diff --git a/.gitattributes b/.gitattributes
index acc50eb7e517c34da61ce0d8fe85c015b063483b..ff6c372166f91c74662f07a493f6a006fc751f7f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4225,7 +4225,6 @@ dataset/kitchen_supplies/tableware/638200e216b559b1915f51c5b763e2cf/mesh/tray_03
dataset/kitchen_supplies/tableware/638200e216b559b1915f51c5b763e2cf/tray_034.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/tray_061.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/tray_061.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6765f277e1c557e9860eeda5eddb94c7/mesh/spoon_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6765f277e1c557e9860eeda5eddb94c7/spoon_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/680fd401dbcf5e29b6c6693fd12646ea/fork_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/680fd401dbcf5e29b6c6693fd12646ea/mesh/fork_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/67fec24a267c5278b557aa3723a70c17.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/67fec24a267c5278b557aa3723a70c17.urdf b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/67fec24a267c5278b557aa3723a70c17.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..86957437b731925ebe7b75e9592adc2e78f71d90
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/67fec24a267c5278b557aa3723a70c17.usd b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/67fec24a267c5278b557aa3723a70c17.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/67fec24a267c5278b557aa3723a70c17.usd
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin.glb b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin.glb
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin.obj
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin_collision.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab67042914b886e3d43a63e462d2c85117131c0f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin_collision.obj
@@ -0,0 +1,16938 @@
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin_gs.ply b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7fb8b8a845fd5125fe7423f0c959d87b3b1388d6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4df8223d20c55c2859eebab33f81e7800df6ca8bee9943ba7a4335b17d8c780
+size 4032361
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/material.mtl b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/material_0.png b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d64d67efd585eb6a1e3324f4e80a393d51f8cfc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13dd3cab36ffcb708435eb63660ca2bf30daa6ad609e4a10a186cc4619a16250
+size 1538927
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/67fec24a267c5278b557aa3723a70c17.xml b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/67fec24a267c5278b557aa3723a70c17.xml
new file mode 100644
index 0000000000000000000000000000000000000000..34f242cebac011c6aa6b762416a000098bb5a3b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/67fec24a267c5278b557aa3723a70c17.xml
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin.obj
new file mode 100644
index 0000000000000000000000000000000000000000..159e38d61bdba593e2e1841f803d559fc54eae01
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2973ae9ad2f31d2337ae1c62a9861084d212e965
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision.obj
@@ -0,0 +1,16938 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_0.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc24e225ceb8191b36f797e68d98480cb6f37c7a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_1.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5be6373551eb21503cc98278708a2062d10657e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_1.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_10.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..685d074139abdbf8cb97c7a122e840e9165091f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_10.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_11.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..681297f0375f0534b295d54e94f250e0d320f5fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_11.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_12.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94019f8ad2546a9e372bc615f6367c16f90801cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_12.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_13.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..054dce99e0582179b9e3486642599ad1556a1fc6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_13.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_14.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24420f71a6fd9eb90cf06a3490e2a6c3350a9dda
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_14.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_15.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fc7258e3ddf74eaf35c1616e36a5d259b9db649
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_15.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_16.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c339031288a25fd738e19083a17cc4160161c04e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_16.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_17.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26f6c4461b7b4c4291ad894db51e3e8feb075421
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_17.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_18.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98f5f5f576c70d0a500ce993a0e869a282d54448
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_18.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_19.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..293337a59af08d25c8485c2a8f48ade621f44e61
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_19.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_2.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a819634588ea5e46a9a516502cc5600a9a915564
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_2.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_20.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6587bbb7911b8bb0c76b46ca22ebbf68b3bd877
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_20.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_21.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc1b9bd8f6399a45b01db39baf76e8590eb82066
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_21.obj
@@ -0,0 +1,1105 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_22.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa04e6da0f562cda94ff02aecb9a980518d1ebc1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_22.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_23.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f06984e585034dfbd46d0ffb3834ff70c2af97b8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_23.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_24.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cdf053446fd353c45cfd0c64f9156f6ac55b2ed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_24.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_25.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c14cd8502ca1e806aba6c232b65ff75e48079a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_25.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_26.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03f5fd1f44b8b6cfa1b144e2ea9d9988b904e335
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_26.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_27.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8a4750da666876d678b2f1819e8f66c554ee217
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_27.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_28.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bacbf680abec15fdf7cf40e72a2fe50942ee839
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_28.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_29.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c2a57158af2885626a6f959e53b738ad448c0cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_29.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_3.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c0fde303293d04c7008b32e9042b6e80142971
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_3.obj
@@ -0,0 +1,577 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_30.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c4049df933573f7b5a90115f01cc0b0007e65fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_30.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_31.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edc4460a5cbcda96a579f358ea08d31bd88ee1bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_31.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_32.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38159b9a8aec685c5731d1a9733beb3b22d965b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_32.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_33.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da905bcb45830e2b3e211d8ce520655abedea95a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_33.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_34.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9de867eaaea5410a28b0469bd4ab3a1a41985f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_34.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_35.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68689af9c2a2cd91b86b82417f3723f58d9ebeb9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_35.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+v -0.01864943 -0.04323052 0.00205265
+v -0.01691069 -0.04323052 0.00262503
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+f 1 4 12
+f 1 12 23
+f 1 23 22
+f 1 22 37
+f 1 37 50
+f 1 50 64
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+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_36.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f4285be6139c173dd64ce18fdcb8afa67525c2a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_36.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.04507556 -0.04663462 -0.00719504
+v 0.03723195 -0.05039748 -0.00827027
+v 0.03328432 -0.04873820 -0.00463687
+v 0.03267426 -0.04841883 -0.00335427
+v 0.03497570 -0.04796922 -0.00320687
+v 0.04578245 -0.04663463 -0.00535026
+v 0.04750288 -0.04663462 -0.00807563
+v 0.03306160 -0.05220488 -0.00827027
+v 0.04918135 -0.04663462 -0.00827025
+v 0.02555691 -0.05564123 -0.00827028
+v 0.03143478 -0.04870609 -0.00278252
+v 0.03143478 -0.04870609 -0.00179601
+v 0.03354900 -0.04839385 -0.00175134
+v 0.03497570 -0.04822257 -0.00175134
+v 0.05094052 -0.04663464 -0.00175133
+v 0.05010774 -0.04663464 -0.00228160
+v 0.05808046 -0.04663462 -0.00827025
+v 0.02555691 -0.06029977 -0.00827030
+v 0.02555691 -0.05320939 -0.00430635
+v 0.02555691 -0.05274729 -0.00320688
+v 0.02555691 -0.05271874 -0.00246093
+v 0.02555691 -0.05271696 -0.00239839
+v 0.03154130 -0.04869717 -0.00175134
+v 0.02555691 -0.05279903 -0.00175135
+v 0.05797717 -0.04663464 -0.00175133
+v 0.05848394 -0.04663464 -0.00392728
+v 0.05841616 -0.05011737 -0.00827026
+v 0.02555691 -0.06053171 -0.00778406
+v 0.03403963 -0.06167717 -0.00827031
+v 0.03421393 -0.06181098 -0.00812993
+v 0.02555691 -0.06123292 -0.00175138
+v 0.05799654 -0.05464032 -0.00175136
+v 0.05814825 -0.04663464 -0.00218843
+v 0.05852268 -0.04663464 -0.00315325
+v 0.05852913 -0.05225305 -0.00827027
+v 0.02555691 -0.06078685 -0.00722954
+v 0.03561158 -0.06191803 -0.00827031
+v 0.03494665 -0.06218744 -0.00736739
+v 0.05036919 -0.06409832 -0.00827032
+v 0.04902965 -0.06396807 -0.00813695
+v 0.02555691 -0.06128645 -0.00198302
+v 0.03497570 -0.06285475 -0.00175139
+v 0.05797072 -0.05652800 -0.00175137
+v 0.05822894 -0.05651908 -0.00320690
+v 0.05785452 -0.06439628 -0.00722956
+v 0.05776736 -0.06429636 -0.00827032
+v 0.05815147 -0.05865297 -0.00521823
+v 0.03282920 -0.06205364 -0.00679373
+v 0.02555691 -0.06144166 -0.00510912
+v 0.03497570 -0.06285296 -0.00521824
+v 0.05067583 -0.06413935 -0.00827032
+v 0.05427486 -0.06480129 -0.00722956
+v 0.03711898 -0.06313665 -0.00521824
+v 0.02555691 -0.06136673 -0.00234228
+v 0.03497570 -0.06309919 -0.00320692
+v 0.03711898 -0.06336682 -0.00320692
+v 0.03711898 -0.06311346 -0.00175139
+v 0.02555691 -0.06158262 -0.00331157
+v 0.05790939 -0.05717388 -0.00175137
+v 0.05756078 -0.06205365 -0.00188986
+v 0.05773509 -0.06425355 -0.00521825
+v 0.05641813 -0.06486017 -0.00722956
+v 0.05641813 -0.06463714 -0.00827032
+v 0.02744842 -0.06185560 -0.00422087
+v 0.05275778 -0.06438022 -0.00827032
+v 0.04453329 -0.06399484 -0.00430320
+v 0.03926548 -0.06339000 -0.00521824
+v 0.05437492 -0.06454259 -0.00827032
+v 0.05427486 -0.06473171 -0.00521825
+v 0.04453329 -0.06399484 -0.00418770
+v 0.03926548 -0.06353810 -0.00320692
+v 0.04140875 -0.06366300 -0.00320692
+v 0.03926548 -0.06322587 -0.00175139
+v 0.05754464 -0.06078687 -0.00175138
+v 0.05735420 -0.06216962 -0.00175139
+v 0.05757047 -0.06406622 -0.00402243
+v 0.05641813 -0.06466927 -0.00521825
+v 0.05427486 -0.06428747 -0.00330902
+v 0.05427486 -0.06395382 -0.00230335
+v 0.05427486 -0.06369690 -0.00175139
+v 0.05649883 -0.06301177 -0.00175139
+v 0.05641813 -0.06360233 -0.00256817
+v 0.05641813 -0.06421788 -0.00357448
+f 1 2 3
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+f 1 34 26
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+f 48 50 49
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+f 51 65 52
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+f 52 65 68
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+f 60 76 61
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+f 69 71 70
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+f 75 81 76
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+f 76 82 83
+f 76 83 77
+f 77 83 78
+f 78 83 79
+f 79 83 80
+f 80 83 82
+f 80 82 81
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_37.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ee222aed0d426121739195b2f515f6ff2b7b8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_37.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02555369 -0.05271647 -0.00239826
+v 0.02555369 -0.05279893 -0.00175135
+v 0.02555369 -0.05274598 -0.00320705
+v 0.00494620 -0.05302544 -0.00759474
+v 0.02555369 -0.06123373 -0.00175138
+v 0.00050596 -0.05333009 -0.00759475
+v 0.00709153 -0.05500093 -0.00175136
+v 0.02555369 -0.05320859 -0.00430641
+v 0.00709153 -0.05303412 -0.00759474
+v 0.02555369 -0.06128581 -0.00198304
+v 0.00050596 -0.06005158 -0.00175138
+v 0.00050596 -0.05864547 -0.00759477
+v 0.00050596 -0.05663182 -0.00175137
+v 0.02555369 -0.05563278 -0.00759475
+v 0.02419048 -0.05505039 -0.00759475
+v 0.02210153 -0.05475354 -0.00759475
+v 0.02555369 -0.06136653 -0.00234225
+v 0.00050596 -0.06010365 -0.00320708
+v 0.02555369 -0.06158352 -0.00331176
+v 0.00050596 -0.05891714 -0.00722927
+v 0.02555369 -0.06061920 -0.00759477
+v 0.00050596 -0.06009063 -0.00332491
+v 0.02555369 -0.06144203 -0.00510894
+v 0.00050596 -0.05960457 -0.00609846
+v 0.02555369 -0.06078758 -0.00722927
+v 0.00050596 -0.05965925 -0.00600580
+v 0.00050596 -0.05990228 -0.00499968
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 19
+f 1 19 23
+f 1 23 25
+f 1 25 21
+f 1 21 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
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+f 2 6 7
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+f 12 21 20
+f 18 22 23
+f 18 23 19
+f 20 21 24
+f 21 25 26
+f 21 26 24
+f 22 27 23
+f 23 27 26
+f 23 26 25
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_38.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fb36de0c17ada2619a0d21b4dc9eb445522b9a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_38.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00050596 -0.04498355 0.00576525
+v 0.00050596 -0.05546271 0.00576522
+v 0.00050596 -0.05564830 0.00058592
+v -0.01410878 -0.05472168 0.00058592
+v -0.01474161 -0.05468283 0.00058592
+v -0.01474161 -0.04595334 0.00484204
+v -0.01474161 -0.04593176 0.00488970
+v -0.01448788 -0.04564830 0.00576525
+v 0.00050596 -0.05651883 0.00496114
+v 0.00039701 -0.05545983 0.00576522
+v 0.00050596 -0.05968140 0.00058590
+v -0.01474161 -0.05890874 0.00058590
+v -0.01474161 -0.04569434 0.00576525
+v 0.00050596 -0.05773321 0.00398571
+v -0.00148954 -0.05540371 0.00576522
+v -0.00348354 -0.05531738 0.00576522
+v -0.00148954 -0.05651883 0.00489016
+v -0.00053582 -0.05965119 0.00058590
+v 0.00050596 -0.05950730 0.00108882
+v -0.01435803 -0.05893176 0.00058590
+v -0.01474161 -0.05885694 0.00077551
+v -0.01474161 -0.05475479 0.00576522
+v -0.00148954 -0.05768428 0.00393603
+v 0.00050596 -0.05778932 0.00390865
+v -0.01474161 -0.05505839 0.00556851
+v -0.01474161 -0.05624401 0.00456266
+v -0.00242535 -0.05959075 0.00058590
+v 0.00050596 -0.05948284 0.00115879
+v -0.00597157 -0.05943104 0.00058590
+v -0.01474161 -0.05884543 0.00081708
+v -0.00363429 -0.05762961 0.00387925
+v -0.00148954 -0.05847853 0.00282828
+v 0.00050596 -0.05856343 0.00282827
+v -0.01474161 -0.05731019 0.00348279
+v -0.00634171 -0.05755767 0.00380067
+v -0.00491188 -0.05759651 0.00384477
+v -0.00421488 -0.05951737 0.00058590
+v -0.00148954 -0.05944687 0.00106652
+v 0.00050596 -0.05863105 0.00270558
+v -0.00584769 -0.05943824 0.00058590
+v -0.01474161 -0.05800515 0.00247745
+v -0.00590739 -0.05940658 0.00065840
+v -0.00363429 -0.05939219 0.00097019
+v -0.00363429 -0.05836918 0.00282828
+v -0.00568799 -0.05813752 0.00300978
+v -0.00792229 -0.05820227 0.00273550
+f 1 2 9
+f 1 9 14
+f 1 14 24
+f 1 24 33
+f 1 33 39
+f 1 39 28
+f 1 28 19
+f 1 19 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 13
+f 1 13 22
+f 1 22 16
+f 1 16 15
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+f 1 10 2
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+f 16 22 25
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+f 18 19 28
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+f 20 29 21
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+f 26 36 31
+f 27 28 38
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+f 28 39 32
+f 28 32 38
+f 29 40 30
+f 30 40 42
+f 30 42 43
+f 30 43 41
+f 31 36 32
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+f 32 41 43
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+f 34 41 35
+f 35 41 45
+f 35 45 44
+f 37 42 40
+f 37 38 43
+f 37 43 42
+f 41 46 45
+f 41 44 46
+f 44 45 46
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_39.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f43f6f5a61e4099a2d8282868957b091fd9435a5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_39.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.05140342 0.06497529 0.00282870
+v 0.05140342 0.06457461 0.00483975
+v 0.05140342 0.06494072 0.00150014
+v 0.00050596 0.06431715 0.00282870
+v 0.00050596 0.06411117 0.00394886
+v 0.05140342 0.06444341 0.00523510
+v 0.05140342 0.06492169 0.00081711
+v 0.00050596 0.06427201 0.00126872
+v 0.00050596 0.06362655 0.00495492
+v 0.05140342 0.06416830 0.00605902
+v 0.05140342 0.06487090 0.00063604
+v 0.00161698 0.06415492 0.00063604
+v 0.00050596 0.06426849 0.00115032
+v 0.00050596 0.06290352 0.00610883
+v 0.05140342 0.06414009 0.00610884
+v 0.05140342 0.06093124 0.00063602
+v 0.00050596 0.06410907 0.00063604
+v 0.00050596 0.05825352 0.00610881
+v 0.05140342 0.05993872 0.00610882
+v 0.05034721 0.05962200 0.00610882
+v 0.00051593 0.05776964 0.00063601
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_4.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae7ff40429104b81f297705542ca71f6f54c57a9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_4.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_40.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b44faffb2323ffb38d181eb43296009a003d8b3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_40.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_41.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6daae95b3b9138e09e7a16f8b0fe6d60323dc44a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_41.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_42.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..314f70b83e2eda8244e5108fa28a9a6b39cff092
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_42.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_43.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a0a83a8b8b7b9dc4c82de95f25f5b1c218b8b94
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_43.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+f 18 20 24
+f 18 24 25
+f 18 25 23
+f 21 26 27
+f 21 27 22
+f 23 25 29
+f 23 29 28
+f 26 30 27
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+f 28 29 32
+f 28 32 33
+f 28 33 31
+f 28 31 34
+f 30 35 31
+f 31 35 36
+f 31 36 34
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_44.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c04053474e27495cbe6f75a510b30a472e85951
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_44.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.03376979 0.06389526 0.00058635
+v -0.03371711 0.06389526 0.00058635
+v -0.03371711 0.06388988 0.00056100
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+v -0.03580742 0.06388557 0.00058635
+v -0.03371711 0.05987452 0.00058634
+v -0.03371711 0.06388342 0.00053564
+v -0.05296237 0.06378543 0.00058635
+v -0.03371711 0.05331148 -0.00414856
+v -0.03933101 0.05289905 0.00058631
+v -0.03932823 0.05289583 0.00058269
+v -0.03371711 0.06314258 -0.00114950
+v -0.05296237 0.06308766 -0.00119478
+v -0.05510813 0.06307259 -0.00119478
+v -0.05939686 0.06301552 -0.00119478
+v -0.05725388 0.06372082 0.00058635
+v -0.03371711 0.05328349 -0.00417029
+v -0.04079755 0.05289583 0.00058631
+v -0.03371711 0.05289585 -0.00447546
+v -0.03371711 0.06312212 -0.00119478
+v -0.05296237 0.06223485 -0.00253673
+v -0.05510813 0.06222409 -0.00252677
+v -0.05939686 0.06219394 -0.00249961
+v -0.05939686 0.06366160 0.00058635
+v -0.06079133 0.06210025 -0.00239638
+v -0.06117391 0.06246743 -0.00119478
+v -0.06060004 0.05289583 0.00058631
+v -0.03371711 0.05289586 -0.00857468
+v -0.03371711 0.06223378 -0.00252949
+v -0.05081939 0.06223593 -0.00253855
+v -0.05296237 0.06119467 -0.00354276
+v -0.05510813 0.06118713 -0.00353189
+v -0.05939686 0.06116668 -0.00350563
+v -0.06137351 0.06277755 0.00058635
+v -0.06077192 0.05999621 -0.00437311
+v -0.06121549 0.06076934 -0.00312261
+v -0.06196955 0.06086086 -0.00119479
+v -0.06203609 0.06086086 0.00058634
+v -0.06185589 0.05289585 -0.00521707
+v -0.04009616 0.05289586 -0.00860184
+v -0.03371711 0.05351178 -0.00829939
+v -0.03371711 0.06117960 -0.00353552
+v -0.04653065 0.06119360 -0.00354276
+v -0.04867363 0.06119467 -0.00354367
+v -0.05081939 0.06119575 -0.00354457
+v -0.05296237 0.06012758 -0.00446547
+v -0.05510813 0.06012005 -0.00446004
+v -0.05939686 0.06009959 -0.00445098
+v -0.05939686 0.05872667 -0.00537097
+v -0.05939686 0.05752928 -0.00613704
+v -0.06063053 0.05354193 -0.00831026
+v -0.06100480 0.05616283 -0.00659341
+v -0.06113787 0.05872667 -0.00479326
+v -0.06189470 0.05872666 -0.00320682
+v -0.06196678 0.05445935 -0.00521706
+v -0.06165628 0.05289586 -0.00723453
+v -0.05606180 0.05289586 -0.00866432
+v -0.05725388 0.05360977 -0.00834920
+v -0.03795318 0.05352793 -0.00830935
+v -0.05939686 0.05468656 -0.00778145
+v -0.03371711 0.05457888 -0.00771897
+v -0.03371711 0.06014050 -0.00443015
+v -0.03795318 0.06011897 -0.00446094
+v -0.04653065 0.06012651 -0.00446547
+v -0.04009616 0.06012112 -0.00446185
+v -0.04224191 0.06012327 -0.00446275
+v -0.04867363 0.06012758 -0.00446637
+v -0.05081939 0.06012866 -0.00446728
+v -0.05296237 0.05872667 -0.00537912
+v -0.05939686 0.05646218 -0.00677542
+v -0.05081939 0.05872667 -0.00537822
+v -0.03795318 0.05872667 -0.00536101
+v -0.03795318 0.05747759 -0.00611802
+v -0.06080519 0.05289586 -0.00843342
+v -0.06125153 0.05433553 -0.00724991
+v -0.05939686 0.05361946 -0.00835101
+v -0.05939686 0.05289586 -0.00864531
+v -0.05997627 0.05289586 -0.00861090
+v -0.06145114 0.05676153 -0.00538457
+v -0.05819924 0.05289586 -0.00866342
+v -0.03371711 0.05639649 -0.00671294
+v -0.03371711 0.06011251 -0.00445370
+v -0.03580742 0.06011574 -0.00445732
+v -0.04438767 0.06012435 -0.00446456
+v -0.03580742 0.05872667 -0.00535377
+v -0.03371711 0.05872667 -0.00534562
+v -0.03371711 0.05746360 -0.00610897
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 8 16
+f 1 16 24
+f 1 24 34
+f 1 34 38
+f 1 38 27
+f 1 27 18
+f 1 18 10
+f 1 10 6
+f 1 6 2
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+f 2 28 41
+f 2 41 61
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+f 9 11 17
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+f 72 83 82
+f 72 82 85
+f 72 85 73
+f 73 85 86
+f 73 86 87
+f 73 87 81
+f 76 80 77
+f 82 86 85
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_45.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da80ef655b9d9dad97e703179a98c62993aac9b0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_45.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.04414299 -0.04810529 -0.00175134
+v 0.04355173 -0.04820634 -0.00119463
+v 0.04524770 -0.04821228 -0.00119463
+v 0.04524770 -0.04810975 -0.00175134
+v 0.03711682 -0.04819147 -0.00175134
+v 0.03711682 -0.04828360 -0.00119463
+v 0.04524770 -0.04910529 0.00336779
+v 0.04524770 -0.06326983 -0.00175139
+v 0.03497185 -0.04822267 -0.00175134
+v 0.03497185 -0.04831926 -0.00119463
+v 0.04524770 -0.06017929 0.00336775
+v 0.03497185 -0.04973826 0.00336779
+v 0.04359174 -0.06328171 -0.00175139
+v 0.04524770 -0.06310045 -0.00119468
+v 0.04140676 -0.06313909 -0.00119468
+v 0.03354927 -0.04839354 -0.00175134
+v 0.03296246 -0.04856888 -0.00115304
+v 0.03416943 -0.04980363 0.00336779
+v 0.04524770 -0.06027884 0.00325450
+v 0.04253148 -0.06017483 0.00336775
+v 0.04140676 -0.06065328 0.00282807
+v 0.04140676 -0.06328469 -0.00175139
+v 0.04524770 -0.06245560 0.00019684
+v 0.04524770 -0.06228027 0.00056414
+v 0.03926179 -0.06228918 0.00058870
+v 0.03926179 -0.06310640 -0.00119468
+v 0.03154211 -0.04869666 -0.00175134
+v 0.03203112 -0.05005920 0.00336779
+v 0.04524770 -0.06065328 0.00282807
+v 0.04140676 -0.06016889 0.00336775
+v 0.04010866 -0.06016146 0.00336775
+v 0.03919066 -0.06046160 0.00302700
+v 0.03926179 -0.06170822 0.00159388
+v 0.03926179 -0.06322674 -0.00175139
+v 0.04524770 -0.06169485 0.00156983
+v 0.03711682 -0.06168743 0.00155880
+v 0.03711682 -0.06226392 0.00055362
+v 0.03711682 -0.06301576 -0.00119468
+v 0.02253990 -0.05427303 -0.00175136
+v 0.02253990 -0.05240089 0.00336778
+v 0.03947073 -0.06015403 0.00336775
+v 0.03886836 -0.06014512 0.00336775
+v 0.03783477 -0.06012580 0.00336775
+v 0.03711682 -0.06061910 0.00280903
+v 0.03711682 -0.06311382 -0.00175139
+v 0.03497185 -0.06056115 0.00278247
+v 0.03282909 -0.06047200 0.00273888
+v 0.02253990 -0.05933533 0.00333267
+v 0.02253990 -0.06001436 0.00232698
+v 0.03497185 -0.06162799 0.00138392
+v 0.03497185 -0.06213763 0.00037824
+v 0.03497185 -0.06276019 -0.00119468
+v 0.02253990 -0.06099500 -0.00175138
+v 0.02253990 -0.05929967 0.00336775
+v 0.03711682 -0.06010945 0.00336775
+v 0.03497185 -0.06004408 0.00336775
+v 0.03497185 -0.06285379 -0.00175139
+v 0.03282909 -0.05994750 0.00336775
+v 0.03068412 -0.05981675 0.00336775
+v 0.02853915 -0.05968302 0.00336775
+v 0.02331342 -0.05935613 0.00336775
+v 0.02253990 -0.06042296 0.00081620
+v 0.02253990 -0.06087614 -0.00119467
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 22
+f 1 22 34
+f 1 34 45
+f 1 45 57
+f 1 57 53
+f 1 53 39
+f 1 39 27
+f 1 27 16
+f 1 16 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
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+f 2 6 7
+f 3 7 11
+f 3 11 19
+f 3 19 29
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+f 3 35 24
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+f 3 23 14
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+f 3 8 4
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+f 21 33 29
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+f 31 41 32
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+f 32 44 33
+f 32 41 42
+f 33 44 36
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+f 36 44 46
+f 36 46 47
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+f 36 49 50
+f 36 50 37
+f 37 50 49
+f 37 49 51
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+f 38 51 49
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+f 38 52 45
+f 39 53 63
+f 39 63 62
+f 39 62 49
+f 39 49 48
+f 39 48 54
+f 39 54 40
+f 43 55 44
+f 44 55 56
+f 44 56 46
+f 45 52 57
+f 46 56 58
+f 46 58 47
+f 47 58 59
+f 47 59 60
+f 47 60 61
+f 47 61 48
+f 48 61 54
+f 49 62 52
+f 52 62 63
+f 52 63 53
+f 52 53 57
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_46.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce4f94b672f4ec2dc491193a07db2f54dfdcf7d6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_46.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03598848 0.05050319 0.00058631
+v -0.03371711 0.05050321 -0.00607725
+v -0.03371711 0.05289584 -0.00447668
+v -0.03933053 0.05289582 0.00058232
+v -0.03920050 0.05278503 0.00058631
+v -0.05910060 0.05050319 0.00058631
+v -0.03371711 0.05050322 -0.00951574
+v -0.03371711 0.05289585 -0.00857435
+v -0.04079682 0.05289582 0.00058631
+v -0.05940492 0.05067909 0.00058631
+v -0.05940216 0.05050319 0.00032902
+v -0.03371711 0.05232433 -0.00882964
+v -0.05113281 0.05050323 -0.00960150
+v -0.04009687 0.05232433 -0.00885956
+v -0.04224098 0.05232433 -0.00886953
+v -0.04009687 0.05289585 -0.00860227
+v -0.06060009 0.05289582 0.00058631
+v -0.05944642 0.05071235 0.00058631
+v -0.06011317 0.05050319 -0.00049071
+v -0.05327692 0.05050323 -0.00959552
+v -0.05725251 0.05232433 -0.00891042
+v -0.05510841 0.05232433 -0.00891540
+v -0.05296429 0.05232433 -0.00891241
+v -0.05606288 0.05289585 -0.00866410
+v -0.06185613 0.05289584 -0.00521763
+v -0.06058349 0.05256369 0.00058631
+v -0.06029577 0.05157408 0.00058631
+v -0.06017957 0.05050319 -0.00056849
+v -0.05542380 0.05050323 -0.00956959
+v -0.05939662 0.05232433 -0.00887751
+v -0.05939662 0.05289585 -0.00864515
+v -0.05820146 0.05289585 -0.00866310
+v -0.06165693 0.05289585 -0.00723505
+v -0.06181739 0.05232433 -0.00722907
+v -0.06198062 0.05050322 -0.00722907
+v -0.06181739 0.05232432 -0.00521763
+v -0.06057519 0.05248733 0.00058631
+v -0.06166800 0.05050321 -0.00521763
+v -0.06056136 0.05238473 0.00058631
+v -0.06049220 0.05120845 -0.00012871
+v -0.06060839 0.05050319 -0.00110102
+v -0.05756791 0.05050322 -0.00951873
+v -0.05939662 0.05050322 -0.00942898
+v -0.05997761 0.05289585 -0.00861124
+v -0.06095698 0.05232433 -0.00854243
+v -0.06080482 0.05289585 -0.00843374
+v -0.06119491 0.05050322 -0.00880072
+v -0.05962625 0.05050322 -0.00938012
+f 1 2 3
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+f 1 4 5
+f 1 5 9
+f 1 9 17
+f 1 17 26
+f 1 26 37
+f 1 37 39
+f 1 39 27
+f 1 27 18
+f 1 18 10
+f 1 10 6
+f 1 6 11
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+f 1 19 28
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+f 1 20 13
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+f 10 18 19
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+f 15 23 16
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+f 18 27 28
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+f 20 29 21
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+f 22 24 23
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+f 26 38 37
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+f 29 42 30
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+f 30 44 31
+f 33 45 34
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+f 34 47 35
+f 35 38 36
+f 37 38 39
+f 38 41 39
+f 39 41 40
+f 43 48 44
+f 44 48 46
+f 45 46 48
+f 45 48 47
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_47.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de7af32d2772df19d0916a98d9ea7fbe17a257b6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_47.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.02354222 -0.01341234 0.00282811
+v -0.02356091 -0.01341234 0.00304832
+v -0.02383334 -0.01341234 0.00174961
+v -0.02356358 0.00110095 0.00141571
+v -0.02356358 0.00110095 0.00252547
+v -0.02371849 -0.01341234 0.00396548
+v -0.02508330 -0.01341234 0.00159590
+v -0.02511536 0.00425328 0.00058614
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+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_48.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f4d579df9394f197b85343c489577b69b6f73a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_48.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.05010346 0.00493197 -0.00249697
+v 0.05010346 0.00493199 -0.00836728
+v 0.05010346 0.00750671 -0.00237925
+v 0.04569592 0.00493197 -0.00309975
+v 0.03786895 0.00493199 -0.00836728
+v 0.05010346 0.02899743 -0.00836719
+v 0.05010346 0.00964094 -0.00229424
+v 0.04355204 0.00750671 -0.00339519
+v 0.04355204 0.00537248 -0.00343800
+v 0.04355204 0.00493197 -0.00344751
+v 0.03786895 0.00493199 -0.00762301
+v 0.03786775 0.02094342 -0.00586275
+v 0.03786895 0.02382676 -0.00836721
+v 0.03787254 0.02449341 -0.00836721
+v 0.05010346 0.02462530 -0.00358773
+v 0.05010346 0.01105434 -0.00230494
+v 0.04212438 0.00750671 -0.00391118
+v 0.05010346 0.01177517 -0.00231266
+v 0.05010346 0.01761014 -0.00239468
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+v 0.04211959 0.02145930 -0.00414654
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+v 0.04221900 0.00493197 -0.00396767
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+v 0.04569592 0.02030973 -0.00334938
+v 0.05010346 0.02244396 -0.00277452
+v 0.05010346 0.02262535 -0.00280365
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+f 21 26 24
+f 28 30 29
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_49.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b1510e06faf1200a592bea5673aac9b44b3e2d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_49.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.06077927 0.00493512 -0.00320624
+v 0.06026826 0.00493512 -0.00207862
+v 0.06067686 0.00493512 -0.00355370
+v 0.06028184 0.00964222 -0.00490541
+v 0.06077509 0.00750635 -0.00320623
+v 0.06012091 0.01177491 -0.00174470
+v 0.06012405 0.00964221 -0.00174664
+v 0.06013137 0.00750635 -0.00176279
+v 0.06013450 0.00493512 -0.00178864
+v 0.06028184 0.00493513 -0.00489058
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+v 0.06005926 0.02244475 -0.00474779
+v 0.06011778 0.01391077 -0.00174598
+v 0.05812181 0.03161598 0.00063592
+v 0.05679151 0.01104613 0.00063584
+v 0.05663163 0.00936142 0.00063583
+v 0.05612480 0.00493511 0.00063582
+v 0.05810822 0.03098185 0.00063591
+v 0.05804030 0.02958424 0.00063591
+v 0.05799954 0.02884599 0.00063591
+v 0.05892020 0.00493513 -0.00548216
+v 0.06071553 0.01177491 -0.00320622
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+v 0.05856489 0.00493513 -0.00563587
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+v 0.05981577 0.03311457 -0.00443387
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+v 0.06065909 0.01391077 -0.00320621
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+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_5.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df6f691310abcf34293112fba5ca3d5da76e34ec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_5.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.00050596 -0.05546369 0.00576522
+v 0.00050596 -0.05539509 0.00581561
+v -0.03717922 -0.05395454 0.00631465
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+v -0.01448917 -0.04564738 0.00576525
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+v -0.01006994 0.01461557 0.00851606
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+v -0.03717922 -0.04934480 0.00865525
+v -0.03717922 0.00536862 0.00887840
+v -0.02507983 0.01461557 0.00868102
+v 0.00050596 0.01461556 0.01148338
+v 0.00050596 -0.04956431 0.00798573
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+v -0.03151316 0.00963537 0.01265608
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_50.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05cd2e21b4a33a72e7cabe2b6940f0cca484866f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_50.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_51.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03f056d5989ca757ce2f20c111cf62f97e997556
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_51.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.05986503 0.02244476 -0.00924139
+v 0.05972838 0.02031206 -0.00803912
+v 0.05985930 0.02031206 -0.00924140
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+v 0.05981630 0.02671333 -0.01051751
+v 0.05981439 0.02884603 -0.01049237
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+v 0.05980196 0.03311459 -0.00978729
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+v 0.05976469 0.00493515 -0.01003714
+v 0.05933467 0.00493515 -0.01138333
+v 0.05980674 0.02457747 -0.01053808
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+v 0.05978094 0.03525045 -0.01040708
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+v 0.05978094 0.03525045 -0.00975835
+v 0.05973889 0.03716231 -0.01035072
+v 0.05915310 0.03716229 -0.00596266
+v 0.05732502 0.00493513 -0.00596278
+v 0.05806944 0.00964225 -0.01250564
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+v 0.05856540 0.03311459 -0.01100709
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+v 0.05010441 0.03299786 -0.01155226
+v 0.05010441 0.03311459 -0.01154236
+v 0.05010441 0.03513372 -0.01135428
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+f 1 11 2
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+f 50 58 51
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+f 52 60 53
+f 53 56 55
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+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_52.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69909a24bb7bfbc8659497c4c2c5047aad0f5dc2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_52.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.03198253 0.04627653 0.00058564
+v -0.03192406 0.04627653 -0.00063169
+v -0.03393573 0.05050174 -0.00605635
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+v -0.03778949 0.04627653 0.00058564
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+v -0.03457023 0.05050298 -0.00597246
+v -0.03598834 0.05050296 0.00058566
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+v -0.03564916 0.05035733 0.00058565
+v -0.03253516 0.04627654 -0.00190235
+v -0.03355854 0.04627654 -0.00323738
+v -0.03474274 0.04627654 -0.00405154
+v -0.03609945 0.04811175 -0.00605636
+v -0.05510803 0.04884689 0.00058565
+v -0.05713432 0.04627654 -0.00191145
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+v -0.03592986 0.04627655 -0.00475970
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+v -0.03795323 0.04627655 -0.00529944
+v -0.03795323 0.04749864 -0.00605637
+v -0.05757291 0.04961969 0.00058565
+v -0.05798519 0.04627654 -0.00206427
+v -0.06178340 0.05032053 -0.00605636
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+v -0.05940330 0.05050296 0.00032945
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+v -0.05906120 0.04627654 -0.00236080
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+v -0.04009649 0.04731454 -0.00605637
+v -0.06179217 0.05018980 -0.00605636
+v -0.06163428 0.04805631 -0.00605636
+v -0.06164012 0.05018980 -0.00521749
+v -0.06060797 0.05050296 -0.00110118
+v -0.06011090 0.05050296 -0.00049056
+v -0.06059043 0.04869589 -0.00200508
+v -0.06054072 0.04627654 -0.00339280
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+v -0.06148223 0.04627655 -0.00605637
+v -0.06127755 0.04627655 -0.00521750
+v -0.06017815 0.05050296 -0.00056860
+v -0.06068692 0.04627654 -0.00363406
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+f 38 42 44
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_53.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040d0bd328361ef9889de006473c73925e60e77c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_53.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.05509614 0.06287085 0.00591612
+v -0.05509614 0.06281068 0.00591612
+v -0.05635367 0.06284740 0.00591612
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+v -0.05510990 0.05292555 0.01374613
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+v -0.05942674 0.05245444 0.01286225
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+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_54.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3282f1e291a2d333258d9aca92ed4d537e0341bb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_54.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.05198601 0.04209922 -0.00820680
+v -0.06119369 0.04209922 -0.00820680
+v -0.05649902 0.04209921 -0.00637941
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+v -0.06119738 0.04186394 -0.00820680
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+v -0.06080823 0.01568525 -0.00722968
+v -0.06080454 0.01568525 -0.00689244
+v -0.06120014 0.04165192 -0.00820680
+v -0.06074092 0.01568525 -0.00786231
+f 1 2 7
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+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_55.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..923d636f8eeba9f82cd91f9d60ead23327d93415
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_55.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.02430982 0.04209960 0.00058562
+v -0.02430247 0.04209960 0.00057652
+v -0.02396459 0.04280741 0.00009662
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+v -0.03529454 0.04209960 0.00058562
+v -0.02426208 0.04209960 0.00051929
+v -0.02396459 0.04258987 0.00009662
+v -0.02396459 0.04280741 -0.00033908
+v -0.02596616 0.04502324 -0.00119484
+v -0.02597350 0.04500402 0.00029951
+v -0.02551443 0.04438658 0.00058563
+v -0.03778823 0.04627653 0.00058564
+v -0.05510816 0.04209961 -0.00162275
+v -0.02425473 0.04209960 0.00039639
+v -0.02420699 0.04209960 -0.00062586
+v -0.02396459 0.04258987 -0.00033908
+v -0.02467340 0.04209961 -0.00272693
+v -0.02483867 0.04209961 -0.00319449
+v -0.02559522 0.04378224 -0.00314961
+v -0.02608368 0.04492962 -0.00244274
+v -0.02722953 0.04574045 -0.00119484
+v -0.02649501 0.04519375 0.00058564
+v -0.02603594 0.04494964 0.00058564
+v -0.03198186 0.04627653 0.00058564
+v -0.05713543 0.04627654 -0.00191145
+v -0.05798380 0.04627654 -0.00206427
+v -0.05668371 0.04209961 -0.00203568
+v -0.02420699 0.04209960 -0.00079493
+v -0.02564664 0.04209962 -0.00435004
+v -0.02588536 0.04306749 -0.00429216
+v -0.02657581 0.04448964 -0.00378298
+v -0.02726625 0.04524692 -0.00314960
+v -0.02937432 0.04575314 -0.00320617
+v -0.02937432 0.04626957 -0.00119484
+v -0.02912826 0.04601278 0.00058564
+v -0.02710466 0.04545790 0.00058564
+v -0.02937432 0.04607330 0.00058564
+v -0.03192677 0.04627653 -0.00063169
+v -0.05905987 0.04627654 -0.00236080
+v -0.05963280 0.04627654 -0.00261051
+v -0.05939775 0.04209961 -0.00330633
+v -0.02723687 0.04209962 -0.00453537
+v -0.02726625 0.04378225 -0.00437474
+v -0.02800444 0.04495825 -0.00428890
+v -0.03630817 0.04627655 -0.00492813
+v -0.03592990 0.04627655 -0.00475970
+v -0.03202226 0.04627653 -0.00119484
+v -0.03193412 0.04627653 -0.00068892
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+v -0.03356107 0.04627654 -0.00323738
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+v -0.02767758 0.04209962 -0.00457049
+v -0.03795349 0.04627655 -0.00529944
+v -0.06068683 0.04627654 -0.00363406
+v -0.06068683 0.04209962 -0.00430192
+v -0.03850071 0.04627655 -0.00534236
+v -0.05649640 0.04209962 -0.00605639
+v -0.06127811 0.04627655 -0.00521750
+v -0.06098431 0.04209962 -0.00521752
+v -0.05485108 0.04627655 -0.00605637
+v -0.06116794 0.04209962 -0.00605639
+v -0.06135891 0.04627655 -0.00555175
+v -0.06107979 0.04209962 -0.00563761
+v -0.06148011 0.04627655 -0.00605637
+v -0.06145440 0.04592162 -0.00605637
+v -0.06120466 0.04254409 -0.00605638
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 23
+f 1 23 22
+f 1 22 36
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+f 1 35 37
+f 1 37 24
+f 1 24 12
+f 1 12 5
+f 1 5 13
+f 1 13 27
+f 1 27 41
+f 1 41 54
+f 1 54 53
+f 1 53 58
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+f 1 66 64
+f 1 64 60
+f 1 60 55
+f 1 55 42
+f 1 42 29
+f 1 29 18
+f 1 18 17
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+f 1 28 15
+f 1 15 14
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+f 1 6 2
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+f 3 11 4
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+f 12 46 45
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+f 12 67 65
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+f 12 61 57
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+f 12 39 26
+f 12 26 25
+f 12 25 13
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+f 16 28 17
+f 18 29 30
+f 18 30 19
+f 19 30 31
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+f 21 33 34
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+f 21 36 22
+f 24 37 34
+f 24 34 38
+f 26 39 27
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+f 29 42 30
+f 30 42 43
+f 30 43 44
+f 30 44 31
+f 31 44 32
+f 32 44 33
+f 33 44 45
+f 33 45 46
+f 33 46 34
+f 34 47 48
+f 34 48 38
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+f 34 49 50
+f 34 50 51
+f 34 51 47
+f 40 52 53
+f 40 53 54
+f 40 54 41
+f 42 55 56
+f 42 56 43
+f 43 56 44
+f 44 56 45
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+f 53 57 58
+f 55 59 56
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+f 57 61 58
+f 58 61 62
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+f 60 64 69
+f 60 69 68
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+f 60 67 63
+f 61 65 62
+f 62 65 67
+f 62 67 68
+f 62 68 66
+f 64 66 69
+f 66 68 69
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_56.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b32777dfb15301b2643b38770cee080c7879d6c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_56.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.05821995 -0.04382007 -0.00175132
+v 0.05119416 -0.04382007 -0.00175132
+v 0.05801043 -0.04382009 0.00283565
+v 0.05815519 -0.05011845 0.00081624
+v 0.05797234 -0.05652771 -0.00175137
+v 0.04901011 -0.04382009 0.00336781
+v 0.04524770 -0.04811043 -0.00175134
+v 0.05781234 -0.04382009 0.00336781
+v 0.05786821 -0.05011846 0.00230498
+v 0.05797361 -0.05231325 0.00090793
+v 0.05791139 -0.05717370 -0.00175137
+v 0.04524770 -0.04821162 -0.00119463
+v 0.04524770 -0.04910473 0.00336779
+v 0.04524770 -0.06326971 -0.00175139
+v 0.05773870 -0.04499921 0.00336780
+v 0.05772092 -0.05164198 0.00206545
+v 0.05770314 -0.04553818 0.00336780
+v 0.05763838 -0.04620168 0.00336780
+v 0.05594066 -0.05870307 0.00336775
+v 0.05735522 -0.06216842 -0.00175139
+v 0.05754442 -0.06078694 -0.00175138
+v 0.04524770 -0.06017794 0.00336775
+v 0.05427596 -0.06369777 -0.00175139
+v 0.04524770 -0.06310044 -0.00119468
+v 0.05726125 -0.06078695 -0.00085593
+v 0.05567401 -0.05922258 0.00336775
+v 0.05589114 -0.06036084 0.00248583
+v 0.05592670 -0.06222485 0.00038576
+v 0.05655271 -0.06261984 -0.00120921
+v 0.05649937 -0.06301287 -0.00175139
+v 0.04524770 -0.06065270 0.00282807
+v 0.05213000 -0.06175399 0.00168107
+v 0.05213000 -0.06073053 0.00282807
+v 0.05213000 -0.06022853 0.00336775
+v 0.05427596 -0.06343705 -0.00119468
+v 0.04524770 -0.06245445 0.00019684
+v 0.05474959 -0.06017016 0.00336775
+v 0.05427596 -0.06175594 0.00168608
+v 0.05427596 -0.06240581 0.00068040
+v 0.04524770 -0.06087257 0.00256400
+v 0.04998658 -0.06174037 0.00165251
+v 0.05213000 -0.06238440 0.00067589
+v 0.05299219 -0.06021881 0.00336775
+v 0.04998658 -0.06234938 0.00064732
+v 0.04524770 -0.06227933 0.00056414
+v 0.05415025 -0.06020129 0.00336775
+v 0.05440675 -0.06051261 0.00302500
+v 0.04524770 -0.06169368 0.00156983
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 20
+f 1 20 30
+f 1 30 23
+f 1 23 14
+f 1 14 7
+f 1 7 2
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 6 7 12
+f 6 12 13
+f 6 13 22
+f 6 22 34
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+f 6 26 19
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+f 7 14 24
+f 7 24 36
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+f 10 16 20
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+f 19 20 25
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+f 22 32 33
+f 22 33 34
+f 23 35 36
+f 23 36 24
+f 23 30 28
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+f 26 37 27
+f 27 37 28
+f 28 37 38
+f 28 38 39
+f 28 39 35
+f 28 30 29
+f 31 40 41
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+f 37 47 38
+f 38 47 46
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+f 40 48 41
+f 41 48 42
+f 42 48 44
+f 44 48 45
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_57.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bd4c5c9e2992ccb53d9b01906aac68d920140cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_57.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.05296310 0.05245347 0.00058631
+v -0.05296310 0.03737357 0.00058626
+v -0.05296310 0.05245345 0.00477484
+v -0.03888676 0.05245347 0.00058631
+v -0.05296310 0.03737356 0.00290595
+v -0.02687222 0.03737357 0.00058626
+v -0.05296310 0.05232503 0.00477689
+v -0.04652804 0.05245345 0.00470937
+v -0.03884469 0.05245347 0.00081729
+v -0.02603628 0.04494895 0.00058629
+v -0.05296310 0.04379019 0.00454794
+v -0.04653927 0.03737356 0.00292324
+v -0.02553977 0.03952278 0.00058627
+v -0.02608116 0.03821199 0.00168517
+v -0.02687222 0.03737357 0.00087282
+v -0.05296310 0.05019058 0.00479253
+v -0.04438490 0.05018911 0.00471842
+v -0.04652804 0.05232356 0.00471143
+v -0.04438490 0.05232356 0.00468426
+v -0.04438490 0.05245345 0.00468014
+v -0.03964135 0.05245346 0.00285412
+v -0.03443496 0.04944516 0.00242014
+v -0.02626631 0.04475114 0.00164072
+v -0.02551452 0.04438803 0.00058628
+v -0.05296310 0.04592316 0.00472747
+v -0.04439612 0.03737356 0.00292736
+v -0.04438490 0.03737356 0.00292736
+v -0.04223894 0.03737356 0.00291706
+v -0.04009579 0.03737356 0.00290430
+v -0.04009579 0.04378871 0.00439725
+v -0.04009579 0.04592168 0.00463936
+v -0.02452710 0.04155538 0.00058627
+v -0.02430549 0.04202183 0.00058627
+v -0.02608116 0.03821199 0.00188486
+v -0.02688344 0.03737357 0.00093129
+v -0.05296310 0.04805761 0.00477277
+v -0.04223894 0.04805466 0.00470771
+v -0.04009579 0.04805466 0.00468178
+v -0.03795264 0.04805466 0.00456896
+v -0.04223894 0.05232356 0.00455580
+v -0.04223894 0.05245345 0.00454715
+v -0.03968904 0.05245346 0.00293399
+v -0.04067085 0.05245345 0.00413501
+v -0.02558465 0.04332818 0.00204751
+v -0.02506289 0.04377987 0.00086914
+v -0.03483610 0.04895509 0.00376115
+v -0.02466175 0.04342413 0.00058628
+v -0.03795264 0.03737356 0.00287548
+v -0.03795264 0.04378871 0.00428979
+v -0.03795264 0.04592168 0.00459201
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+v -0.03580669 0.03737356 0.00281948
+v -0.03366354 0.03737356 0.00273261
+v -0.02430549 0.04208530 0.00058627
+v -0.02536865 0.04165427 0.00214961
+v -0.02444575 0.04178861 0.00078761
+v -0.02573893 0.03951982 0.00202815
+v -0.02716957 0.03737356 0.00211789
+v -0.03580669 0.04592168 0.00428568
+v -0.03565521 0.04816832 0.00415806
+v -0.03626673 0.04938907 0.00401889
+v -0.02937443 0.03737356 0.00251439
+v -0.02722848 0.04165427 0.00252840
+v -0.02722848 0.03951982 0.00237812
+v -0.02723689 0.03737356 0.00213107
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+f 1 5 11
+f 1 11 25
+f 1 25 36
+f 1 36 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 20
+f 1 20 41
+f 1 41 43
+f 1 43 42
+f 1 42 21
+f 1 21 9
+f 1 9 4
+f 1 4 10
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+f 1 24 47
+f 1 47 54
+f 1 54 33
+f 1 33 32
+f 1 32 13
+f 1 13 6
+f 1 6 2
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+f 29 48 30
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+f 30 52 53
+f 30 53 49
+f 31 50 38
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+f 33 55 56
+f 33 56 34
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+f 34 57 58
+f 34 58 35
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+f 43 61 46
+f 44 55 54
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+f 44 46 60
+f 44 60 55
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+f 49 53 62
+f 49 62 50
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+f 55 64 57
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+f 55 60 59
+f 55 59 63
+f 57 64 58
+f 58 64 65
+f 59 62 64
+f 59 64 63
+f 62 65 64
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_58.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7a32bfa1dc191be8a1ecf23a69d2ba764a25a80
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_58.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.05947284 -0.05340072 -0.00521791
+v -0.05941413 -0.05340072 -0.00539283
+v -0.05929671 -0.05388562 -0.00559741
+v -0.05937303 -0.05438562 -0.00521791
+v -0.05937303 -0.05652011 -0.00320604
+v -0.05937303 -0.05652012 -0.00119537
+v -0.05940826 -0.05340072 -0.00413450
+v -0.05934367 -0.05340072 -0.00559741
+v -0.05917928 -0.05438562 -0.00559741
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+v -0.05897380 -0.05811459 -0.00119537
+v -0.05850411 -0.05769135 -0.00434877
+v -0.05879179 -0.05793413 -0.00320604
+v -0.05883289 -0.05777732 0.00058591
+v -0.05914406 -0.05652012 0.00058591
+v -0.05866263 -0.05340074 0.00058592
+v -0.02229725 -0.05340072 -0.00559741
+v -0.05860979 -0.05600042 -0.00559742
+v -0.05878592 -0.05795974 0.00058591
+v -0.05725358 -0.05865461 -0.00119538
+v -0.05743558 -0.05652797 -0.00559742
+v -0.05725358 -0.05671695 -0.00547031
+v -0.05725358 -0.05777665 -0.00446437
+v -0.05725358 -0.05832127 -0.00320604
+v -0.02310159 -0.05340074 0.00058592
+v -0.01301510 -0.05340334 -0.00559741
+v -0.05725358 -0.05835671 0.00058591
+v -0.01007370 -0.05979040 -0.00448920
+v -0.00578195 -0.06001744 -0.00320605
+v -0.00363901 -0.05995643 -0.00119538
+v -0.00363901 -0.05977599 -0.00003631
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+v -0.00886426 -0.05954434 -0.00559743
+v -0.00792489 -0.05958896 -0.00559743
+v -0.00792489 -0.05983436 -0.00467077
+v 0.00050596 -0.05564940 0.00058592
+v -0.00792489 -0.05362184 -0.00559741
+v -0.01007370 -0.05350046 -0.00559741
+v -0.01091913 -0.05345912 -0.00559741
+v -0.01221664 -0.05341319 -0.00559741
+v -0.00149020 -0.05980551 0.00006054
+v 0.00050596 -0.05982979 0.00015253
+v 0.00050596 -0.05968084 0.00058590
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+v -0.00363901 -0.05988226 -0.00484691
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+v 0.00050596 -0.05975759 -0.00559743
+v 0.00050596 -0.05990260 -0.00500004
+v 0.00050596 -0.06009093 -0.00332407
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+f 1 26 18
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+f 1 8 2
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+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_59.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c47e99c01fa6f89a81cf2d419b0662df67c52285
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_59.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.05010226 0.00493514 -0.00836728
+v 0.03786898 0.00493514 -0.00836728
+v 0.05010226 0.00493516 -0.01374063
+v 0.05010226 0.02899430 -0.00836719
+v 0.03786898 0.00493516 -0.01406232
+v 0.03786898 0.02382660 -0.00836721
+v 0.04998608 0.00493516 -0.01374509
+v 0.05010226 0.03098189 -0.01171564
+v 0.05010226 0.03716230 -0.00852828
+v 0.03786898 0.03716230 -0.00857790
+v 0.03787257 0.02449228 -0.00836721
+v 0.04784101 0.00493516 -0.01380307
+v 0.03786898 0.03525045 -0.01141567
+v 0.04784101 0.03311459 -0.01155450
+v 0.04998608 0.03311459 -0.01154391
+v 0.05010226 0.03299786 -0.01155283
+v 0.03786898 0.02450806 -0.00836944
+v 0.05010226 0.03716231 -0.01114861
+v 0.03786898 0.03716231 -0.01123893
+v 0.03926310 0.03525045 -0.01140898
+v 0.04998608 0.03525045 -0.01134487
+v 0.05010226 0.03311459 -0.01154280
+v 0.04140817 0.03525045 -0.01139783
+v 0.04569593 0.03525045 -0.01137553
+v 0.04784101 0.03525045 -0.01136382
+v 0.04806497 0.03716231 -0.01117704
+v 0.05010226 0.03525045 -0.01134319
+v 0.04377602 0.03716231 -0.01120938
+v 0.05010226 0.03513372 -0.01135434
+v 0.04591990 0.03716231 -0.01119767
+v 0.04784101 0.03716231 -0.01117927
+f 1 2 5
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+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 22
+f 1 22 29
+f 1 29 27
+f 1 27 18
+f 1 18 9
+f 1 9 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 17
+f 2 17 10
+f 2 10 19
+f 2 19 13
+f 2 13 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 13 14
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+f 9 18 26
+f 9 26 31
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+f 9 28 19
+f 9 19 10
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+f 21 29 22
+f 21 25 30
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+f 23 28 24
+f 24 28 25
+f 25 28 30
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_6.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c453ca1f465847a4563294500a09868ee3cc20a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_6.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.00050596 0.05122486 0.00993146
+v 0.00050596 0.02671444 0.00862193
+v 0.00050596 0.05122485 0.01294192
+v 0.00508876 0.05122486 0.00978304
+v 0.00050596 0.02458015 0.00855161
+v 0.05291084 0.05122487 0.00847262
+v 0.00050596 0.05018715 0.01312402
+v 0.04887611 0.05122485 0.01334569
+v 0.00050596 0.02244585 0.00852768
+v 0.05732456 0.05122487 0.00847262
+v 0.03108130 0.03701888 0.00847257
+v 0.00050596 0.04805286 0.01333445
+v 0.05102175 0.05122485 0.01335936
+v 0.00050596 0.02031155 0.00852425
+v 0.03023005 0.03568665 0.00847256
+v 0.05964511 0.05122486 0.00986116
+v 0.05787846 0.02884421 0.00847254
+v 0.00050596 0.04790332 0.01334031
+v 0.04998391 0.05018715 0.01341891
+v 0.05316738 0.05122485 0.01336326
+v 0.00050596 0.01817725 0.00852230
+v 0.03007845 0.03536944 0.00847256
+v 0.06006491 0.05122486 0.01082786
+v 0.05964511 0.05120673 0.00986262
+v 0.05813500 0.02458015 0.00891290
+v 0.05783765 0.02458015 0.00847252
+v 0.05789012 0.02671444 0.00847253
+v 0.00050596 0.04591856 0.01341060
+v 0.04783827 0.04805286 0.01345993
+v 0.05212955 0.05018715 0.01341989
+v 0.05427519 0.05018715 0.01340329
+v 0.05427519 0.05122485 0.01335448
+v 0.00050596 0.00537601 0.00851736
+v 0.02812522 0.02884421 0.00847254
+v 0.02782786 0.02742587 0.00847253
+v 0.02768793 0.02671444 0.00847253
+v 0.06007074 0.05122485 0.01233846
+v 0.05970342 0.04421476 0.01165930
+v 0.05979088 0.04591857 0.01143911
+v 0.05752863 0.01000710 0.00979558
+v 0.05795425 0.02031155 0.00908279
+v 0.05804754 0.02244585 0.00898027
+v 0.05748198 0.01817725 0.00847250
+v 0.05761026 0.02031155 0.00847250
+v 0.05773270 0.02244585 0.00847251
+v 0.00050596 0.04576902 0.01341158
+v 0.04783827 0.04591856 0.01344966
+v 0.04998391 0.04805286 0.01345748
+v 0.00050596 0.04378426 0.01341743
+v 0.05212955 0.04805286 0.01344723
+v 0.05427519 0.04805286 0.01340622
+v 0.05642083 0.05018715 0.01331736
+v 0.05531302 0.05122485 0.01333153
+v 0.00065755 0.00493646 0.00851736
+v 0.00050596 0.00493646 0.00851785
+v 0.02684833 0.00919146 0.00847246
+v 0.02681335 0.00751030 0.00847246
+v 0.02681335 0.00709341 0.00847246
+v 0.02683084 0.00493646 0.00847245
+v 0.06000660 0.05018715 0.01230281
+v 0.05989583 0.04805287 0.01219589
+v 0.05979088 0.04591857 0.01207284
+v 0.05970342 0.04421476 0.01196591
+v 0.05932443 0.05122485 0.01269194
+v 0.05856063 0.04805286 0.01285988
+v 0.05668320 0.00493646 0.00847245
+v 0.05752863 0.01000710 0.00992692
+v 0.04783827 0.04378426 0.01339448
+v 0.04998391 0.04591856 0.01343843
+v 0.00050596 0.04363473 0.01341450
+v 0.00050596 0.04164997 0.01336908
+v 0.05212955 0.04591856 0.01341012
+v 0.05427519 0.04591856 0.01334469
+v 0.05642083 0.04805286 0.01328807
+v 0.05642083 0.05122485 0.01328710
+v 0.05745866 0.05122485 0.01318359
+v 0.00050596 0.00493645 0.01126368
+v 0.05630421 0.00493645 0.01060750
+v 0.05856063 0.05122485 0.01301369
+v 0.05856063 0.05018715 0.01298829
+v 0.05427519 0.00493645 0.01147851
+v 0.05589607 0.00493645 0.01078326
+v 0.05664822 0.00493646 0.00886352
+v 0.04783827 0.04164997 0.01330561
+v 0.04998391 0.04378426 0.01337788
+v 0.00050596 0.03951567 0.01326460
+v 0.04739515 0.00493645 0.01172018
+v 0.04783827 0.00493645 0.01172116
+v 0.05212955 0.04378426 0.01333541
+v 0.05642083 0.04591856 0.01319627
+v 0.05212955 0.00493645 0.01164793
+v 0.04524951 0.00493645 0.01170944
+v 0.04998391 0.00493645 0.01170310
+v 0.04569263 0.00493645 0.01171335
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+f 54 77 55
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+f 86 94 87
+f 89 93 91
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_60.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..920332bdfd9c107f28236b91ef04aad8e6e0703d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_60.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.06023257 -0.03797158 -0.00722965
+v -0.06011200 -0.03944687 -0.00722965
+v -0.05988914 -0.04278482 -0.00609446
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+v -0.05970281 -0.03797158 -0.00814199
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+v -0.05991106 -0.04158104 -0.00722966
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+v -0.03091284 -0.03797158 -0.00814199
+v -0.05970281 -0.04371427 -0.00722967
+v -0.05933379 -0.04241042 -0.00814201
+v -0.05949820 -0.04705315 -0.00609447
+v -0.02313443 -0.03937831 -0.00609444
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+v -0.02532291 -0.03959978 -0.00814200
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+v -0.03087265 -0.04743773 -0.00609447
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+v -0.05889902 -0.04584844 -0.00814202
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+v -0.05914381 -0.04743772 -0.00734252
+v -0.05879672 -0.04647025 -0.00814202
+f 1 2 3
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+f 1 20 12
+f 1 12 6
+f 1 6 7
+f 1 7 2
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+f 3 9 15
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+f 3 24 16
+f 3 16 11
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+f 25 27 29
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+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_61.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20d7f993b0fa3544df65f61fe88d8584b2725cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_61.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.06083336 -0.02850231 -0.00652676
+v -0.06075203 -0.02850230 -0.00722974
+v -0.06069545 -0.03090971 -0.00722975
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+v -0.03590678 -0.02850231 -0.00652676
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+v -0.06051156 -0.02877577 -0.00835054
+v -0.06047620 -0.03231782 -0.00825330
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+v -0.06058229 -0.03303532 -0.00737773
+v -0.06065301 -0.03303904 -0.00652678
+v -0.02499764 -0.03748213 -0.00652680
+v -0.02516385 -0.03797157 -0.00959293
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+v -0.05935523 -0.02850230 -0.00951245
+v -0.05930572 -0.03731155 -0.00892177
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+v -0.06028525 -0.03731155 -0.00722978
+v -0.06052571 -0.03458063 -0.00680564
+v -0.06053278 -0.03463255 -0.00652679
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+v -0.05736789 -0.03797157 -0.00959293
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+v -0.05753056 -0.03731154 -0.00959293
+v -0.05737850 -0.03793078 -0.00959293
+v -0.06022160 -0.03797159 -0.00652680
+f 1 2 3
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+f 1 12 5
+f 1 5 14
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+f 1 6 2
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+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 6 15 7
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 9 17 18
+f 10 20 11
+f 11 20 21
+f 12 22 13
+f 13 23 30
+f 13 30 29
+f 13 29 28
+f 13 28 27
+f 13 27 26
+f 13 26 25
+f 13 25 24
+f 13 24 14
+f 13 22 31
+f 13 31 18
+f 13 18 17
+f 13 17 23
+f 15 24 16
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 23
+f 18 31 21
+f 18 21 20
+f 18 20 19
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_62.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0df13be3d58467ec31d18fc7d6a19ab8396ebf5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_62.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.04786115 0.02373310 -0.00475884
+v -0.06060239 0.02373310 -0.00475884
+v -0.05631822 0.02373310 -0.00637930
+v -0.05636797 0.02884958 -0.00637928
+v -0.05649755 0.04209741 -0.00637924
+v -0.04968451 0.04209741 -0.00475878
+v -0.06061287 0.02373310 -0.00481023
+v -0.06083539 0.04209741 -0.00475878
+v -0.06098591 0.04209741 -0.00521787
+v -0.06108278 0.04209741 -0.00563793
+v -0.06079874 0.02373310 -0.00637930
+v -0.06123200 0.04209741 -0.00637924
+v -0.06069140 0.02373310 -0.00521793
+v -0.06075685 0.02373310 -0.00591846
+f 1 2 7
+f 1 7 13
+f 1 13 14
+f 1 14 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 11 12
+f 3 12 5
+f 3 5 4
+f 5 12 10
+f 5 10 9
+f 5 9 8
+f 5 8 6
+f 7 10 12
+f 7 12 13
+f 11 14 12
+f 12 14 13
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_63.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ab755e817f7e7355d51243f0d99b19bc4764699
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_63.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.06021912 -0.03797159 -0.00609444
+v -0.06004032 -0.04065158 -0.00609445
+v -0.05987045 -0.04371428 -0.00521778
+v -0.06020571 -0.03797159 -0.00521776
+v -0.02291096 -0.03797159 -0.00609444
+v -0.05988833 -0.04278482 -0.00609446
+v -0.05971399 -0.04584845 -0.00521779
+v -0.05944131 -0.04743774 -0.00372008
+v -0.05934297 -0.04743774 -0.00320689
+v -0.05900771 -0.04743774 -0.00206990
+v -0.05993303 -0.03797159 -0.00463299
+v -0.02013050 -0.03797159 -0.00586760
+v -0.02313447 -0.03937831 -0.00609444
+v -0.05970952 -0.04491898 -0.00609446
+v -0.05956648 -0.04743773 -0.00521779
+v -0.05884678 -0.04743774 -0.00175520
+v -0.05925803 -0.03797160 -0.00334260
+v -0.01865087 -0.03797159 -0.00573466
+v -0.01865087 -0.03944688 -0.00565238
+v -0.03087236 -0.04743773 -0.00609447
+v -0.05949495 -0.04705315 -0.00609447
+v -0.05950389 -0.04743773 -0.00573097
+v -0.05725092 -0.04743775 -0.00134568
+v -0.05833271 -0.04258559 -0.00219632
+v -0.05725092 -0.03797160 -0.00250728
+v -0.01798929 -0.03797159 -0.00560497
+v -0.01650518 -0.03944688 -0.00523170
+v -0.01514625 -0.04743773 -0.00430298
+v -0.01553962 -0.04743773 -0.00435830
+v -0.05942343 -0.04743773 -0.00609447
+v -0.02024673 -0.04743774 -0.00143214
+v -0.01716677 -0.03797160 -0.00278851
+v -0.01650518 -0.03797159 -0.00527540
+v -0.01497191 -0.04158105 -0.00450470
+v -0.01491380 -0.04371428 -0.00441035
+v -0.01496744 -0.04584845 -0.00434529
+v -0.01455171 -0.04584846 -0.00320689
+v -0.01504343 -0.04743774 -0.00401246
+v -0.01810104 -0.04743774 -0.00148002
+v -0.01539211 -0.04257262 -0.00218889
+v -0.01650518 -0.03797160 -0.00280478
+v -0.01603134 -0.03797159 -0.00506994
+v -0.01497638 -0.03944688 -0.00456652
+v -0.01498085 -0.03797159 -0.00456931
+v -0.01481545 -0.04743774 -0.00320689
+v -0.01498085 -0.03797160 -0.00356572
+v -0.01467688 -0.04371429 -0.00320688
+v -0.01502108 -0.04584846 -0.00207734
+v -0.01510155 -0.04743774 -0.00207222
+v -0.01612522 -0.04743774 -0.00176868
+v -0.01519542 -0.04371429 -0.00213961
+v -0.01545469 -0.03797160 -0.00332447
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 17
+f 1 17 25
+f 1 25 32
+f 1 32 41
+f 1 41 52
+f 1 52 46
+f 1 46 44
+f 1 44 42
+f 1 42 33
+f 1 33 26
+f 1 26 18
+f 1 18 12
+f 1 12 5
+f 1 5 13
+f 1 13 20
+f 1 20 30
+f 1 30 21
+f 1 21 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 22
+f 8 22 30
+f 8 30 20
+f 8 20 29
+f 8 29 28
+f 8 28 38
+f 8 38 45
+f 8 45 49
+f 8 49 50
+f 8 50 39
+f 8 39 31
+f 8 31 23
+f 8 23 16
+f 8 16 10
+f 8 10 9
+f 10 16 11
+f 11 16 17
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 14 21 22
+f 14 22 15
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 21 30 22
+f 23 25 24
+f 23 31 25
+f 25 31 32
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 28 37 38
+f 31 39 40
+f 31 40 32
+f 32 40 41
+f 33 42 34
+f 34 43 35
+f 34 42 43
+f 35 43 44
+f 35 44 37
+f 35 37 36
+f 37 45 38
+f 37 44 46
+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 37 49 45
+f 39 50 51
+f 39 51 40
+f 40 51 46
+f 40 46 52
+f 40 52 41
+f 42 44 43
+f 46 48 47
+f 46 51 48
+f 48 51 50
+f 48 50 49
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_64.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cc947850fdc1ea07ef8da2ab2f2d22699a9c080
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_64.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.06004004 -0.00529947 -0.00175118
+v 0.05999842 -0.00743738 -0.00175119
+v 0.06004004 -0.00316633 -0.00175117
+v 0.05664683 -0.04382008 -0.00019359
+v 0.05981775 -0.01597471 -0.00175122
+v 0.06001467 0.00492720 -0.00175114
+v 0.05124288 -0.04382008 -0.00019359
+v 0.05805264 -0.04382007 -0.00141724
+v 0.05973858 -0.01810786 -0.00175123
+v 0.05980861 -0.01637557 -0.00175122
+v 0.05509690 0.00492719 -0.00019341
+v 0.05101348 0.00492720 -0.00175114
+v 0.04998831 -0.03517775 -0.00175129
+v 0.05024105 -0.03730135 -0.00175130
+v 0.05078815 -0.04167739 -0.00175131
+v 0.05119314 -0.04382007 -0.00175132
+v 0.04997613 -0.03303985 -0.00019355
+v 0.05809120 -0.04382007 -0.00147899
+v 0.05823331 -0.04371031 -0.00175132
+v 0.05125709 0.00492719 -0.00019341
+v 0.04976399 -0.02363875 -0.00175125
+v 0.04977110 -0.02664043 -0.00019353
+v 0.04978836 -0.03303984 -0.00175128
+v 0.05821910 -0.04382007 -0.00175132
+v 0.04980764 -0.03090671 -0.00019354
+v 0.04968279 -0.02577666 -0.00175125
+v 0.04967772 -0.02664042 -0.00175126
+v 0.04976602 -0.02769984 -0.00019353
+v 0.04969396 -0.03090670 -0.00175127
+v 0.04976197 -0.02877357 -0.00019354
+v 0.04967366 -0.02790980 -0.00175126
+v 0.04967163 -0.02877356 -0.00175127
+f 1 2 5
+f 1 5 10
+f 1 10 9
+f 1 9 19
+f 1 19 24
+f 1 24 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 23
+f 1 23 29
+f 1 29 32
+f 1 32 31
+f 1 31 27
+f 1 27 26
+f 1 26 21
+f 1 21 12
+f 1 12 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 16
+f 4 16 24
+f 4 24 18
+f 4 18 8
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 4 6 11
+f 4 11 20
+f 4 20 22
+f 4 22 28
+f 4 28 30
+f 4 30 25
+f 4 25 17
+f 4 17 7
+f 6 12 20
+f 6 20 11
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 17 13
+f 8 18 9
+f 9 18 19
+f 12 21 22
+f 12 22 20
+f 13 17 23
+f 17 25 23
+f 18 24 19
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 23 25 29
+f 25 30 29
+f 27 31 30
+f 27 30 28
+f 29 30 32
+f 30 31 32
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_65.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c6f084a4bf07b5c96ba544981961608b7448e55
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_65.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.01792666 -0.05170187 0.00058593
+v -0.01722545 -0.05152971 0.00027543
+v -0.01792666 -0.05062863 0.00058593
+v -0.02309806 -0.05340074 0.00058592
+v -0.01864978 -0.05219093 -0.00119535
+v -0.01715533 -0.05155364 -0.00119535
+v -0.01530590 -0.04920697 -0.00212199
+v -0.01513059 -0.04798316 -0.00207054
+v -0.01510430 -0.04743924 -0.00207235
+v -0.01722545 -0.05079029 0.00027543
+v -0.01833423 -0.05040219 0.00058593
+v -0.02229605 -0.05340072 -0.00559741
+v -0.05866239 -0.05340074 0.00058592
+v -0.01737007 -0.05133128 -0.00245913
+v -0.01537602 -0.04912234 -0.00424161
+v -0.01529713 -0.04922156 -0.00320601
+v -0.01490708 -0.04798316 -0.00320601
+v -0.01481943 -0.04743924 -0.00320600
+v -0.01612543 -0.04743924 -0.00176911
+v -0.01862786 -0.05025629 0.00058594
+v -0.02268171 -0.05258543 -0.00559740
+v -0.01553817 -0.04743923 -0.00435841
+v -0.01514812 -0.04743923 -0.00430273
+v -0.01520948 -0.04798315 -0.00428821
+v -0.05934607 -0.05340072 -0.00559741
+v -0.05864048 -0.05067299 0.00058593
+v -0.05934607 -0.04798316 -0.00320601
+v -0.05943810 -0.04743924 -0.00371926
+v -0.05941180 -0.05340072 -0.00413450
+v -0.01504294 -0.04743924 -0.00401220
+v -0.01810196 -0.04743924 -0.00147980
+v -0.02294029 -0.04869808 0.00058594
+v -0.02046415 -0.04953088 0.00058594
+v -0.02280881 -0.05231697 -0.00559740
+v -0.01650671 -0.04743923 -0.00446736
+v -0.05946878 -0.05340072 -0.00521791
+v -0.05958710 -0.05225102 -0.00521790
+v -0.05946001 -0.05225102 -0.00559740
+v -0.05834685 -0.05049149 0.00058593
+v -0.05884646 -0.04743924 -0.00175519
+v -0.05900861 -0.04743924 -0.00206993
+v -0.05934168 -0.04743924 -0.00320600
+v -0.05956519 -0.04743923 -0.00521788
+v -0.02024940 -0.04743924 -0.00143198
+v -0.02723079 -0.04844655 0.00058594
+v -0.02508335 -0.04848156 0.00058594
+v -0.02524112 -0.05028604 -0.00559739
+v -0.02941330 -0.04743923 -0.00559738
+v -0.05952137 -0.04743923 -0.00559738
+v -0.05948193 -0.05180749 -0.00559740
+v -0.05725121 -0.04984194 0.00058594
+v -0.05725121 -0.04743925 -0.00134604
+v -0.05296070 -0.04893502 0.00058594
+v -0.05511691 -0.04933304 0.00058594
+f 1 2 10
+f 1 10 3
+f 1 3 11
+f 1 11 20
+f 1 20 33
+f 1 33 32
+f 1 32 46
+f 1 46 45
+f 1 45 53
+f 1 53 54
+f 1 54 51
+f 1 51 39
+f 1 39 26
+f 1 26 13
+f 1 13 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 4 5
+f 3 10 9
+f 3 9 11
+f 4 12 5
+f 4 13 29
+f 4 29 36
+f 4 36 25
+f 4 25 12
+f 5 12 6
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 6 12 14
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 9
+f 9 18 30
+f 9 30 23
+f 9 23 22
+f 9 22 35
+f 9 35 48
+f 9 48 49
+f 9 49 43
+f 9 43 28
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+f 9 42 41
+f 9 41 40
+f 9 40 52
+f 9 52 44
+f 9 44 31
+f 9 31 19
+f 9 19 11
+f 11 19 20
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 15
+f 12 15 14
+f 12 25 38
+f 12 38 50
+f 12 50 49
+f 12 49 48
+f 12 48 47
+f 12 47 34
+f 12 34 21
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 15 24 30
+f 15 30 18
+f 15 18 17
+f 15 17 16
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 21 34 22
+f 22 34 35
+f 23 30 24
+f 25 36 37
+f 25 37 38
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 27 42 28
+f 28 43 37
+f 28 37 29
+f 29 37 36
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 34 47 35
+f 35 47 48
+f 37 43 49
+f 37 49 50
+f 37 50 38
+f 39 51 40
+f 40 51 52
+f 44 52 45
+f 45 52 53
+f 51 54 52
+f 52 54 53
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_66.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce892cbf19b911c18ae41d2505e37ccd8aefaa53
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_66.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02647884 -0.02731930 0.00673205
+v 0.02647884 -0.04382010 0.00526589
+v 0.02647884 -0.02731932 0.01003386
+v 0.03926058 -0.02731930 0.00628945
+v 0.04824338 -0.04382009 0.00402108
+v 0.02647884 -0.04382010 0.00589918
+v 0.02647884 -0.02845168 0.00994440
+v 0.03395101 -0.02731932 0.00992733
+v 0.04140614 -0.02731930 0.00625002
+v 0.04355170 -0.02731930 0.00622824
+v 0.04569513 -0.02731930 0.00621353
+v 0.04784069 -0.02731930 0.00620999
+v 0.04824338 -0.02731930 0.00620999
+v 0.04824338 -0.04382011 0.00799621
+v 0.02647884 -0.04381527 0.00852003
+v 0.02843264 -0.04382011 0.00848648
+v 0.02647884 -0.02851468 0.00993910
+v 0.03456250 -0.02731932 0.00991674
+v 0.02647884 -0.03944574 0.00898795
+v 0.04824338 -0.02731932 0.00965306
+v 0.02853917 -0.04157962 0.00872957
+v 0.02647884 -0.04157962 0.00878195
+v 0.02853917 -0.04371350 0.00849884
+v 0.02853917 -0.04382011 0.00848530
+v 0.02647884 -0.04371350 0.00853357
+v 0.03605609 -0.02731932 0.00988908
+v 0.04784069 -0.02731932 0.00966130
+f 1 2 6
+f 1 6 15
+f 1 15 25
+f 1 25 22
+f 1 22 19
+f 1 19 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 26
+f 1 26 27
+f 1 27 20
+f 1 20 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 14
+f 2 14 24
+f 2 24 16
+f 2 16 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 20
+f 5 20 14
+f 6 16 15
+f 7 17 8
+f 8 17 19
+f 8 19 18
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 15 16 24
+f 15 24 25
+f 18 19 26
+f 19 22 20
+f 19 20 27
+f 19 27 26
+f 20 22 21
+f 22 25 23
+f 23 25 24
+
diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_67.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00973343af1644eea3e4288d217823b8c634c3b6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_67.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.05082507 -0.01341233 0.00094033
+v -0.03580552 -0.03944487 0.00175944
+v -0.03691836 -0.04053941 0.00182153
+v -0.03775851 -0.03943028 0.00179184
+v -0.05081770 -0.04323052 0.00234760
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_68.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fe6ac3540c517288c24dda4b2f17999554ea16c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_68.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_69.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21e71b2d452063af327608c53b6cb497dde00e8b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_69.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_7.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc22b1f1071db782aa8f0bf189a661f7f1202b52
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_7.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_8.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..436351c6cfe5d79454e0e37a2c5badb9ceacb6f4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_8.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_9.obj b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aa4e164276451362a4d49283e6eaea8bcc324bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_9.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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