.00262576 0.00262060
+v 0.06017979 -0.00793383 0.00609732
+v 0.05951683 0.00262576 0.00392438
+v 0.05970722 0.00262575 0.00562782
+v 0.05936384 -0.02934770 0.00609724
+v 0.05982281 -0.02037155 0.00562774
+v 0.05908846 -0.01415268 0.00361108
+v 0.04681518 -0.04840387 -0.00039253
+v 0.05661680 0.00262577 0.00124184
+v 0.05947603 0.00262575 0.00609736
+v 0.05893547 -0.03240968 0.00609723
+v 0.05883347 -0.01726461 0.00379978
+v 0.05852409 -0.02037154 0.00397767
+v 0.04894005 -0.04840387 0.00104468
+v 0.02561403 -0.04840387 -0.00039253
+v 0.05119072 0.00262577 -0.00039234
+v 0.04571704 0.00262575 0.00609736
+v 0.05846970 -0.03504707 0.00609722
+v 0.05774214 -0.03736478 0.00609721
+v 0.05669160 -0.03913304 0.00609721
+v 0.04925284 -0.04840388 0.00263756
+v 0.03345397 -0.04840389 0.00609717
+v 0.03285220 -0.04757970 0.00609718
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+v 0.04459171 0.00262577 -0.00039234
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+v 0.04925624 -0.04840388 0.00265980
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_29.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afef7830fe7d28fddac7769dbf9b8d39ef668339
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_29.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03729752 -0.07163355 -0.00064010
+v -0.03729752 -0.07163355 0.00035990
+v -0.03729752 -0.05109843 -0.00064010
+v -0.03729752 -0.05109843 0.00035990
+v -0.01438765 -0.07163355 -0.00064010
+v -0.01438765 -0.07163355 0.00035990
+v -0.01438765 -0.05109843 -0.00064010
+v -0.01438765 -0.05109843 0.00035990
+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/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_3.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36a0980f39a10c21d8b45d24dbb383ff5c8b8bdb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_3.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.00851786 -0.09003516 -0.00395850
+v -0.00851786 -0.08981090 -0.00556883
+v -0.00851786 -0.08992771 -0.00039332
+v -0.01075324 -0.09006787 -0.00039332
+v -0.04558672 -0.09207677 -0.00039333
+v -0.00851786 -0.08951190 -0.00600842
+v -0.04558672 -0.09078733 -0.00256935
+v -0.00851786 -0.08276108 -0.00039329
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+v -0.04558672 -0.08975484 -0.00405355
+v -0.00851786 -0.08775994 -0.00813784
+v -0.00851786 -0.06079396 -0.00351971
+v -0.01215398 -0.05458506 -0.00109233
+v -0.01438574 -0.05458506 -0.00039319
+v -0.03660165 -0.05458506 -0.00039319
+v -0.04558672 -0.05147359 -0.00141950
+v -0.04558672 -0.08819911 -0.00533485
+v -0.01163143 -0.08761044 -0.00803913
+v -0.00851786 -0.08569030 -0.00869989
+v -0.00851786 -0.05835990 -0.00415853
+v -0.01261848 -0.05243601 -0.00136010
+v -0.01452000 -0.05436548 -0.00039319
+v -0.03644561 -0.05423934 -0.00039319
+v -0.04558672 -0.04813788 -0.00156206
+v -0.04558672 -0.08567630 -0.00603216
+v -0.01473411 -0.08739553 -0.00787097
+v -0.01163143 -0.08567629 -0.00852898
+v -0.00851786 -0.08567629 -0.00870263
+v -0.00851786 -0.05689762 -0.00621576
+v -0.01241163 -0.05216970 -0.00327750
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+v -0.04558672 -0.04661485 -0.00173296
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+v -0.01397567 -0.05138947 -0.00972884
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_30.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce84176903cfc377fb8bdaaefc1d327a0f9f6fec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_30.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.05962964 0.04112691 -0.00921961
+v -0.05975106 0.04112691 -0.00859066
+v -0.05414137 0.04112691 -0.00921961
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+v -0.06147284 0.00451013 -0.00030893
+v -0.06147672 0.00762308 -0.00030892
+v -0.06018635 0.04112690 -0.00624416
+v -0.04986338 0.04112690 -0.00529842
+v -0.05389466 0.03249657 -0.00921964
+v -0.05961156 0.03871870 -0.00921962
+v -0.06145864 0.00262577 -0.00030894
+v -0.06158910 0.00262576 0.00148782
+v -0.06168726 0.00451012 0.00265875
+v -0.06169243 0.00762307 0.00265876
+v -0.06170922 0.02316898 0.00265882
+v -0.06164851 0.03560571 0.00265886
+v -0.06162139 0.03871866 0.00265887
+v -0.06158780 0.04112687 0.00265888
+v -0.05380941 0.02627820 -0.00921966
+v -0.05383008 0.02938739 -0.00921965
+v -0.04906642 0.04112689 -0.00372528
+v -0.05007521 0.02938738 -0.00511987
+v -0.05403545 0.00262580 -0.00921975
+v -0.05899673 0.01695066 -0.00921970
+v -0.05864411 0.00449885 -0.00921974
+v -0.05858856 0.00262580 -0.00921975
+v -0.06167305 0.00262576 0.00265874
+v -0.06179576 0.03871865 0.00664528
+v -0.06180997 0.04112686 0.00664529
+v -0.06176476 0.04112686 0.00562811
+v -0.04885718 0.04112689 -0.00327648
+v -0.04927826 0.02938737 -0.00327652
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_31.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d9d9c1b326f6d371f1266e436a61552d1055ad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_31.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.04889317 0.03560578 -0.01530261
+v -0.05380979 0.02627820 -0.00922025
+v -0.04889554 0.03245891 -0.01530262
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+v -0.06097674 0.04112694 -0.01514956
+v -0.06093170 0.03894862 -0.01530260
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_32.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbe55ccde04dfc5263b8887b72ce9ec73cfd9fe9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_32.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.06270514 0.03249653 0.00265988
+v 0.06189462 0.03249652 0.00516781
+v 0.06188729 0.02938734 0.00518636
+v 0.06269597 0.02938735 0.00265987
+v 0.06207800 0.02938736 0.00047638
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+v 0.06140134 0.02627815 0.00579515
+v 0.06179560 0.02627815 0.00510543
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_33.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82fc9b404e967c7c5accd83b2d5eb7ef9cdeac8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_33.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.00479589 -0.06644866 0.01564589
+v -0.01003064 -0.04978183 0.01602680
+v -0.01003064 -0.05047149 0.01602679
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_34.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c819cf53d978d866b8aa54e1d8b8499ee6fabe65
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_34.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_35.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73081bf9926251290ccf7ed13966431bcc839957
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_35.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_36.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a45a0b1d10fee44b693c7746cde35c6e2362e8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_36.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02048118 -0.05858691 -0.00039320
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+f 16 30 17
+f 18 31 19
+f 21 32 33
+f 21 33 22
+f 23 34 24
+f 24 27 25
+f 24 34 35
+f 25 27 36
+f 26 36 27
+f 29 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 34 42 43
+f 34 43 44
+f 34 44 45
+f 34 45 35
+f 41 46 47
+f 42 47 48
+f 42 48 43
+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_37.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c4ebda7247f8913f0b8a6834a28dd8aed416265
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_37.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00365804 0.08533981 0.01186671
+v -0.00853403 0.08508263 0.01186671
+v -0.00365804 0.06249378 0.01186663
+v -0.00365804 0.08408973 0.00886881
+v -0.00382057 0.08409420 0.00886881
+v -0.00698416 0.08406960 0.00886881
+v -0.01014775 0.08402711 0.00886881
+v -0.01333456 0.08395107 0.00886881
+v -0.02404431 0.08367601 0.00886881
+v -0.05505908 0.08277255 0.00886880
+v -0.01163376 0.08489478 0.01186671
+v -0.00365804 0.06249378 0.01109948
+v -0.06294773 0.06249378 0.01186663
+v -0.00365804 0.06728395 0.00886875
+v -0.05815882 0.08256457 0.00886880
+v -0.01473350 0.08465326 0.01186671
+v -0.05264430 0.06249379 0.00886873
+v -0.06295354 0.06253404 0.01186663
+v -0.06294193 0.06249378 0.01184814
+v -0.05851290 0.08225820 0.00886880
+v -0.06047491 0.07835808 0.01186669
+v -0.05864641 0.07950307 0.01186669
+v -0.05815882 0.07966184 0.01186669
+v -0.05554668 0.08027683 0.01186669
+v -0.01779841 0.08441397 0.01186671
+v -0.06157201 0.06249379 0.00886873
+v -0.06292451 0.06360075 0.01186663
+v -0.06063744 0.07897531 0.00886879
+v -0.06072452 0.07781914 0.01186669
+v -0.06287227 0.06548148 0.01186664
+v -0.06067227 0.07888139 0.00886879
+v -0.06137465 0.07603904 0.01186668
+v -0.06145011 0.07569912 0.01186668
+f 1 2 11
+f 1 11 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 32
+f 1 32 33
+f 1 33 30
+f 1 30 27
+f 1 27 18
+f 1 18 13
+f 1 13 3
+f 1 3 12
+f 1 12 14
+f 1 14 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 3 13 19
+f 3 19 26
+f 3 26 17
+f 3 17 12
+f 4 14 17
+f 4 17 26
+f 4 26 31
+f 4 31 28
+f 4 28 20
+f 4 20 15
+f 4 15 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 10 15 11
+f 11 15 16
+f 12 17 14
+f 13 18 19
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 18 27 26
+f 18 26 19
+f 20 28 21
+f 21 28 29
+f 26 27 30
+f 26 30 31
+f 28 31 29
+f 29 31 32
+f 30 33 31
+f 31 33 32
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_38.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9725b30b5fe252ad5c4005508e05e888b1a69508
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_38.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02561331 -0.04840387 -0.00039317
+v 0.02548654 -0.04861718 -0.00039317
+v 0.03313501 -0.04840389 0.00661284
+v 0.04681494 -0.04840387 -0.00039317
+v 0.02048052 -0.05858690 -0.00039321
+v 0.02060166 -0.05858690 -0.00031983
+v 0.02146088 -0.05858690 0.00019863
+v 0.02249476 -0.05858690 0.00072188
+v 0.03113768 -0.05858692 0.00503137
+v 0.03462809 -0.05858692 0.00661280
+v 0.04843478 -0.04840389 0.00661284
+v 0.04894186 -0.04840387 0.00104424
+v 0.04689664 -0.05858690 -0.00039321
+v 0.04806856 -0.05858692 0.00661280
+v 0.04918977 -0.05858692 0.00465007
+v 0.04917568 -0.04840389 0.00488260
+v 0.04925738 -0.04840388 0.00265996
+v 0.04925175 -0.05858691 0.00265992
+v 0.04892214 -0.05858690 0.00108467
+v 0.04917850 -0.04840389 0.00485516
+f 1 2 3
+f 1 3 11
+f 1 11 16
+f 1 16 20
+f 1 20 17
+f 1 17 12
+f 1 12 4
+f 1 4 13
+f 1 13 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 10
+f 3 10 14
+f 3 14 11
+f 4 12 13
+f 5 13 19
+f 5 19 18
+f 5 18 15
+f 5 15 14
+f 5 14 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 11 14 15
+f 11 15 16
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 15 18 17
+f 15 17 20
+f 15 20 16
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_39.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e6e12c274bfdff2576428823374ff8b0b08752a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_39.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.05699489 0.09339648 -0.00061865
+v 0.05971540 0.09337926 -0.00061865
+v 0.05971540 0.09329486 -0.00282660
+v 0.05661650 0.09329076 -0.00275931
+v 0.05661650 0.09339483 -0.00061865
+v 0.05996331 0.09336697 -0.00061865
+v 0.06139859 0.09322765 -0.00241025
+v 0.05971540 0.09306621 -0.00430978
+v 0.05661650 0.09305637 -0.00424250
+v 0.02870029 0.09270969 -0.00327660
+v 0.02870029 0.09289900 -0.00061865
+v 0.06140512 0.09323338 -0.00061865
+v 0.06148993 0.09309406 -0.00061865
+v 0.06220757 0.09186144 -0.00335020
+v 0.06233153 0.09125744 -0.00624437
+v 0.06212276 0.09094847 -0.00777943
+v 0.06086363 0.09157380 -0.00777942
+v 0.05971540 0.09255152 -0.00624437
+v 0.05661650 0.09258349 -0.00624437
+v 0.02249597 0.09205979 -0.00624437
+v 0.01939706 0.09200652 -0.00624437
+v -0.00365224 0.09154346 -0.00624437
+v -0.00365224 0.09195487 -0.00327660
+v -0.00365224 0.09187127 -0.00061865
+v 0.06233805 0.09161639 -0.00061865
+v 0.06299697 0.08847994 -0.00624438
+v 0.06262511 0.08982076 -0.00777943
+v 0.05971540 0.09195325 -0.00777942
+v 0.05661650 0.09202373 -0.00777942
+v 0.03029867 0.09164182 -0.00777942
+v 0.02719977 0.09159511 -0.00777942
+v 0.02410087 0.09154757 -0.00777942
+v -0.00365224 0.09106321 -0.00777943
+v -0.00365224 0.08613106 -0.00061867
+v 0.06239677 0.09126397 -0.00061865
+v 0.06294478 0.08847995 -0.00777943
+v 0.06275559 0.08847992 -0.00061866
+v 0.06259901 0.08674166 -0.00777944
+v -0.00365224 0.08549674 -0.00777945
+v 0.02603850 0.08502465 -0.00061868
+v 0.06179655 0.08613269 -0.00061867
+v 0.06210318 0.08563279 -0.00777945
+v 0.03179919 0.08514679 -0.00777945
+v 0.03179919 0.08502468 -0.00723623
+v 0.02883077 0.08502467 -0.00663202
+v 0.02635165 0.08502467 -0.00600608
+v 0.02588192 0.08502467 -0.00557991
+v 0.02580363 0.08502466 -0.00294719
+v 0.06085710 0.08502465 -0.00061868
+v 0.06166607 0.08502468 -0.00777945
+v 0.05060137 0.08502468 -0.00777945
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 24
+f 1 24 34
+f 1 34 40
+f 1 40 49
+f 1 49 41
+f 1 41 37
+f 1 37 35
+f 1 35 25
+f 1 25 13
+f 1 13 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 13 25 14
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 36
+f 16 36 38
+f 16 38 42
+f 16 42 50
+f 16 50 51
+f 16 51 43
+f 16 43 39
+f 16 39 33
+f 16 33 32
+f 16 32 31
+f 16 31 30
+f 16 30 29
+f 16 29 28
+f 16 28 17
+f 17 28 18
+f 18 29 19
+f 18 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 21
+f 21 32 33
+f 21 33 22
+f 22 33 39
+f 22 39 34
+f 22 34 24
+f 22 24 23
+f 25 35 26
+f 26 36 27
+f 26 35 37
+f 26 37 38
+f 26 38 36
+f 34 39 40
+f 37 41 38
+f 38 41 42
+f 39 43 44
+f 39 44 45
+f 39 45 46
+f 39 46 47
+f 39 47 48
+f 39 48 40
+f 40 48 47
+f 40 47 46
+f 40 46 45
+f 40 45 44
+f 40 44 51
+f 40 51 50
+f 40 50 49
+f 41 50 42
+f 41 49 50
+f 43 51 44
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_4.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70d372655da8a4bef5008bcde26a5202e057c299
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_4.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.04558826 -0.09206926 -0.00039333
+v -0.04575570 -0.09208788 -0.00039333
+v -0.04558826 -0.09078481 -0.00256935
+v -0.04558826 -0.08087228 -0.00039329
+v -0.04885795 -0.09236711 -0.00039333
+v -0.04575570 -0.09079412 -0.00258123
+v -0.04558826 -0.08975168 -0.00405355
+v -0.04558826 -0.05146971 -0.00141950
+v -0.05505779 0.00262577 -0.00039298
+v -0.05196019 -0.09246019 -0.00039333
+v -0.04885795 -0.09095235 -0.00276219
+v -0.04885795 -0.08979821 -0.00424639
+v -0.04575570 -0.08975168 -0.00406543
+v -0.04558826 -0.08819731 -0.00533485
+v -0.04558826 -0.04812830 -0.00156206
+v -0.05404077 0.00262578 -0.00327730
+v -0.06142508 0.00262577 -0.00039298
+v -0.04558826 -0.04800730 -0.00157486
+v -0.04558826 -0.04660186 -0.00173296
+v -0.05456323 -0.09176212 -0.00039333
+v -0.05511671 -0.09160389 -0.00041160
+v -0.05412138 -0.09073828 -0.00237560
+v -0.05196019 -0.09098028 -0.00275853
+v -0.05196019 -0.08969582 -0.00424273
+v -0.04885795 -0.08824384 -0.00528550
+v -0.04575570 -0.08819731 -0.00533303
+v -0.04558826 -0.08567496 -0.00603216
+v -0.04558826 -0.04436804 -0.00604572
+v -0.05398185 0.00262579 -0.00624479
+v -0.04558826 -0.04543842 -0.00297588
+v -0.04558826 -0.04532673 -0.00310292
+v -0.05867165 0.00262581 -0.00972864
+v -0.06141577 0.00149956 -0.00039298
+v -0.05508260 -0.09162251 -0.00039333
+v -0.05511671 -0.09161320 -0.00039333
+v -0.05516012 -0.09158528 -0.00039333
+v -0.05618955 -0.08987268 -0.00146991
+v -0.05513531 -0.08881162 -0.00336811
+v -0.05408262 -0.08775054 -0.00499122
+v -0.05196019 -0.08814146 -0.00518040
+v -0.04885795 -0.08567496 -0.00594625
+v -0.04575570 -0.08567496 -0.00602942
+v -0.04558826 -0.05796635 -0.00972886
+v -0.04558826 -0.04434942 -0.00624496
+v -0.05398650 0.00262581 -0.00972864
+v -0.06137236 -0.00171154 -0.00039300
+v -0.06137392 -0.00160916 -0.00039300
+v -0.05845926 -0.00793826 -0.00972868
+v -0.05785617 -0.08884886 -0.00039332
+v -0.05804997 -0.08858824 -0.00039332
+v -0.05695077 -0.08779709 -0.00238107
+v -0.05615079 -0.08623341 -0.00435970
+v -0.05662209 -0.08415783 -0.00476913
+v -0.05509345 -0.08538642 -0.00510728
+v -0.05196019 -0.08567496 -0.00575525
+v -0.04575570 -0.05776159 -0.00972886
+v -0.04558826 -0.04475894 -0.00972881
+v -0.04558826 -0.04458210 -0.00921336
+v -0.06130725 -0.00471788 -0.00039301
+v -0.06088865 -0.02335160 -0.00039308
+v -0.05837554 -0.01104698 -0.00972869
+v -0.05964838 -0.07634881 -0.00039327
+v -0.05972279 -0.07324009 -0.00039326
+v -0.05809492 -0.08845794 -0.00039331
+v -0.05902669 -0.08567498 -0.00039330
+v -0.05941737 -0.08256626 -0.00039329
+v -0.05727014 -0.03281735 -0.00972877
+v -0.05700658 -0.03566546 -0.00972878
+v -0.05697092 -0.03600053 -0.00972878
+v -0.05649031 -0.03903479 -0.00972879
+v -0.05567173 -0.04194805 -0.00972880
+v -0.04831997 -0.05401065 -0.00972885
+v -0.04710605 -0.05588146 -0.00972886
+v -0.05826701 -0.01415570 -0.00972870
+v -0.05956311 -0.07945753 -0.00039328
+v -0.05960032 -0.07810794 -0.00039328
+v -0.05814298 -0.01731096 -0.00972871
+v -0.05730890 -0.03227751 -0.00972877
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 27
+f 1 27 43
+f 1 43 57
+f 1 57 58
+f 1 58 44
+f 1 44 28
+f 1 28 31
+f 1 31 30
+f 1 30 19
+f 1 19 18
+f 1 18 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 33
+f 1 33 47
+f 1 47 46
+f 1 46 59
+f 1 59 60
+f 1 60 63
+f 1 63 62
+f 1 62 76
+f 1 76 75
+f 1 75 66
+f 1 66 65
+f 1 65 64
+f 1 64 50
+f 1 50 49
+f 1 49 36
+f 1 36 35
+f 1 35 34
+f 1 34 20
+f 1 20 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 8 15 9
+f 9 16 29
+f 9 29 45
+f 9 45 32
+f 9 32 17
+f 9 15 18
+f 9 18 19
+f 9 19 16
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 12
+f 12 24 25
+f 12 25 14
+f 12 14 13
+f 12 23 24
+f 14 25 26
+f 14 26 27
+f 16 28 29
+f 16 19 30
+f 16 30 31
+f 16 31 28
+f 17 32 33
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 22 37 38
+f 22 38 39
+f 22 39 24
+f 22 24 23
+f 22 36 37
+f 24 40 25
+f 24 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 27
+f 25 27 26
+f 27 42 43
+f 28 44 29
+f 29 44 45
+f 32 46 47
+f 32 47 33
+f 32 45 57
+f 32 57 43
+f 32 43 56
+f 32 56 73
+f 32 73 72
+f 32 72 71
+f 32 71 70
+f 32 70 69
+f 32 69 68
+f 32 68 67
+f 32 67 78
+f 32 78 77
+f 32 77 74
+f 32 74 61
+f 32 61 48
+f 32 48 46
+f 36 49 37
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 38 51 52
+f 38 52 39
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 40
+f 40 55 41
+f 41 55 43
+f 41 43 42
+f 43 55 56
+f 44 58 45
+f 45 58 57
+f 46 48 59
+f 48 60 59
+f 48 61 62
+f 48 62 63
+f 48 63 60
+f 50 64 53
+f 50 53 52
+f 50 52 51
+f 53 64 65
+f 53 65 66
+f 53 66 67
+f 53 67 68
+f 53 68 69
+f 53 69 70
+f 53 70 71
+f 53 71 54
+f 54 71 55
+f 55 72 73
+f 55 73 56
+f 55 71 72
+f 61 74 75
+f 61 75 76
+f 61 76 62
+f 66 75 77
+f 66 77 78
+f 66 78 67
+f 74 77 75
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_40.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63ba1f1dbaae4275a8dff99437f99e98d79a2fce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_40.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.02198643 0.06093043 -0.00327599
+v -0.03109125 0.05862023 -0.00030903
+v -0.03132117 0.05872430 -0.00327599
+v -0.03163616 0.05887231 -0.00485630
+v -0.02198643 0.06159645 -0.00530574
+v -0.02198643 0.06094199 -0.00030903
+v -0.03133037 0.05873353 0.00144525
+v -0.03334677 0.05815079 -0.00030904
+v -0.03334677 0.05835893 -0.00327600
+v -0.04547274 0.05661066 -0.00343031
+v -0.03334677 0.05876594 -0.00500439
+v -0.02198643 0.06229020 -0.00563920
+v -0.03334677 0.06049107 -0.00598406
+v -0.02198643 0.06160798 0.00160992
+v -0.03334677 0.05855778 0.00171761
+v -0.04547274 0.05627303 -0.00030904
+v -0.04547274 0.05793343 -0.00550459
+v -0.02198643 0.06360139 -0.00624398
+v -0.03644839 0.06049107 -0.00612801
+v -0.03024515 0.06360139 -0.00670896
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+v -0.02198643 0.07569583 -0.00484175
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_41.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c12ce51567a553db404af23b1da7caafe6307701
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_41.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00905726 -0.06964564 0.00573885
+v 0.01055353 -0.06964565 0.00799132
+v 0.00910260 -0.06964564 0.00558802
+v 0.00826630 -0.07068787 0.00381901
+v -0.00165849 -0.08013912 0.00062957
+v -0.00165849 -0.08013913 0.00172134
+v 0.01132434 -0.06964565 0.00835291
+v -0.00193558 -0.08082885 0.00196007
+v 0.00984822 -0.06964563 0.00315776
+v 0.00146505 -0.07742516 0.00067453
+v -0.00203130 -0.08082884 0.00021903
+v -0.00102371 -0.08082885 0.00237560
+v 0.01318839 -0.06964565 0.00895623
+v 0.01419598 -0.06964562 -0.00039324
+v -0.00021259 -0.08082884 -0.00039328
+v 0.00064890 -0.08011613 -0.00039327
+v 0.00066905 -0.08082885 0.00281610
+v 0.01247300 -0.07763320 0.00704935
+v 0.01118832 -0.07555967 0.00724913
+v 0.01629177 -0.06964565 0.00902915
+v 0.03941602 -0.08082888 0.00981123
+v 0.04703846 -0.06964562 -0.00039324
+v 0.04441368 -0.08082884 -0.00039328
+v 0.00251798 -0.08082885 0.00324961
+v 0.01328915 -0.08082886 0.00559098
+v 0.04081657 -0.07961586 0.00981124
+v 0.04336075 -0.07904657 0.00981124
+v 0.04420713 -0.07892833 0.00981124
+v 0.04639360 -0.07914510 0.00981124
+v 0.02869524 -0.06964565 0.00869852
+v 0.04903853 -0.08082888 0.00981123
+v 0.04872618 -0.06964562 0.00081839
+v 0.04899319 -0.07013061 0.00100618
+v 0.04703846 -0.06964672 -0.00039324
+v 0.04511396 -0.07969683 -0.00039327
+v 0.04858007 -0.08082885 0.00352231
+v 0.04738608 -0.07937282 0.00981124
+v 0.03490201 -0.06964565 0.00848476
+v 0.03179862 -0.06964565 0.00860563
+v 0.04906372 -0.08082888 0.00956551
+v 0.04929043 -0.06964564 0.00480391
+v 0.04901334 -0.08038877 0.00981123
+v 0.04898815 -0.06964562 0.00101117
+v 0.04943149 -0.07013062 0.00266032
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+v 0.04642383 -0.07619900 -0.00039326
+v 0.04886724 -0.07483709 0.00116299
+v 0.04848436 -0.07690952 0.00160948
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+v 0.04919975 -0.07606325 0.00262334
+v 0.04683190 -0.07324089 -0.00039325
+v 0.04925516 -0.08082886 0.00575180
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_42.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a3200ab7d4efe6628918b855ed97ae20341f4c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_42.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.02242336 0.01997009 -0.00657035
+v 0.01318724 0.01694954 -0.00614414
+v 0.01512597 0.01482946 -0.00716826
+v 0.02242336 0.01997010 -0.00838235
+v 0.02242336 0.02316969 -0.00553431
+v 0.01121962 0.01694955 -0.00702496
+v 0.01137676 0.01492547 -0.00727264
+v 0.01318724 0.01461926 -0.00696591
+v 0.01628944 0.02316969 -0.00541436
+v 0.01318724 0.02316969 -0.00557734
+v 0.01512597 0.01482946 -0.00805458
+v 0.02242220 0.01997529 -0.00838601
+v 0.02242336 0.02006871 -0.00840203
+v 0.02242336 0.02628106 -0.00535484
+v 0.01939048 0.02628106 -0.00521658
+v 0.01628944 0.02628106 -0.00513189
+v 0.01121962 0.01694955 -0.00813331
+v 0.01318724 0.02628106 -0.00534248
+v 0.01091576 0.02316969 -0.00675849
+v 0.01137676 0.01492547 -0.00798408
+v 0.01318724 0.01461926 -0.00816445
+v 0.01318724 0.01694955 -0.00864377
+v 0.02242336 0.02316970 -0.00894085
+v 0.02242336 0.03553992 -0.00500413
+v 0.02242336 0.03560739 -0.00500184
+v 0.02242336 0.03871876 -0.00497345
+v 0.01939048 0.03871876 -0.00501190
+v 0.01628944 0.04112690 -0.00505721
+v 0.01091576 0.02316970 -0.00832785
+v 0.01318724 0.02316970 -0.00898297
+v 0.01082680 0.02628106 -0.00665730
+v 0.01318724 0.04112690 -0.00531908
+v 0.01062229 0.04112690 -0.00664489
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+v 0.02242336 0.03871878 -0.00962248
+v 0.02242336 0.03878625 -0.00962248
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_43.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a72719026b9c198a21188ce3750ef62d3bc40f80
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_43.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.01014851 0.06793534 0.00816414
+v 0.02340582 0.06793537 0.00044397
+v 0.01708413 0.06050162 -0.00061791
+v 0.01668903 0.05880181 -0.00061791
+v 0.01361328 0.05737966 0.00816410
+v 0.04119469 0.06793534 0.00816414
+v 0.02559714 0.06793537 -0.00049923
+v 0.02581901 0.06793537 -0.00056973
+v 0.02597097 0.06793537 -0.00061788
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+v 0.04119469 0.06793537 -0.00061788
+v 0.02117196 0.05596598 -0.00061792
+v 0.02244541 0.05544088 -0.00061793
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+v 0.04119469 0.05074533 0.00816322
+v 0.04118861 0.05074701 0.00816408
+v 0.04119469 0.05422577 -0.00061793
+v 0.02559714 0.05479294 -0.00061793
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+f 5 10 11
+f 6 12 17
+f 6 17 19
+f 6 19 13
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 12 18 17
+f 16 20 17
+f 17 20 19
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_44.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b72a8e7f1ea010d0c16789dfa0e0270282156c9c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_44.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.01326564 0.06793941 0.00816414
+v 0.01014705 0.06793941 0.00816414
+v 0.01326564 0.06793941 0.00738860
+v 0.01326564 0.08755621 0.00816421
+v 0.01187445 0.06793941 0.00746856
+v -0.00365058 0.06829286 0.00816414
+v -0.00365058 0.06942726 0.00736711
+v -0.00365058 0.08613047 -0.00061781
+v -0.00264694 0.08615435 -0.00061781
+v -0.00246144 0.08615913 -0.00061781
+v -0.00232398 0.08616391 -0.00061781
+v 0.00077970 0.08635019 -0.00061781
+v 0.00381713 0.08666066 -0.00061781
+v 0.00946139 0.08735802 -0.00061781
+v 0.00993341 0.08742250 -0.00061781
+v 0.01318614 0.08799328 -0.00061781
+v 0.01326564 0.08800283 -0.00061007
+v 0.01326564 0.08811505 0.00795012
+v -0.00365058 0.08561220 0.00816420
+v -0.00365058 0.09186936 -0.00061779
+v 0.01326564 0.08906798 -0.00061780
+v 0.01326564 0.08964830 0.00677220
+v -0.00365058 0.08731022 0.00738953
+v -0.00365058 0.08649823 0.00777042
+v -0.00365058 0.09186219 -0.00030740
+v 0.00698209 0.09219654 -0.00030740
+v 0.00698209 0.09219415 -0.00061779
+v 0.01326564 0.09233028 -0.00061779
+v 0.01326564 0.09087345 0.00528818
+v -0.00365058 0.09027879 0.00447567
+v -0.00365058 0.08886496 0.00596055
+v -0.00365058 0.08820104 0.00657616
+v -0.00365058 0.09109556 0.00266063
+v 0.01318614 0.09200786 0.00266064
+v 0.01326564 0.09201025 0.00266064
+v 0.01318614 0.09233267 -0.00030740
+v 0.01326564 0.09233506 -0.00031600
+f 1 2 5
+f 1 5 3
+f 1 3 17
+f 1 17 21
+f 1 21 28
+f 1 28 37
+f 1 37 35
+f 1 35 29
+f 1 29 22
+f 1 22 18
+f 1 18 4
+f 1 4 19
+f 1 19 6
+f 1 6 2
+f 2 6 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
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+f 4 18 19
+f 5 6 7
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+f 6 25 20
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+f 8 15 14
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+f 8 10 9
+f 16 21 17
+f 18 22 23
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+f 18 24 19
+f 20 25 26
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+f 22 29 30
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+f 22 31 32
+f 22 32 23
+f 25 33 34
+f 25 34 26
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 27 37 28
+f 29 33 30
+f 29 35 34
+f 29 34 33
+f 35 37 36
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_45.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..493d98ae2fd0e049c4cf5492018aa14dca20efab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_45.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.03116240 0.09164856 -0.00777942
+v 0.03116240 0.09137215 -0.00860357
+v 0.03030021 0.09164049 -0.00777942
+v 0.03116240 0.08518204 -0.00777945
+v 0.03116240 0.09116231 -0.00921410
+v 0.02719906 0.09159408 -0.00777942
+v 0.03116240 0.07104045 -0.01461124
+v -0.00365224 0.08549477 -0.00777945
+v 0.02409451 0.09154566 -0.00777942
+v 0.03116240 0.09044203 -0.01065852
+v -0.00365224 0.09000823 -0.01064551
+v -0.00365224 0.09027658 -0.01001005
+v -0.00365224 0.09063369 -0.00916096
+v 0.03116240 0.07104047 -0.01885777
+v -0.00365224 0.07104046 -0.01519248
+v -0.00365224 0.09106143 -0.00777943
+v -0.00365224 0.09102108 -0.00791281
+v -0.00354319 0.09106345 -0.00777943
+v 0.03116240 0.09025842 -0.01102397
+v -0.00365224 0.08879563 -0.01218211
+v 0.02559397 0.07604017 -0.01855303
+v 0.03116240 0.07604017 -0.01853785
+v 0.02748192 0.07104047 -0.01884584
+v -0.00365224 0.07293099 -0.01870486
+v 0.01318938 0.07293099 -0.01875582
+v 0.01628712 0.07293099 -0.01875691
+v 0.01318938 0.07604017 -0.01857689
+v 0.01628712 0.07604017 -0.01857363
+v -0.00365224 0.07104047 -0.01869402
+v 0.03116240 0.08903372 -0.01250851
+v -0.00365224 0.08791999 -0.01320363
+v 0.03116240 0.07915137 -0.01798588
+v 0.02437736 0.07104047 -0.01883499
+v -0.00365224 0.07115144 -0.01869511
+v -0.00365224 0.07426263 -0.01865606
+v -0.00365224 0.07604017 -0.01858556
+v -0.00365224 0.07737181 -0.01834482
+v -0.00365224 0.07915137 -0.01801949
+v 0.03116240 0.08748014 -0.01413188
+v -0.00365224 0.08726426 -0.01396813
+v 0.03116240 0.08199017 -0.01710316
+v -0.00365224 0.08190946 -0.01712160
+v 0.03116240 0.08536769 -0.01547980
+v -0.00365224 0.08536769 -0.01529328
+v 0.03116240 0.08354375 -0.01649697
+v -0.00365224 0.08346304 -0.01647528
+v 0.03116240 0.08392508 -0.01628443
+f 1 2 3
+f 1 3 6
+f 1 6 9
+f 1 9 18
+f 1 18 16
+f 1 16 8
+f 1 8 4
+f 1 4 7
+f 1 7 14
+f 1 14 22
+f 1 22 32
+f 1 32 41
+f 1 41 45
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+f 1 47 43
+f 1 43 39
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+f 1 19 10
+f 1 10 5
+f 1 5 2
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+f 4 8 7
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+f 5 12 13
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+f 7 8 15
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+f 8 16 17
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+f 9 13 17
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+f 10 19 11
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+f 14 21 22
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+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 21
+f 16 18 17
+f 19 30 20
+f 20 30 31
+f 21 32 22
+f 21 28 32
+f 23 33 24
+f 24 35 25
+f 24 33 34
+f 25 35 36
+f 25 36 26
+f 26 36 27
+f 27 32 28
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+f 27 37 38
+f 27 38 32
+f 29 34 33
+f 30 39 40
+f 30 40 31
+f 32 38 41
+f 38 42 41
+f 39 43 44
+f 39 44 40
+f 41 42 45
+f 42 46 45
+f 43 47 46
+f 43 46 44
+f 45 46 47
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_46.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ffb6e89fe2ecd7b5998ef468632bab32329b1b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_46.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.05661304 0.09467025 0.00859696
+v 0.05661304 0.09415919 0.01131642
+v 0.05971384 0.09412572 0.01131642
+v 0.05971384 0.09456074 0.00859696
+v 0.05661304 0.09460028 0.00816510
+v 0.03180021 0.09359034 0.00816509
+v 0.03180021 0.09363293 0.00859695
+v 0.02869941 0.09330134 0.01066740
+v 0.03180021 0.09337435 0.01085340
+v 0.03068909 0.09319792 0.01131641
+v 0.06179395 0.09359338 0.01131641
+v 0.06194899 0.09377895 0.00859695
+v 0.06189086 0.09372723 0.00816509
+v 0.06012728 0.09434171 0.00816510
+v 0.05970091 0.09445122 0.00816510
+v 0.02862835 0.09335611 0.00816509
+v 0.02848623 0.09336827 0.00847387
+v 0.02652239 0.09321314 0.00938108
+v 0.02652239 0.09321313 0.01037651
+v 0.02605727 0.09294847 0.01131641
+v 0.02869941 0.09311883 0.01131641
+v 0.06234305 0.09158870 0.01131641
+v 0.06225261 0.09158871 0.00859695
+v 0.06216217 0.09157046 0.00816509
+v 0.02700043 0.09314621 0.00816509
+v 0.01965542 0.09195678 0.01131641
+v 0.02274330 0.09253780 0.01131641
+v 0.02565029 0.09291805 0.01131641
+v 0.06050842 0.07608977 0.00816503
+v 0.06181333 0.08917640 0.01131640
+v 0.06012081 0.07310253 0.00816502
+v 0.06216217 0.09116587 0.00816508
+v -0.00365224 0.08561424 0.00816506
+v 0.01606366 0.09106244 0.01131640
+v 0.05661304 0.07604108 0.01057202
+v 0.05858980 0.07604108 0.01026046
+v 0.05824741 0.07441362 0.01011486
+v 0.03479118 0.06359934 0.01131630
+v 0.05961694 0.07168496 0.00816501
+v -0.00365224 0.06829314 0.00816500
+v -0.00365224 0.08393505 0.01131638
+v 0.04964271 0.06359631 0.00816498
+v 0.03179375 0.06359630 0.01131630
+v -0.00365224 0.06359630 0.01123764
+v 0.01360886 0.06359631 0.00816498
+v 0.01350551 0.06359631 0.00818071
+v -0.00365224 0.06360239 0.01131630
+v -0.00233440 0.06359630 0.01131630
+v -0.00365224 0.06359630 0.01125646
+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 2
+f 2 8 9
+f 2 9 10
+f 2 10 21
+f 2 21 20
+f 2 20 28
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+f 2 34 41
+f 2 41 47
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+f 2 30 22
+f 2 22 11
+f 2 11 3
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+f 5 24 32
+f 5 32 29
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+f 5 25 16
+f 5 16 6
+f 6 16 7
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+f 9 21 10
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+f 13 23 24
+f 16 25 18
+f 16 18 17
+f 18 26 27
+f 18 27 19
+f 18 25 26
+f 19 27 28
+f 19 28 20
+f 22 29 23
+f 22 30 31
+f 22 31 29
+f 23 32 24
+f 23 29 32
+f 25 33 26
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+f 30 35 36
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+f 30 37 31
+f 30 38 35
+f 31 37 39
+f 33 40 44
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+f 33 41 34
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+f 42 43 48
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+f 42 44 46
+f 42 46 45
+f 47 49 48
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_47.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c5765072ffbb76f9a053da5cc8c1901aef76b23
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_47.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00365224 0.08173014 0.00886851
+v -0.00365224 0.08173015 0.00449694
+v -0.00365224 0.08409122 0.00886852
+v -0.04547274 0.08173014 0.00886851
+v -0.00365224 0.08414534 -0.00963956
+v -0.00522419 0.08173015 0.00448063
+v -0.01783666 0.08334364 -0.00963956
+v -0.00365224 0.08423735 0.00880330
+v -0.00382008 0.08409523 0.00886852
+v -0.04547274 0.08274904 0.00886851
+v -0.04547274 0.08173015 0.00412373
+v -0.00365224 0.09043189 -0.00963954
+v -0.00559262 0.08173015 0.00447701
+v -0.03954926 0.08173015 0.00415815
+v -0.04265223 0.08173015 0.00413279
+v -0.04357739 0.08173015 0.00412916
+v -0.04547274 0.08373198 -0.00963956
+v -0.00365224 0.08649935 0.00777065
+v -0.00698036 0.08407221 0.00886852
+v -0.04547274 0.08516017 0.00779057
+v -0.02721925 0.08357577 0.00886852
+v -0.00365224 0.09063406 -0.00915945
+v -0.00542887 0.09043189 -0.00963954
+v -0.04547274 0.09021771 -0.00963954
+v -0.00365224 0.08731207 0.00739020
+v -0.01014882 0.08402917 0.00886852
+v -0.04547274 0.08671454 0.00697895
+v -0.02404260 0.08367686 0.00886852
+v -0.00365224 0.09154386 -0.00624445
+v -0.00542887 0.09063306 -0.00915945
+v -0.00752481 0.09042989 -0.00963954
+v -0.00853184 0.09063106 -0.00915764
+v -0.04547274 0.09050795 -0.00897647
+v -0.01163481 0.09041588 -0.00963954
+v -0.01333367 0.08395410 0.00886852
+v -0.00365224 0.08820087 0.00657495
+v -0.04547274 0.08824691 0.00549519
+v -0.00365224 0.08886645 0.00595899
+v -0.00365224 0.09195421 -0.00327511
+v -0.01163481 0.09062906 -0.00913771
+v -0.00542887 0.09153785 -0.00624445
+v -0.00853184 0.09042889 -0.00963954
+v -0.04547274 0.09053698 -0.00890944
+v -0.01059912 0.09042188 -0.00963954
+v -0.04547274 0.08980229 0.00371251
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+v -0.00365224 0.09186212 -0.00030940
+v -0.01163481 0.09151583 -0.00624445
+v -0.01473369 0.09149982 -0.00624445
+v -0.04547274 0.09132667 -0.00624445
+v -0.04547274 0.09162191 -0.00327511
+v -0.04547274 0.08986635 0.00357663
+v -0.00365224 0.09109543 0.00265993
+v -0.04547274 0.09049891 0.00222875
+v -0.04547274 0.09132765 -0.00057753
+v -0.04547274 0.09129762 -0.00030940
+v -0.04547274 0.09057297 0.00199685
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 29
+f 1 29 39
+f 1 39 47
+f 1 47 53
+f 1 53 46
+f 1 46 38
+f 1 38 36
+f 1 36 25
+f 1 25 18
+f 1 18 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 26
+f 1 26 35
+f 1 35 28
+f 1 28 21
+f 1 21 10
+f 1 10 4
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+f 1 16 15
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+f 33 43 44
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+f 40 48 41
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+f 46 53 54
+f 46 54 52
+f 47 51 55
+f 47 55 56
+f 47 56 53
+f 53 56 57
+f 53 57 54
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_48.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c114c6f54244958147c5bdc3f4b49ae4fa7ef6ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_48.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.05661395 0.09415713 0.01131642
+v 0.05661395 0.09411225 0.01156524
+v 0.05971512 0.09408534 0.01156524
+v 0.05971512 0.09412721 0.01131642
+v 0.03069329 0.09319977 0.01131641
+v 0.05661395 0.09337627 0.01340729
+v 0.02870336 0.09288265 0.01215226
+v -0.00365224 0.09027979 0.01631292
+v 0.05971512 0.09335832 0.01337524
+v 0.06142723 0.09325660 0.01322005
+v 0.06177612 0.09357673 0.01156523
+v 0.06178904 0.09359468 0.01131641
+v 0.02870336 0.09311899 0.01131641
+v 0.05661395 0.09216461 0.01489174
+v 0.02606090 0.09294846 0.01131641
+v 0.02565388 0.09291854 0.01131641
+v -0.00365224 0.09027083 0.01464629
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_49.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8694501b52668c82c486970529b53f946a677c72
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_49.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_5.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b9de0676458e5b88e2cd0d53bad3c2d1a7b6abe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_5.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_50.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d5e0e62a04d65d71729138ff1da1246ba489243
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_50.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.02580343 0.08502384 -0.00294719
+v 0.02603928 0.08502383 -0.00061868
+v 0.02588053 0.08502385 -0.00557991
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+v 0.02634771 0.08502385 -0.00600608
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+v 0.01999324 0.07103840 -0.00539071
+v 0.01701784 0.07390640 -0.00245027
+v 0.01622410 0.07363259 -0.00061872
+v 0.06239266 0.07882374 -0.00061870
+v 0.06256048 0.07604064 -0.00624443
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_51.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89c73e3be4ba6f1316ab070ddd880f4a9a4d9c21
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_51.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.00203387 -0.08082998 0.00021903
+v -0.00479589 -0.08224287 -0.00039328
+v -0.00479589 -0.08223833 -0.00032636
+v -0.00479589 -0.08223833 -0.00031537
+v -0.00193862 -0.08082999 0.00196007
+v -0.00021368 -0.08082998 -0.00039328
+v -0.00479589 -0.08979346 -0.00039331
+v -0.00479589 -0.08384321 0.00981122
+v -0.00102324 -0.08082999 0.00237560
+v 0.04441262 -0.08082998 -0.00039328
+v -0.00479589 -0.09053397 0.00087726
+v 0.00368596 -0.08974234 -0.00039331
+v 0.01328956 -0.08083000 0.00559098
+v 0.00251660 -0.08082999 0.00324961
+v 0.00066996 -0.08082999 0.00281610
+v -0.00479589 -0.09177314 0.00981119
+v 0.03941769 -0.08083002 0.00981123
+v 0.04858211 -0.08082999 0.00352231
+v 0.04896308 -0.08120820 0.00400277
+v 0.04369830 -0.08198392 -0.00039328
+v -0.00479589 -0.09148462 0.00266024
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+v -0.00479589 -0.09203776 0.00916192
+v -0.00407099 -0.09176178 0.00981119
+v 0.04903716 -0.08083002 0.00981123
+v 0.04900012 -0.08082999 0.00392086
+v 0.04908478 -0.08237577 0.00589264
+v 0.04888371 -0.08415553 0.00705932
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+v 0.04588358 -0.08419981 0.00406269
+v 0.04176170 -0.08359671 -0.00039329
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_52.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7bfb1c9195686b994e92d8613de140abfdfa850
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_52.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.06271737 0.06048919 0.00266052
+v 0.06198846 0.06048920 0.00050499
+v 0.06193369 0.06359903 0.00052821
+v 0.06265207 0.06359902 0.00266053
+v 0.06182625 0.06793441 0.00541879
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+v 0.06199899 0.04112688 0.00048600
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+v 0.06200110 0.05737674 0.00050068
+v 0.05971958 0.06048920 -0.00034278
+v 0.05971958 0.06359903 -0.00032385
+v 0.06199478 0.05115970 0.00047917
+v 0.05971958 0.06670887 -0.00023355
+v 0.06183678 0.06670887 0.00060390
+v 0.06247300 0.06670886 0.00266055
+v 0.06218438 0.06793442 0.00381698
+v 0.06060017 0.06793441 0.00678158
+v 0.06088667 0.04112686 0.00648055
+v 0.06196318 0.05737672 0.00510750
+v 0.06242033 0.04112687 0.00266045
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+v 0.05971958 0.04804987 -0.00036259
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+v 0.05971958 0.06793443 -0.00018626
+v 0.06100043 0.06793443 0.00032102
+v 0.06177358 0.06793443 0.00065892
+v 0.06235923 0.06793442 0.00266055
+v 0.06011774 0.06793440 0.00701888
+v 0.05896750 0.05064267 0.00816408
+v 0.05914024 0.04771917 0.00816407
+v 0.05923083 0.04494000 0.00816406
+v 0.05928139 0.04183017 0.00816404
+v 0.05968587 0.04112685 0.00775822
+v 0.06169142 0.04112686 0.00499653
+v 0.06186206 0.04112686 0.00445141
+v 0.05971958 0.04112688 -0.00034972
+v 0.05223879 0.05737674 -0.00061792
+v 0.05539248 0.06793443 -0.00053534
+v 0.05606029 0.04800788 -0.00061795
+v 0.04875014 0.04112688 -0.00061798
+v 0.05914024 0.06793440 0.00739204
+v 0.05861990 0.05345596 0.00816409
+v 0.05928139 0.04112685 0.00816404
+v 0.04997622 0.06048920 -0.00061791
+v 0.05041441 0.06793443 -0.00057661
+v 0.05228935 0.06793443 -0.00056114
+v 0.04862163 0.04112685 0.00816404
+v 0.04119772 0.05074502 0.00816322
+v 0.04119772 0.05422492 -0.00061793
+v 0.05661645 0.06793440 0.00784000
+v 0.05803213 0.05635847 0.00816410
+v 0.04731339 0.06332872 -0.00061790
+v 0.04164644 0.06793443 -0.00061788
+v 0.04119772 0.05076077 0.00816408
+v 0.04119772 0.06793443 -0.00061788
+v 0.05491426 0.06793440 0.00793371
+v 0.05641421 0.06027922 0.00816411
+v 0.05661645 0.05991706 0.00816411
+v 0.05736011 0.05854454 0.00816411
+v 0.04119772 0.06793440 0.00816414
+v 0.05473940 0.06793440 0.00794317
+v 0.05494375 0.06191943 0.00816412
+v 0.04611470 0.06793440 0.00816414
+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 11
+f 1 11 2
+f 2 12 13
+f 2 13 3
+f 2 11 14
+f 2 14 12
+f 3 13 15
+f 3 15 16
+f 3 16 4
+f 4 16 17
+f 4 17 18
+f 4 18 5
+f 5 18 33
+f 5 33 32
+f 5 32 31
+f 5 31 30
+f 5 30 29
+f 5 29 26
+f 5 26 44
+f 5 44 52
+f 5 52 51
+f 5 51 59
+f 5 59 61
+f 5 61 66
+f 5 66 69
+f 5 69 67
+f 5 67 62
+f 5 62 56
+f 5 56 47
+f 5 47 34
+f 5 34 19
+f 5 19 20
+f 5 20 7
+f 5 7 6
+f 7 21 8
+f 7 20 21
+f 8 21 22
+f 8 22 9
+f 9 22 41
+f 9 41 40
+f 9 40 20
+f 9 20 39
+f 9 39 49
+f 9 49 53
+f 9 53 46
+f 9 46 28
+f 9 28 42
+f 9 42 23
+f 9 23 24
+f 9 24 25
+f 9 25 14
+f 9 14 10
+f 10 14 11
+f 12 26 13
+f 12 14 27
+f 12 27 28
+f 12 28 26
+f 13 26 29
+f 13 29 15
+f 14 25 27
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 18
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 39
+f 19 39 20
+f 20 40 21
+f 21 40 41
+f 21 41 22
+f 23 42 24
+f 24 42 28
+f 24 28 27
+f 24 27 25
+f 26 43 44
+f 26 28 45
+f 26 45 43
+f 28 46 55
+f 28 55 61
+f 28 61 59
+f 28 59 58
+f 28 58 50
+f 28 50 43
+f 28 43 45
+f 34 47 35
+f 35 48 57
+f 35 57 65
+f 35 65 64
+f 35 64 63
+f 35 63 68
+f 35 68 69
+f 35 69 66
+f 35 66 60
+f 35 60 53
+f 35 53 49
+f 35 49 38
+f 35 38 37
+f 35 37 36
+f 35 47 48
+f 38 49 39
+f 43 50 51
+f 43 51 52
+f 43 52 44
+f 46 53 54
+f 46 54 55
+f 47 56 57
+f 47 57 48
+f 50 58 51
+f 51 58 59
+f 53 60 54
+f 54 60 66
+f 54 66 61
+f 54 61 55
+f 56 62 63
+f 56 63 64
+f 56 64 65
+f 56 65 57
+f 62 67 63
+f 63 67 68
+f 67 69 68
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_53.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0c1aca19f8e7da6fe91223f9ea1be8aaf78965c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_53.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00479590 -0.04840390 0.00701149
+v -0.00479590 -0.04879065 0.00701391
+v -0.00479590 -0.04840392 0.01432525
+v 0.01008961 -0.04840389 0.00662171
+v -0.00479590 -0.04915347 0.00702037
+v -0.00479590 -0.05148495 0.01469888
+v 0.05351456 -0.04840392 0.01412270
+v -0.00403560 -0.05088886 0.00705506
+v 0.03313104 -0.04840389 0.00661284
+v 0.03462022 -0.05858692 0.00661280
+v -0.00479590 -0.05858693 0.00849874
+v -0.00479590 -0.05457993 0.01485623
+v 0.04730651 -0.05858695 0.01468190
+v 0.04930465 -0.05858695 0.01463429
+v 0.05041053 -0.05858695 0.01460604
+v 0.05657461 -0.04840392 0.01399358
+v 0.04843125 -0.04840389 0.00661284
+v 0.04806681 -0.05858692 0.00661280
+v -0.00479590 -0.05858695 0.01473193
+v 0.05242753 -0.05858695 0.01443657
+v 0.05661231 -0.04840392 0.01398954
+v 0.05353342 -0.05858695 0.01432279
+v 0.05840309 -0.04840390 0.00692837
+v 0.05825228 -0.05042237 0.00704860
+v 0.05661231 -0.05858693 0.00801938
+v 0.05573263 -0.05858695 0.01390880
+v 0.05869841 -0.04840392 0.01345128
+v 0.05910055 -0.04840390 0.00859400
+v 0.05879895 -0.05858693 0.00912738
+v 0.05728464 -0.05858693 0.00828327
+v 0.05809520 -0.05858695 0.01300255
+v 0.05879266 -0.05858694 0.01161776
+v 0.05939588 -0.04840391 0.01156453
+v 0.05879895 -0.05858694 0.01084789
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 16
+f 1 16 21
+f 1 21 27
+f 1 27 33
+f 1 33 28
+f 1 28 23
+f 1 23 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 5
+f 4 9 10
+f 4 10 8
+f 5 8 11
+f 6 12 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 12 13
+f 8 10 11
+f 9 17 18
+f 9 18 10
+f 10 18 25
+f 10 25 30
+f 10 30 29
+f 10 29 34
+f 10 34 32
+f 10 32 31
+f 10 31 26
+f 10 26 22
+f 10 22 20
+f 10 20 15
+f 10 15 14
+f 10 14 13
+f 10 13 19
+f 10 19 11
+f 12 19 13
+f 15 20 16
+f 16 20 22
+f 16 22 21
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 21 22 26
+f 21 26 27
+f 23 28 29
+f 23 29 24
+f 24 29 30
+f 24 30 25
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 28 33 29
+f 29 33 34
+f 32 34 33
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_54.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce5d9d8ab29453140f071c8e4c21adfef3f1fa97
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_54.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00539887 -0.09430079 -0.01527730
+v -0.02758375 -0.09432697 -0.01515046
+v -0.00539887 -0.09430079 -0.01528735
+v -0.00539887 -0.09429207 -0.01526420
+v -0.02303646 -0.09360270 -0.01393615
+v -0.02463474 -0.09361579 -0.01393615
+v -0.02714074 -0.09363324 -0.01393615
+v -0.00853029 -0.09430079 -0.01525084
+v -0.02758375 -0.09432261 -0.01528735
+v -0.02714074 -0.09432261 -0.01528735
+v -0.01163131 -0.09430079 -0.01522664
+v -0.02758375 -0.09373359 -0.01410915
+v -0.00539887 -0.05292506 -0.01528719
+v -0.01163131 -0.09346307 -0.01393615
+v -0.01783334 -0.09354162 -0.01393615
+v -0.00539887 -0.09336709 -0.01393615
+v -0.02758375 -0.09363324 -0.01393615
+v -0.02758375 -0.04983596 -0.01528718
+v -0.01613300 -0.04976615 -0.01528718
+v -0.00539887 -0.05698716 -0.01393602
+v -0.02758375 -0.05977522 -0.01393603
+v -0.01158787 -0.05693917 -0.01393602
+v -0.02093654 -0.04977051 -0.01528718
+v -0.01783334 -0.04975306 -0.01528718
+v -0.00914919 -0.05692172 -0.01393602
+v -0.00604600 -0.05696535 -0.01393602
+f 1 2 3
+f 1 3 13
+f 1 13 20
+f 1 20 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 11
+f 2 11 7
+f 2 7 12
+f 2 12 17
+f 2 17 21
+f 2 21 18
+f 2 18 9
+f 3 10 9
+f 3 9 18
+f 3 18 23
+f 3 23 24
+f 3 24 19
+f 3 19 13
+f 4 14 15
+f 4 15 5
+f 4 16 14
+f 5 15 14
+f 5 14 16
+f 5 16 20
+f 5 20 26
+f 5 26 25
+f 5 25 22
+f 5 22 21
+f 5 21 17
+f 5 17 7
+f 5 7 6
+f 7 17 12
+f 7 11 8
+f 13 19 20
+f 18 21 22
+f 18 22 23
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 22 25 23
+f 23 25 24
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_55.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1cecb876425b474333a102e257ea754ba99db94
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_55.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.01326730 0.08418018 0.00434926
+v 0.01644596 0.07585829 -0.00061785
+v 0.01453203 0.07498222 0.00063058
+v 0.01453203 0.07425400 0.00063057
+v 0.01326730 0.07625258 0.00485737
+v 0.01326730 0.08418017 0.00816420
+v 0.02592423 0.08418020 -0.00061782
+v 0.01622475 0.07378814 -0.00061786
+v 0.01326730 0.06793861 0.00738860
+v 0.01326730 0.07299950 0.00540248
+v 0.01622475 0.07363233 -0.00061786
+v 0.01326730 0.06793702 0.00816414
+v 0.05957668 0.08418017 0.00816420
+v 0.06049517 0.08418020 -0.00061782
+v 0.01327211 0.06793702 0.00738860
+v 0.01326730 0.06793702 0.00793715
+v 0.02340919 0.06793705 0.00044397
+v 0.02245704 0.06986251 -0.00061787
+v 0.04611185 0.06793702 0.00816414
+v 0.06072599 0.08338677 0.00816420
+v 0.06146656 0.08418017 0.00750387
+v 0.06203881 0.08418019 0.00244995
+v 0.06166853 0.08114335 -0.00061783
+v 0.02559723 0.06805312 -0.00061788
+v 0.02559723 0.06793705 -0.00049923
+v 0.05473896 0.06793702 0.00794317
+v 0.05609506 0.06929804 0.00816414
+v 0.06091354 0.08224040 0.00816419
+v 0.06152907 0.08418017 0.00745744
+v 0.06201957 0.08418018 0.00564068
+v 0.06238024 0.07914794 -0.00030745
+v 0.06239467 0.07882359 -0.00061784
+v 0.06233696 0.07916861 -0.00061784
+v 0.02597713 0.06793705 -0.00061788
+v 0.05491207 0.06793702 0.00793371
+v 0.05661441 0.06793702 0.00784000
+v 0.05661441 0.06943001 0.00816415
+v 0.06096163 0.08025294 0.00816418
+v 0.06159159 0.08225789 0.00764659
+v 0.06207729 0.08225790 0.00562777
+v 0.06235620 0.06793704 0.00266055
+v 0.06177433 0.06793705 0.00065892
+v 0.06211095 0.07603954 -0.00061785
+v 0.04164441 0.06793705 -0.00061788
+v 0.05913907 0.06793702 0.00739204
+v 0.05961996 0.07168458 0.00816415
+v 0.06129344 0.07119010 0.00714958
+v 0.06084621 0.07915586 0.00816418
+v 0.06182722 0.06793703 0.00541879
+v 0.06218308 0.06793704 0.00381698
+v 0.06100010 0.06793705 0.00032102
+v 0.06144733 0.07321894 -0.00061786
+v 0.05661441 0.07005648 -0.00061787
+v 0.05041098 0.06793705 -0.00057661
+v 0.06011527 0.06793702 0.00701888
+v 0.06059615 0.06793703 0.00678158
+v 0.06012008 0.07310284 0.00816416
+v 0.06050959 0.07608721 0.00816417
+v 0.05971613 0.06793705 -0.00018626
+v 0.05849468 0.06793705 -0.00035908
+v 0.05971613 0.07148110 -0.00061787
+v 0.05661441 0.06793705 -0.00052330
+v 0.05539296 0.06793705 -0.00053534
+v 0.05228643 0.06793705 -0.00056114
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 16
+f 1 16 12
+f 1 12 6
+f 1 6 13
+f 1 13 21
+f 1 21 29
+f 1 29 30
+f 1 30 22
+f 1 22 14
+f 1 14 7
+f 1 7 2
+f 2 8 3
+f 2 7 14
+f 2 14 23
+f 2 23 33
+f 2 33 32
+f 2 32 43
+f 2 43 52
+f 2 52 61
+f 2 61 53
+f 2 53 44
+f 2 44 34
+f 2 34 24
+f 2 24 18
+f 2 18 11
+f 2 11 8
+f 3 8 11
+f 3 11 4
+f 4 9 10
+f 4 10 5
+f 4 11 9
+f 6 12 19
+f 6 19 27
+f 6 27 37
+f 6 37 46
+f 6 46 57
+f 6 57 58
+f 6 58 48
+f 6 48 38
+f 6 38 28
+f 6 28 20
+f 6 20 13
+f 9 15 16
+f 9 11 17
+f 9 17 15
+f 11 18 17
+f 12 16 15
+f 12 15 17
+f 12 17 25
+f 12 25 34
+f 12 34 44
+f 12 44 54
+f 12 54 64
+f 12 64 63
+f 12 63 62
+f 12 62 60
+f 12 60 59
+f 12 59 51
+f 12 51 42
+f 12 42 41
+f 12 41 50
+f 12 50 49
+f 12 49 56
+f 12 56 55
+f 12 55 45
+f 12 45 36
+f 12 36 35
+f 12 35 26
+f 12 26 19
+f 13 20 21
+f 14 22 23
+f 17 18 24
+f 17 24 25
+f 19 26 27
+f 20 28 29
+f 20 29 21
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 24 34 25
+f 26 35 27
+f 27 35 36
+f 27 36 37
+f 28 38 39
+f 28 39 29
+f 29 39 30
+f 30 40 31
+f 30 39 40
+f 31 41 32
+f 31 40 41
+f 32 41 42
+f 32 42 43
+f 36 45 46
+f 36 46 37
+f 38 47 39
+f 38 48 47
+f 39 47 49
+f 39 49 40
+f 40 49 50
+f 40 50 41
+f 42 51 52
+f 42 52 43
+f 44 53 54
+f 45 55 46
+f 46 55 56
+f 46 56 47
+f 46 47 57
+f 47 48 58
+f 47 58 57
+f 47 56 49
+f 51 59 52
+f 52 59 60
+f 52 60 61
+f 53 62 63
+f 53 63 64
+f 53 64 54
+f 53 61 62
+f 60 62 61
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_56.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45bed5f2251e706d873dcd91c4a952c7079f6eae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_56.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.05661597 0.09460022 0.00816424
+v 0.05970192 0.09445128 0.00816424
+v 0.05971646 0.09337921 -0.00061779
+v 0.05699868 0.09339553 -0.00061779
+v 0.05661597 0.09339553 -0.00061779
+v 0.02870191 0.09289876 -0.00061779
+v 0.01326730 0.09233058 -0.00061779
+v 0.03180239 0.09359136 0.00816423
+v 0.06012824 0.09434315 0.00816424
+v 0.06140719 0.09323335 -0.00061779
+v 0.05996837 0.09336697 -0.00061779
+v 0.01326730 0.08906941 -0.00061780
+v 0.01326730 0.09233466 -0.00038479
+v 0.01326730 0.09233466 -0.00031600
+v 0.02862924 0.09335879 0.00816423
+v 0.06189164 0.09372703 0.00816423
+v 0.06148955 0.09309461 -0.00061779
+v 0.01326730 0.08800445 -0.00061007
+v 0.02592116 0.08418020 -0.00061782
+v 0.01326730 0.09201129 0.00266064
+v 0.02700148 0.09314864 0.00816423
+v 0.06216294 0.09156958 0.00816423
+v 0.06275397 0.08847980 -0.00030741
+v 0.06235672 0.09158899 -0.00030740
+v 0.06234218 0.09161653 -0.00061779
+v 0.01326730 0.08418018 0.00434926
+v 0.06049642 0.08418020 -0.00061782
+v 0.01326730 0.09087287 0.00528818
+v 0.02553844 0.09271920 0.00816423
+v 0.06216294 0.09116766 0.00816422
+v 0.06275881 0.08847980 -0.00061780
+v 0.06201760 0.08418018 0.00564068
+v 0.06240032 0.09126358 -0.00061779
+v 0.01326730 0.08418017 0.00816420
+v 0.06179475 0.08613262 -0.00061781
+v 0.06204182 0.08418019 0.00244995
+v 0.01326730 0.08964777 0.00677220
+v 0.01746749 0.09021492 0.00816422
+v 0.01916791 0.09075556 0.00816422
+v 0.06158159 0.08955391 0.00816422
+v 0.06146533 0.08418017 0.00750387
+v 0.06152830 0.08418017 0.00745744
+v 0.01326730 0.08755865 0.00816421
+v 0.05957597 0.08418017 0.00816420
+v 0.01326730 0.08811561 0.00795012
+v 0.01441545 0.08844815 0.00816421
+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 21
+f 1 21 29
+f 1 29 39
+f 1 39 38
+f 1 38 46
+f 1 46 43
+f 1 43 34
+f 1 34 44
+f 1 44 40
+f 1 40 30
+f 1 30 22
+f 1 22 16
+f 1 16 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 10
+f 3 10 17
+f 3 17 25
+f 3 25 33
+f 3 33 31
+f 3 31 35
+f 3 35 27
+f 3 27 19
+f 3 19 12
+f 3 12 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 12 18
+f 7 18 26
+f 7 26 34
+f 7 34 43
+f 7 43 45
+f 7 45 37
+f 7 37 28
+f 7 28 20
+f 7 20 14
+f 7 14 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 9 16 10
+f 10 16 17
+f 12 19 18
+f 14 20 15
+f 15 20 21
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 18 19 26
+f 19 27 36
+f 19 36 32
+f 19 32 42
+f 19 42 41
+f 19 41 44
+f 19 44 34
+f 19 34 26
+f 20 28 21
+f 21 28 29
+f 22 30 23
+f 23 31 24
+f 23 30 32
+f 23 32 31
+f 24 31 33
+f 24 33 25
+f 27 35 36
+f 28 37 38
+f 28 38 39
+f 28 39 29
+f 30 40 41
+f 30 41 42
+f 30 42 32
+f 31 32 36
+f 31 36 35
+f 37 45 38
+f 38 45 46
+f 40 44 41
+f 43 46 45
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_57.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..334abf1005fce5e58fde19133e7bdaa465f0198f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_57.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.02758375 -0.09432164 -0.01515046
+v -0.03644847 -0.09378444 -0.01393615
+v -0.03644847 -0.09443446 -0.01515046
+v -0.02758375 -0.09432164 -0.01528735
+v -0.02758375 -0.09363401 -0.01393615
+v -0.03955003 -0.09381667 -0.01393615
+v -0.03955003 -0.09446132 -0.01515046
+v -0.03644847 -0.09442908 -0.01528735
+v -0.02758375 -0.04983473 -0.01528718
+v -0.02758375 -0.05977861 -0.01393603
+v -0.04363515 -0.09382741 -0.01393615
+v -0.04363515 -0.09447206 -0.01515046
+v -0.03955003 -0.09445594 -0.01528735
+v -0.04325178 -0.03963298 -0.01528715
+v -0.03038206 -0.05786613 -0.01393602
+v -0.04363515 -0.05107033 -0.01393600
+v -0.04363515 -0.09446132 -0.01528735
+v -0.04363515 -0.03959000 -0.01528715
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 6 3
+f 2 5 10
+f 2 10 15
+f 2 15 16
+f 2 16 11
+f 2 11 6
+f 3 7 13
+f 3 13 8
+f 3 8 4
+f 3 6 7
+f 4 8 13
+f 4 13 17
+f 4 17 18
+f 4 18 14
+f 4 14 9
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 9 14 15
+f 9 15 10
+f 11 16 18
+f 11 18 17
+f 11 17 12
+f 12 17 13
+f 14 18 16
+f 14 16 15
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_58.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcb29b422fa67ca7ebeaf541fe1b87024559adc9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_58.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00479225 -0.05858694 0.00849868
+v 0.01339049 -0.06330937 0.00801879
+v 0.01318996 -0.06334942 0.00801879
+v 0.01065961 -0.06408219 0.00801878
+v -0.00479225 -0.06080149 0.00839466
+v -0.00479225 -0.05858696 0.01473222
+v 0.03244827 -0.05858694 0.00848200
+v 0.03244827 -0.05880666 0.00838485
+v 0.03244827 -0.05963685 0.00801880
+v 0.01037522 -0.06422182 0.00801878
+v -0.00479225 -0.06143360 0.00845451
+v 0.01009813 -0.06728389 0.00801877
+v 0.01036429 -0.06867258 0.00801877
+v 0.01053930 -0.06956447 0.00801876
+v 0.01059034 -0.06962508 0.00801876
+v 0.01060857 -0.06964348 0.00801876
+v -0.00479225 -0.06964351 0.01616790
+v 0.03244827 -0.06964352 0.01804326
+v 0.03244827 -0.06947683 0.01799910
+v 0.03244827 -0.06701981 0.01732296
+v 0.03244827 -0.05858696 0.01456539
+v 0.03244827 -0.06964348 0.00801876
+v -0.00479225 -0.06964349 0.01027293
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 23
+f 1 23 17
+f 1 17 6
+f 1 6 21
+f 1 21 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 22
+f 2 22 16
+f 2 16 15
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 10
+f 2 10 4
+f 2 4 3
+f 4 10 5
+f 5 10 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 11
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 7 21 20
+f 7 20 19
+f 7 19 18
+f 7 18 22
+f 7 22 9
+f 7 9 8
+f 11 16 23
+f 16 22 18
+f 16 18 17
+f 16 17 23
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_59.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a26dce32b42668670c36c69a853d8fe29cdeda9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_59.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.06163791 0.08196257 -0.00963957
+v -0.06188641 0.08196251 0.00562742
+v -0.05508229 0.08196257 -0.00963957
+v -0.05954730 0.04113091 -0.00963972
+v -0.05975170 0.04113090 -0.00859076
+v -0.06018698 0.04113089 -0.00624464
+v -0.06158821 0.04113086 0.00265975
+v -0.06176457 0.04113085 0.00562727
+v -0.06195375 0.04183035 0.00859661
+v -0.06200746 0.04494020 0.00859663
+v -0.06202268 0.04805004 0.00859664
+v -0.06181827 0.08196251 0.00591185
+v -0.06201066 0.05115988 0.00886840
+v -0.06195214 0.05428571 0.00886841
+v -0.06187198 0.05737956 0.00886842
+v -0.05383418 0.08196252 0.00185732
+v -0.05383418 0.07857689 -0.00344546
+v -0.05383418 0.07589476 -0.00598363
+v -0.05383418 0.07484749 -0.00630068
+v -0.05383418 0.07292882 -0.00665577
+v -0.05410192 0.05426979 -0.00963967
+v -0.05411073 0.04113091 -0.00963972
+v -0.06193371 0.04113084 0.00859661
+v -0.06190485 0.04183035 0.00886836
+v -0.06197539 0.04494020 0.00886838
+v -0.06201146 0.04805004 0.00886839
+v -0.06067357 0.07888065 0.00886850
+v -0.06080823 0.08196250 0.00807318
+v -0.06176617 0.06048941 0.00886843
+v -0.05383418 0.08196250 0.00886851
+v -0.05383418 0.07188955 -0.00671919
+v -0.05404500 0.05115995 -0.00963968
+v -0.05409230 0.05385808 -0.00963967
+v -0.05383418 0.04113090 -0.00736063
+v -0.05405863 0.04807809 -0.00963969
+v -0.06186878 0.04113084 0.00886836
+v -0.06063910 0.07897258 0.00886850
+v -0.05867914 0.08196250 0.00886851
+v -0.05383418 0.06156866 0.00886844
+v -0.05383418 0.06981899 -0.00683151
+v -0.05383418 0.05426978 -0.00733160
+v -0.05383418 0.05115994 -0.00738958
+v -0.05383418 0.04805010 -0.00738959
+v -0.05383418 0.04113085 0.00465621
+v -0.05422857 0.04113084 0.00886836
+f 1 2 12
+f 1 12 28
+f 1 28 38
+f 1 38 30
+f 1 30 16
+f 1 16 3
+f 1 3 21
+f 1 21 33
+f 1 33 32
+f 1 32 35
+f 1 35 22
+f 1 22 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 11
+f 1 11 2
+f 2 11 13
+f 2 13 14
+f 2 14 15
+f 2 15 12
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 20
+f 3 20 21
+f 4 22 34
+f 4 34 44
+f 4 44 45
+f 4 45 36
+f 4 36 23
+f 4 23 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 8 23 9
+f 9 23 24
+f 9 24 25
+f 9 25 10
+f 10 25 26
+f 10 26 11
+f 11 26 13
+f 12 27 28
+f 12 15 29
+f 12 29 27
+f 13 26 25
+f 13 25 24
+f 13 24 36
+f 13 36 45
+f 13 45 39
+f 13 39 30
+f 13 30 38
+f 13 38 37
+f 13 37 27
+f 13 27 29
+f 13 29 15
+f 13 15 14
+f 16 30 39
+f 16 39 44
+f 16 44 34
+f 16 34 43
+f 16 43 42
+f 16 42 41
+f 16 41 40
+f 16 40 31
+f 16 31 20
+f 16 20 19
+f 16 19 18
+f 16 18 17
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 22 35 34
+f 23 36 24
+f 27 37 28
+f 28 37 38
+f 31 40 32
+f 32 41 42
+f 32 42 43
+f 32 43 34
+f 32 34 35
+f 32 40 41
+f 39 45 44
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_6.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1387660114acabf9e9ee1f5ca90a4680c3ed367
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_6.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.00410385 0.04112695 -0.01897334
+v -0.00410385 0.04010186 -0.01897850
+v -0.00410385 0.04112694 -0.01538714
+v 0.01319044 0.04112695 -0.01919600
+v -0.00410385 0.03871874 -0.01898515
+v -0.00410385 0.00262583 -0.01542119
+v 0.01319044 0.04112692 -0.01224331
+v 0.01629072 0.04112695 -0.01921591
+v -0.00410385 0.00262584 -0.01906786
+v -0.00410385 0.00319115 -0.01906712
+v -0.00410385 0.00371123 -0.01906638
+v -0.00410385 0.00941328 -0.01905825
+v -0.00410385 0.01073233 -0.01905603
+v -0.00410385 0.01252247 -0.01905233
+v -0.00410385 0.02627824 -0.01902353
+v -0.00410385 0.02938743 -0.01901688
+v -0.00410385 0.03249661 -0.01900803
+v -0.00410385 0.03428674 -0.01900212
+v -0.00410385 0.03560579 -0.01899769
+v -0.00410385 0.03739969 -0.01899105
+v 0.02318228 0.00262582 -0.01298001
+v 0.01629072 0.03871871 -0.01178620
+v 0.01629072 0.04112692 -0.01171836
+v 0.01699419 0.04112695 -0.01921960
+v 0.02559776 0.00262584 -0.01924554
+v 0.01939721 0.03871871 -0.01173975
+v 0.02509972 0.00262582 -0.01298001
+v 0.02869803 0.01695068 -0.01243289
+v 0.01939721 0.04112692 -0.01171393
+v 0.01939721 0.04112695 -0.01923066
+v 0.02009446 0.04112695 -0.01923140
+v 0.02249749 0.04112695 -0.01923140
+v 0.04420562 0.02938743 -0.01921743
+v 0.04730589 0.02938743 -0.01921374
+v 0.03799885 0.00262584 -0.01922343
+v 0.02249749 0.03871871 -0.01174343
+v 0.05351266 0.00262582 -0.01414420
+v 0.03179830 0.02005986 -0.01246310
+v 0.02869803 0.03871871 -0.01184960
+v 0.02559776 0.03871871 -0.01178177
+v 0.02249749 0.04112692 -0.01172720
+v 0.02319474 0.04112695 -0.01923066
+v 0.04420562 0.03249661 -0.01921594
+v 0.04730589 0.03249661 -0.01921226
+v 0.05041239 0.02938743 -0.01919678
+v 0.04730589 0.02627824 -0.01921154
+v 0.04110535 0.00262584 -0.01921532
+v 0.05473908 0.00262582 -0.01426364
+v 0.05351266 0.03871872 -0.01309932
+v 0.05351266 0.04112693 -0.01304917
+v 0.02869803 0.04112692 -0.01186139
+v 0.02559776 0.04112692 -0.01177218
+v 0.02559776 0.04112695 -0.01922771
+v 0.04730589 0.03560579 -0.01920856
+v 0.05041239 0.03249661 -0.01919530
+v 0.05351266 0.04112695 -0.01915914
+v 0.05351266 0.03249661 -0.01916212
+v 0.05351266 0.02938743 -0.01916139
+v 0.05041239 0.00262584 -0.01916223
+v 0.04730589 0.00262584 -0.01919172
+v 0.05661294 0.00262582 -0.01445681
+v 0.05613980 0.03871872 -0.01339129
+v 0.05629544 0.04112693 -0.01336547
+v 0.04730589 0.04112695 -0.01919822
+v 0.05041239 0.04112695 -0.01918347
+v 0.05661294 0.04112695 -0.01909942
+v 0.05351266 0.02627824 -0.01915624
+v 0.05229248 0.00262584 -0.01912758
+v 0.05752808 0.00262582 -0.01496407
+v 0.05784557 0.04112693 -0.01373855
+v 0.05948910 0.04112695 -0.01784159
+v 0.05661294 0.03871874 -0.01908468
+v 0.05351266 0.00262584 -0.01910472
+v 0.05892258 0.00262583 -0.01573970
+v 0.05948910 0.04112694 -0.01522272
+v 0.05892258 0.00262583 -0.01761170
+v 0.05945174 0.03871874 -0.01782981
+v 0.05661294 0.00262584 -0.01883045
+f 1 2 5
+f 1 5 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 6
+f 1 6 3
+f 1 3 7
+f 1 7 23
+f 1 23 29
+f 1 29 41
+f 1 41 52
+f 1 52 51
+f 1 51 50
+f 1 50 63
+f 1 63 70
+f 1 70 75
+f 1 75 71
+f 1 71 66
+f 1 66 56
+f 1 56 65
+f 1 65 64
+f 1 64 53
+f 1 53 42
+f 1 42 32
+f 1 32 31
+f 1 31 30
+f 1 30 24
+f 1 24 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+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 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 5
+f 6 9 25
+f 6 25 35
+f 6 35 47
+f 6 47 60
+f 6 60 59
+f 6 59 68
+f 6 68 73
+f 6 73 78
+f 6 78 76
+f 6 76 74
+f 6 74 69
+f 6 69 61
+f 6 61 48
+f 6 48 37
+f 6 37 27
+f 6 27 21
+f 6 21 22
+f 6 22 23
+f 6 23 7
+f 8 24 25
+f 8 25 9
+f 21 26 22
+f 21 27 28
+f 21 28 26
+f 22 26 23
+f 23 26 29
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 26 36 29
+f 26 28 36
+f 27 37 28
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 36
+f 29 36 41
+f 32 42 43
+f 32 43 33
+f 33 43 44
+f 33 44 34
+f 34 44 55
+f 34 55 45
+f 34 45 46
+f 34 46 47
+f 34 47 35
+f 36 40 41
+f 37 48 49
+f 37 49 38
+f 38 49 39
+f 39 49 50
+f 39 50 51
+f 39 51 52
+f 39 52 40
+f 40 52 41
+f 42 53 54
+f 42 54 43
+f 43 54 44
+f 44 54 55
+f 45 55 56
+f 45 56 57
+f 45 57 58
+f 45 58 59
+f 45 59 60
+f 45 60 46
+f 46 60 47
+f 48 61 49
+f 49 61 62
+f 49 62 50
+f 50 62 63
+f 53 64 54
+f 54 64 65
+f 54 65 55
+f 55 65 56
+f 56 66 57
+f 57 66 58
+f 58 67 59
+f 58 66 67
+f 59 67 68
+f 61 69 70
+f 61 70 62
+f 62 70 63
+f 66 71 72
+f 66 72 73
+f 66 73 67
+f 67 73 68
+f 69 74 70
+f 70 74 75
+f 71 75 74
+f 71 74 76
+f 71 76 77
+f 71 77 78
+f 71 78 72
+f 72 78 73
+f 76 78 77
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_60.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5f1639b77e27bfb7dbaefb63006bcbaefc03369
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_60.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.04547274 0.08173015 0.00412564
+v -0.04547274 0.08173014 0.00886851
+v -0.04265223 0.08173015 0.00413360
+v -0.04265223 0.07987801 0.00378368
+v -0.04547274 0.07989324 0.00378368
+v -0.04547274 0.06535462 0.00886845
+v -0.00365224 0.08173014 0.00886851
+v -0.03954926 0.08173015 0.00415898
+v -0.00542887 0.08173015 0.00448002
+v -0.03954926 0.07969737 0.00378368
+v -0.04547274 0.05951091 0.00378361
+v -0.04526806 0.05949567 0.00378361
+v -0.04510022 0.06535462 0.00886845
+v -0.00365224 0.06728294 0.00886846
+v -0.00365224 0.08173015 0.00449893
+v -0.03638897 0.07847203 0.00378368
+v -0.03909486 0.06554179 0.00886845
+v -0.03644629 0.06116064 0.00378361
+v -0.02671983 0.06614249 0.00886845
+v -0.00365224 0.06729600 0.00885154
+v -0.00365224 0.06942674 0.00736731
+v -0.02403032 0.06717414 0.00378364
+v -0.02406306 0.06840165 0.00378364
+v -0.02432915 0.06967705 0.00378365
+v -0.03003567 0.07583636 0.00378367
+v -0.03334332 0.06222710 0.00378362
+v -0.03013801 0.06372884 0.00378362
+f 1 2 7
+f 1 7 15
+f 1 15 9
+f 1 9 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 17
+f 2 17 19
+f 2 19 14
+f 2 14 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 16
+f 4 16 25
+f 4 25 24
+f 4 24 23
+f 4 23 22
+f 4 22 27
+f 4 27 26
+f 4 26 18
+f 4 18 12
+f 4 12 11
+f 4 11 5
+f 6 11 12
+f 6 12 13
+f 7 14 20
+f 7 20 21
+f 7 21 15
+f 9 15 10
+f 10 15 16
+f 12 17 13
+f 12 18 14
+f 12 14 19
+f 12 19 17
+f 14 18 20
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 18 26 20
+f 20 26 21
+f 21 26 27
+f 21 27 22
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_61.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e9a7acaae0a82c7927e418713ca765845929125
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_61.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_62.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bfcb5e3358fa0e8cacafdabacb5188f34b5fe6e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_62.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_63.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66e8b1b98001fd6e970a4dc2046caa5df2075675
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_63.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_64.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edca36d58293e2f9a8fce386f23238e386efe57b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_64.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01747782 0.00262583 -0.01528675
+v 0.00987473 -0.02040991 -0.01528683
+v 0.02318251 0.00262582 -0.01297994
+v 0.05811425 0.00262583 -0.01528675
+v 0.02238442 -0.02040992 -0.01299411
+v 0.02276693 -0.01415040 -0.01289569
+v 0.02273388 -0.01103868 -0.01288794
+v 0.02279527 -0.00793147 -0.01289004
+v 0.02285666 -0.00482201 -0.01290811
+v 0.05730199 -0.02040991 -0.01528683
+v 0.02509981 0.00262582 -0.01297994
+v 0.05661724 0.00262582 -0.01445590
+v 0.05661724 0.00139918 -0.01446553
+v 0.05661724 -0.01415040 -0.01461682
+v 0.05809064 0.00139919 -0.01528675
+v 0.02511870 -0.02040992 -0.01289689
+v 0.02288972 -0.01725987 -0.01290204
+v 0.02517065 -0.01103868 -0.01288794
+v 0.02518481 -0.00793147 -0.01289004
+v 0.02518481 -0.00482201 -0.01290811
+v 0.05730671 -0.02036932 -0.01528683
+v 0.05661724 -0.02040992 -0.01482702
+v 0.05351461 0.00262582 -0.01414380
+v 0.05473772 0.00262582 -0.01426309
+v 0.05351461 -0.01725987 -0.01407929
+v 0.05351461 -0.02036933 -0.01410442
+v 0.05351461 -0.02040992 -0.01410489
+v 0.05661724 -0.01725987 -0.01469456
+v 0.05770340 -0.01415039 -0.01528681
+v 0.05776951 -0.01247052 -0.01528681
+v 0.05806702 0.00024695 -0.01528676
+v 0.05741533 -0.01912013 -0.01528683
+v 0.05661724 -0.02036933 -0.01482514
+v 0.05657474 -0.02040992 -0.01481622
+v 0.05763728 -0.01572429 -0.01528682
+f 1 2 3
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+f 1 23 24
+f 1 24 12
+f 1 12 4
+f 1 4 15
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+f 1 35 32
+f 1 32 21
+f 1 21 10
+f 1 10 2
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+f 21 32 22
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+f 23 25 24
+f 27 34 28
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+f 28 33 35
+f 28 35 29
+f 32 35 33
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_65.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c098f8371ccea996c6ccf2c8692b07748a8aa0c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_65.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.05661634 0.09202432 -0.00778036
+v 0.05971835 0.09195323 -0.00778036
+v 0.05661634 0.09150125 -0.00921325
+v 0.05351432 0.09149008 -0.00921325
+v 0.05041231 0.09146469 -0.00921325
+v 0.04731030 0.09142203 -0.00921325
+v 0.03116240 0.09165056 -0.00778036
+v 0.06086333 0.09157336 -0.00778036
+v 0.06150116 0.09020932 -0.01092730
+v 0.05971835 0.09139461 -0.00921325
+v 0.05661634 0.09041855 -0.01123655
+v 0.05351432 0.09042972 -0.01125530
+v 0.05041231 0.09042668 -0.01125155
+v 0.04731030 0.09040840 -0.01122531
+v 0.04421140 0.09038097 -0.01118876
+v 0.04110938 0.09035254 -0.01115034
+v 0.03800737 0.09032410 -0.01111098
+v 0.03180334 0.09026519 -0.01103226
+v 0.03116240 0.09044191 -0.01065834
+v 0.03116240 0.09116303 -0.00921326
+v 0.03116240 0.09137226 -0.00860317
+v 0.03116240 0.08518376 -0.00778039
+v 0.06212653 0.09094873 -0.00778037
+v 0.06193363 0.09066027 -0.00921326
+v 0.06195852 0.08831509 -0.01202283
+v 0.06148560 0.08716840 -0.01387275
+v 0.05971835 0.08900880 -0.01261415
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+v 0.05661634 0.08918045 -0.01271911
+v 0.05351432 0.08918655 -0.01273879
+v 0.05041231 0.08917639 -0.01273411
+v 0.04731030 0.08915913 -0.01270881
+v 0.04421140 0.08913780 -0.01267132
+v 0.03490535 0.08906467 -0.01255605
+v 0.03180334 0.08904029 -0.01251669
+v 0.03116240 0.09025909 -0.01102382
+v 0.03116240 0.08164821 -0.01228244
+v 0.05297606 0.08164819 -0.00778040
+v 0.06262435 0.08982132 -0.00778037
+v 0.06290126 0.08847860 -0.00921327
+v 0.06264613 0.08536964 -0.01218215
+v 0.06184962 0.08536965 -0.01440318
+v 0.06117135 0.08164822 -0.01675823
+v 0.05971835 0.08341854 -0.01645740
+v 0.05971835 0.08536966 -0.01541717
+v 0.05971835 0.08745381 -0.01410891
+v 0.05661634 0.08762546 -0.01424479
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+v 0.04731030 0.08760413 -0.01422512
+v 0.04421140 0.08758280 -0.01421012
+v 0.04110938 0.08755842 -0.01419325
+v 0.03800737 0.08753405 -0.01417545
+v 0.03490535 0.08750967 -0.01415670
+v 0.03180334 0.08748529 -0.01413702
+v 0.03116240 0.08747920 -0.01413234
+v 0.03116240 0.08903420 -0.01250826
+v 0.03116240 0.08164822 -0.01720900
+v 0.06089133 0.08164819 -0.00778040
+v 0.06294793 0.08847860 -0.00778038
+v 0.06233500 0.08164821 -0.01276413
+v 0.06208298 0.08164822 -0.01528411
+v 0.06201764 0.08228505 -0.01531878
+v 0.06168472 0.08164822 -0.01625686
+v 0.06035307 0.08164822 -0.01697190
+v 0.05971835 0.08186354 -0.01705437
+v 0.05661634 0.08376895 -0.01661297
+v 0.05661634 0.08536966 -0.01570862
+v 0.05351432 0.08536966 -0.01571518
+v 0.05041231 0.08536966 -0.01569550
+v 0.04731030 0.08536966 -0.01567207
+v 0.04421140 0.08536966 -0.01564115
+v 0.04110938 0.08536966 -0.01560366
+v 0.03116240 0.08536966 -0.01547996
+v 0.03116240 0.08199152 -0.01710310
+v 0.03124019 0.08164822 -0.01720994
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+v 0.06260257 0.08674180 -0.00778038
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+f 96 98 97
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_66.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..224da31cd558bb284530465c4952fdbb06d0b1e5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_66.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.05297419 0.08164716 -0.00777979
+v 0.06089138 0.08164716 -0.00777979
+v 0.05566123 0.08164717 -0.01112842
+v 0.03731674 0.08155577 -0.00777979
+v 0.06177906 0.07907883 -0.00777980
+v 0.06155714 0.08164717 -0.00991551
+v 0.06187803 0.08164717 -0.01112842
+v 0.04114338 0.07891579 -0.01112843
+v 0.03490260 0.08107180 -0.00804598
+v 0.03435379 0.08125459 -0.00777979
+v 0.06223790 0.07604005 -0.00777981
+v 0.06192601 0.07604006 -0.01112844
+v 0.03775759 0.07621869 -0.01112844
+v 0.03324119 0.08082982 -0.00782273
+v 0.03319620 0.08087448 -0.00777979
+v 0.06206696 0.07481768 -0.00777982
+v 0.06159313 0.07367944 -0.01112845
+v 0.03414987 0.07104154 -0.01112846
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+v 0.06076842 0.07138010 -0.00777983
+v 0.06058548 0.07103842 -0.00777983
+v 0.06052551 0.07266790 -0.01112845
+v 0.03376000 0.07103843 -0.00986605
+v 0.03234451 0.07103842 -0.00869247
+v 0.03160377 0.07103842 -0.00777983
+v 0.03870825 0.07103843 -0.01112846
+v 0.05970680 0.07103842 -0.00889342
+v 0.05997670 0.07215590 -0.01112845
+v 0.04259187 0.07103843 -0.01112846
+v 0.05771251 0.07103842 -0.00951430
+v 0.05661789 0.07103843 -0.00982179
+v 0.05673185 0.07183603 -0.01112846
+v 0.05661789 0.07182564 -0.01112846
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 19
+f 1 19 27
+f 1 27 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
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+f 17 23 24
+f 18 25 26
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+f 18 28 25
+f 23 29 30
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+f 23 25 28
+f 23 28 31
+f 23 31 33
+f 23 33 32
+f 23 32 29
+f 29 32 30
+f 30 32 33
+f 30 33 34
+f 31 35 33
+f 33 35 34
+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_67.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f501aadb69fa8697e051cff14a213adca752f3e1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_67.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00402693 -0.04455713 -0.01552646
+v 0.00402693 -0.04455713 -0.01452646
+v 0.00402693 -0.02273181 -0.01552646
+v 0.00402693 -0.02273181 -0.01452646
+v 0.00572078 -0.04455713 -0.01552646
+v 0.00572078 -0.04455713 -0.01452646
+v 0.00572078 -0.02273181 -0.01552646
+v 0.00572078 -0.02273181 -0.01452646
+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/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_68.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25f4012d34cf681eb3e8051dc3beb60d9c5e28f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_68.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_69.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ed8d59ad2b583d1a177ee662732b6aacdc987fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_69.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_7.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d063a9ba9f435977ceef7dd5964a3c2a8346b4a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_7.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_70.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db81cf18fc6f218f84e48e6cd5191fbf96bb18c4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_70.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_71.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7c0a9b9af1dcd2c182ba7da4c7b0d8f46f9fff8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_71.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_8.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94303cf486a434cefbacaf6c6962c73848846d19
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_8.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_9.obj b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/mjcf/mesh/red_napkin_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/textures/material_0.png b/dataset/kitchen_supplies/tableware/2e0e3260adec5432a7ee428aee3a02bd/textures/material_0.png
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