diff --git a/.gitattributes b/.gitattributes
index b7f92a528509ed0bafca7dbbae6723c02c684987..0db0e6597036574168243ff128fa04e7a817647a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4281,6 +4281,6 @@ dataset/kitchen_supplies/tableware/924a0a37a55a51e8b5af466ff87c1b12/mesh/chopsti
 dataset/kitchen_supplies/tableware/924a0a37a55a51e8b5af466ff87c1b12/mjcf/mesh/chopsticks_005.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/mesh/plate_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/9aa79c63b5525ffbb57f006670fcfc9b/plate_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/9b3c7fedf6305eda873ff37bb1313d8d.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/mesh/fork.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/9b3c7fedf6305eda873ff37bb1313d8d/mesh/fork_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/9bab9f4a67445f22aa997aae1992ff3d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/9bab9f4a67445f22aa997aae1992ff3d.urdf b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/9bab9f4a67445f22aa997aae1992ff3d.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f6189e302ac393c18cdac7c833266ab190a0c0a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/9bab9f4a67445f22aa997aae1992ff3d.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>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>0.151659</scale>
+         <version>v0.1.7</version>
+         <category>red napkin</category>
+         <description>folded red napkin with smooth texture and slight decorative patterns</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260120023506</generate_time>
+         <gs_model>mesh/red_napkin_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object appears truncated and incomplete.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.317040920257568</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/9bab9f4a67445f22aa997aae1992ff3d.usd b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/9bab9f4a67445f22aa997aae1992ff3d.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ff063fd566c319610e1f549132525cfcb1e84a13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/9bab9f4a67445f22aa997aae1992ff3d.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05561070205d65b161a62505d60616931c82d26fe61d8b5292db06f597bbf7a2
+size 372295
diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/material.mtl b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/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/9bab9f4a67445f22aa997aae1992ff3d/mesh/material_0.png b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..41d241960d2c5ea7bcdfe59411f01832fff98c8e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d86499e9ab4a7cffcd8f41700ec1a9e3c77cf2e401eeb552d6cc867679b211f
+size 2017808
diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin.glb b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a75a8af564deda86f9b55754e7bcaec476a4da50
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98a6fd3e733d883b7bdf4a895c6630349b3ed8855304b7f4d5633caa3b7dc45e
+size 2269088
diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad2b8c3bcc55821d3ce38975eb6843afb214b25b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin.obj
@@ -0,0 +1,22905 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin_collision.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb4120df6db126ce3b59ad6cc64fea4cb17844f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin_gs.ply b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c4b64bd4b5704fb704a0a442a7f5db5ca917eb42
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mesh/red_napkin_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8589fe691dee509e7f054b962bf71bd0d39bb42fe0a5c89ff6e8692911cf95d5
+size 2339145
diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/9bab9f4a67445f22aa997aae1992ff3d.xml b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/9bab9f4a67445f22aa997aae1992ff3d.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d2918736b24bb87f61f046a493a05baf9bcd884a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/9bab9f4a67445f22aa997aae1992ff3d.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="red_napkin">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/red_napkin.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/red_napkin_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/red_napkin_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/red_napkin_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/red_napkin_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/red_napkin_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/red_napkin_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/red_napkin_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/red_napkin_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/red_napkin_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/red_napkin_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/red_napkin_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/red_napkin_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="red_napkin">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..41d241960d2c5ea7bcdfe59411f01832fff98c8e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d86499e9ab4a7cffcd8f41700ec1a9e3c77cf2e401eeb552d6cc867679b211f
+size 2017808
diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a2e2c2ea21991ceccf0335651823c9f72069723
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin.obj
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diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02038dda3175195fca5a52cbefd99d538286c399
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision.obj
@@ -0,0 +1,5012 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_0.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95f0f023b319c0535b2b45559eaa4e1348f00c37
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_1.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..113b99186d92c86f15835ab6780e79c6369d95df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_1.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.06738200 0.05758305 0.01442576
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diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_10.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5844d2f4365b65730d83c9b88a9357f5c3744b34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_10.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_11.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb4fef6890b35986cbf6bb82e95c32c5c5b5dd05
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_11.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_2.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..760591555025b3f78b2779c1fc4690b5aec9baf9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_2.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_3.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0425baa4ae80b23968fc717c5c2369513f8cc374
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_3.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_4.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aaeb622652fd328caeb1a88aafe043d10793e1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_5.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7da676490f0f7d88a78ee2c2d2a264ce79b88c36
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_5.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.03998372 0.01628557 0.00716729
+v 0.03998372 -0.00963147 0.00716719
+v 0.03998372 0.01628556 0.01015066
+v 0.06748048 0.01628557 0.00716729
+v 0.03998372 -0.00963148 0.01019349
+v 0.05806506 -0.00963147 0.00716719
+v 0.06141800 0.01628556 0.01125614
+v 0.07146024 0.01628557 0.00835951
+v 0.06748380 0.00408558 0.00716725
+v 0.06643912 -0.00963148 0.01151712
+v 0.06746722 -0.00962893 0.00716719
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+v 0.06391861 0.01628556 0.01137193
+v 0.07147019 0.01628557 0.00836254
+v 0.06748048 -0.00365198 0.00716722
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+v 0.06795142 -0.00963148 0.01157177
+v 0.06392856 0.01628556 0.01137237
+v 0.07384477 -0.00963147 0.00924414
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+v 0.07385472 0.01628556 0.01072096
+v 0.07146024 -0.00963148 0.01158825
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+
diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_6.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c6a61755bd7334225eb20d1fd4a019ec37b6ee9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_6.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.03998723 0.01628565 -0.01364485
+v 0.03998723 0.01358384 -0.01456446
+v 0.03998723 0.01628557 0.00716510
+v 0.07145761 0.01628565 -0.01459940
+v 0.03998723 0.01130571 -0.01511928
+v 0.03998723 -0.00963147 0.00716500
+v 0.06748340 0.01628557 0.00716510
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+
diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_7.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..904792f950ae54b6a8341b27b3783dca13bd4811
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_7.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
+v 0.04634786 -0.03113437 0.00016794
+v 0.04634786 -0.06012265 0.00016783
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diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_8.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db561f5fead08f724ed19bfc5ed086e7ce02ab07
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_8.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_9.obj b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab74f58018213098ee9e9c8e8178dbfc7674cc98
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/9bab9f4a67445f22aa997aae1992ff3d/mjcf/mesh/red_napkin_collision_9.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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