diff --git a/.gitattributes b/.gitattributes
index 28968953827155cc1217fe1ab5095c338f38e9d8..ada761e5d80ad5d41dccbe43308c9aed6367483d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3834,3 +3834,6 @@ dataset/furniture/table/c2884d53e6b950508840fa91aac4d5e5/mesh/table_gs.ply filte
 dataset/furniture/table/ceba2ffe34c85af6994b3276b2618fa4/ceba2ffe34c85af6994b3276b2618fa4.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/ceba2ffe34c85af6994b3276b2618fa4/mesh/wooden_striped_table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/ceba2ffe34c85af6994b3276b2618fa4/mesh/wooden_striped_table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/f1af886972b754c7be18017e29d3d969/f1af886972b754c7be18017e29d3d969.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/f1af886972b754c7be18017e29d3d969.urdf b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/f1af886972b754c7be18017e29d3d969.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a8be375ae2a84a3048d3044e0fe2bdf51bc081e3
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/f1af886972b754c7be18017e29d3d969.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_walnut_table">
+   <link name="wooden_walnut_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_walnut_table.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_walnut_table_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="25.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.180994</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with four sturdy legs and a flat top surface</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>30.0</max_mass>
+         <generate_time>20251006021903</generate_time>
+         <gs_model>mesh/wooden_walnut_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.0505595207214355</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/f1af886972b754c7be18017e29d3d969.usd b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/f1af886972b754c7be18017e29d3d969.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3ffb041f102fb1604f904e91b457ffefe073575f
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/f1af886972b754c7be18017e29d3d969.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14ef6a956f3a8ca9797a4516d2d4ad3200c863b1356b8cd17ac0125202c2a0fa
+size 315527
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/material.mtl b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/material_0.png b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f16298c8da51cf3251e609d1fe5e830dc9aa9232
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:980f2b1cddf0919bcf8ebd9aa8d03c6b15352b397ec41d790a73f077a6ee1976
+size 815331
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table.glb b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..85e0a7bbbc63246e15e9d450716ef21c9673e95d
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bdacf198011149998e28da49c049bdf9b524b92553b03e9d9ef728c96728fff
+size 1036112
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcdb7bfbc89a054162c0c258141e71f9b32af86a
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table.obj
@@ -0,0 +1,20188 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table_collision.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..545dfd08deb52649a8409dd56262c2e2fdfd2f9f
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table_collision.obj
@@ -0,0 +1,5810 @@
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table_gs.ply b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e3b0d6f4a408f8a94d49c7963b8de10cd14080fa
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mesh/wooden_walnut_table_gs.ply
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/f1af886972b754c7be18017e29d3d969.xml b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/f1af886972b754c7be18017e29d3d969.xml
new file mode 100644
index 0000000000000000000000000000000000000000..882842fff04d89218c2859c36eca291c4ce89de8
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/f1af886972b754c7be18017e29d3d969.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/material_0.png b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f16298c8da51cf3251e609d1fe5e830dc9aa9232
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 815331
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d20fb30455ed4127b9ed726f488301b8b423df
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table.obj
@@ -0,0 +1,20188 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..911260da1d5964b79a19cf21e6722672ef0502df
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision.obj
@@ -0,0 +1,5810 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_0.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47eeee221d7ee769d29e3d9a27247b2a4652e63a
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_0.obj
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_1.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..289a3089e7dc12c60c117df96683022632802054
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_1.obj
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+# https://github.com/mikedh/trimesh
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+v -0.00979777 -0.35478459 -0.27868414
+v -0.22347462 -0.35485625 -0.27887432
+v -0.26798613 -0.35464127 -0.27925472
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+v -0.24291457 -0.35485625 -0.27882679
+v -0.26232743 -0.35485625 -0.27863657
+v -0.26798613 0.36783145 -0.24064207
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+v 0.00861332 -0.36116340 0.19162572
+v -0.26798613 -0.36302637 0.19210119
+v -0.26798613 0.36790302 -0.21506057
+v 0.00861332 0.36890489 0.12563001
+v 0.00861332 -0.36116341 0.19210119
+v -0.26798613 0.36868970 0.19210387
+v -0.26798613 0.36797452 -0.18277460
+v -0.26798613 0.36861822 0.14488744
+v -0.26798613 0.36868972 0.18673081
+v -0.07678162 0.36890464 0.19210388
+v 0.00861332 0.36897630 0.19210388
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 22
+f 1 22 35
+f 1 35 46
+f 1 46 45
+f 1 45 54
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+f 1 65 59
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+f 1 25 24
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+f 1 7 2
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+f 3 7 8
+f 3 8 4
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+f 21 33 34
+f 21 34 23
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+f 30 42 31
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+f 33 43 34
+f 34 43 44
+f 34 44 45
+f 34 45 46
+f 34 46 35
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+f 36 48 37
+f 37 48 38
+f 38 49 39
+f 38 48 49
+f 39 41 40
+f 39 49 50
+f 39 50 48
+f 43 51 52
+f 43 52 53
+f 43 53 54
+f 43 54 44
+f 44 54 45
+f 47 55 56
+f 47 56 48
+f 48 50 49
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+f 58 64 65
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+f 60 64 63
+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_10.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3a78358851977aeec9e2de5df5e348fea210cca
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_10.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.27726383 -0.38405887 0.30625545
+v -0.28979586 -0.47495587 0.30625512
+v -0.27726383 -0.37314656 0.29828651
+v -0.27726383 -0.26210739 0.30625590
+v -0.30591781 -0.49089206 0.30625506
+v -0.30208857 -0.47404454 0.29828614
+v -0.27726383 -0.26210737 0.29828692
+v -0.38570082 -0.26210739 0.30625590
+v -0.31259724 -0.49512142 0.30625504
+v -0.31596957 -0.48416236 0.29828610
+v -0.37725912 -0.26210737 0.29828692
+v -0.45662875 -0.27979609 0.30625583
+v -0.37878211 -0.26210737 0.29971675
+v -0.32064731 -0.49801892 0.30625503
+v -0.32064731 -0.48605508 0.29828609
+v -0.46039271 -0.29353575 0.29828680
+v -0.46237257 -0.28185236 0.30625582
+v -0.32987231 -0.49944429 0.30625503
+v -0.33117772 -0.48799453 0.29828609
+v -0.47634059 -0.30084958 0.29828677
+v -0.47148877 -0.28612849 0.30625581
+v -0.34877915 -0.50009857 0.30625502
+v -0.34007637 -0.48897594 0.29828608
+v -0.48236731 -0.31783727 0.29828671
+v -0.49028683 -0.29979810 0.30625576
+v -0.47277246 -0.28699306 0.30625581
+v -0.35950539 -0.50030889 0.30625502
+v -0.35950539 -0.48948999 0.29828608
+v -0.48332462 -0.32059455 0.29828670
+v -0.49550854 -0.32059457 0.30625568
+v -0.37893441 -0.50063601 0.30625502
+v -0.37893441 -0.48974706 0.29828608
+v -0.48517393 -0.33403049 0.29828665
+v -0.49864154 -0.34003577 0.30625561
+v -0.39834165 -0.50082295 0.30625502
+v -0.39834165 -0.48986386 0.29828608
+v -0.48591369 -0.34003575 0.29828663
+v -0.48650112 -0.35199958 0.29828659
+v -0.48682747 -0.35945360 0.29828656
+v -0.49938127 -0.35945362 0.30625554
+v -0.41777067 -0.50068276 0.30625502
+v -0.40691394 -0.48979380 0.29828608
+v -0.49949008 -0.37889482 0.30625547
+v -0.48691450 -0.39039128 0.29828645
+v -0.43719969 -0.50026215 0.30625502
+v -0.41777067 -0.48970031 0.29828608
+v -0.49951183 -0.39831267 0.30625540
+v -0.48693624 -0.39831265 0.29828642
+v -0.45662875 -0.49399982 0.30625505
+v -0.43719969 -0.48883575 0.29828608
+v -0.49949008 -0.40716870 0.30625536
+v -0.48689275 -0.40983248 0.29828637
+v -0.47640587 -0.48245663 0.30625509
+v -0.45762955 -0.48091438 0.29828611
+v -0.48684925 -0.41775385 0.29828635
+v -0.49938127 -0.42653977 0.30625529
+v -0.49337634 -0.45663627 0.30625518
+v -0.47979995 -0.45757091 0.29828620
+v -0.47601424 -0.46264151 0.29828618
+v -0.46335167 -0.47663825 0.29828613
+v -0.48587016 -0.43717166 0.29828627
+v -0.49835872 -0.44481267 0.30625523
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 21
+f 1 21 26
+f 1 26 25
+f 1 25 30
+f 1 30 34
+f 1 34 40
+f 1 40 43
+f 1 43 47
+f 1 47 51
+f 1 51 56
+f 1 56 62
+f 1 62 57
+f 1 57 53
+f 1 53 49
+f 1 49 45
+f 1 45 41
+f 1 41 35
+f 1 35 31
+f 1 31 27
+f 1 27 22
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+f 1 14 9
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+f 1 5 2
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+f 2 6 3
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+f 4 13 8
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+f 5 10 6
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+f 9 15 10
+f 11 16 17
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+f 11 12 13
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+f 20 26 21
+f 22 27 28
+f 22 28 23
+f 24 29 25
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+f 29 34 30
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+f 33 37 34
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+f 34 39 40
+f 35 41 36
+f 36 41 42
+f 39 43 40
+f 39 44 43
+f 41 45 46
+f 41 46 42
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+f 43 48 47
+f 45 49 50
+f 45 50 46
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+f 48 52 51
+f 49 53 54
+f 49 54 50
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+f 53 58 59
+f 53 59 60
+f 53 60 54
+f 55 61 56
+f 56 61 62
+f 57 62 58
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+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_11.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b13baa1c92fc1209e3d0a7980771f179b16d104
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_11.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.37729438 0.26261630 0.29827846
+v -0.36803464 0.02927321 0.19210265
+v -0.36803464 -0.00462961 0.19210252
+v -0.37710386 -0.00463000 0.29827748
+v 0.01199545 0.26261630 0.29827846
+v -0.36746305 0.26261669 0.19210350
+v -0.36772983 0.24302317 0.19210343
+v -0.36780601 0.22358659 0.19210336
+v 0.01199545 -0.00462961 0.19210252
+v 0.01199545 -0.00463000 0.29827748
+v 0.01199545 0.26261669 0.19210350
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 6
+f 2 6 11
+f 2 11 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 5 10 9
+f 5 9 11
+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_12.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f814071e9f8ff2d7d25c9f203b5d43153d99714
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_12.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.32325924 0.28367350 -0.29675118
+v -0.34005886 0.28367350 -0.29622483
+v -0.32064505 0.28367350 -0.29665549
+v -0.26799653 -0.27425388 -0.29316434
+v -0.32064505 -0.27425388 -0.29488702
+v -0.34248559 0.28367350 -0.29550705
+v -0.34005886 -0.27425388 -0.29407354
+v -0.34443321 -0.27425388 -0.29326004
+v -0.26799653 0.28367349 -0.29306660
+v -0.26799653 0.03485623 -0.29325890
+v -0.26799653 -0.06224585 -0.29330714
+v -0.26799653 -0.18452456 -0.29330759
+v -0.26799653 -0.27425567 0.19210155
+v -0.35333815 0.28367348 -0.29215739
+v -0.35212997 -0.27425389 -0.29081962
+v -0.26799653 0.28367170 0.19210360
+v -0.36847133 -0.27425567 0.19210155
+v -0.35953516 0.28367344 -0.28158215
+v -0.36034753 -0.27425393 -0.27919159
+v -0.37438712 0.28367170 0.19210360
+v -0.36850259 -0.27425528 0.08725807
+v -0.36031627 0.28367344 -0.27918954
+v -0.36435735 -0.27425398 -0.26813780
+v -0.36691947 -0.27425400 -0.26062509
+v -0.37407470 0.28367202 0.10635302
+v -0.36782561 -0.27425422 -0.20205436
+v -0.36788810 -0.27425429 -0.18281793
+v -0.36817972 -0.27425471 -0.06711208
+v -0.36850259 -0.27425528 0.08706666
+v -0.36556553 0.28367337 -0.26258495
+v -0.36744023 -0.27425406 -0.24402046
+v -0.36964823 0.28367322 -0.22133663
+v -0.36873171 0.28367330 -0.24229574
+v -0.36601337 0.28367336 -0.25990526
+v -0.37389762 0.28367209 0.08706871
+v -0.36773188 -0.27425415 -0.22133868
+v -0.36781518 -0.27425421 -0.20439912
+v -0.36753396 -0.27425408 -0.24062299
+v -0.37016899 0.28367315 -0.20205231
+v -0.37275195 0.28367252 -0.02863712
+v -0.37253322 0.28367259 -0.04787358
+f 1 2 6
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+f 6 8 14
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+f 18 23 24
+f 18 24 22
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+f 24 34 30
+f 25 35 36
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+f 25 37 26
+f 31 38 32
+f 32 38 39
+f 35 40 36
+f 36 40 38
+f 38 40 41
+f 38 41 39
+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_13.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755551a58159026144dd0667bae643f096c7aaa4
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_13.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
+v 0.36332060 0.27909814 0.19210355
+v 0.45648527 0.30134996 0.19210363
+v 0.27619407 0.27909814 0.19210355
+v 0.36504303 0.27909825 0.16307683
+v 0.46223306 0.30408983 0.19210364
+v 0.36608806 0.27909832 0.14487266
+v 0.36639770 0.27909839 0.12561401
+v 0.45648527 0.30242826 -0.33703773
+v 0.27619407 0.36880991 0.19210387
+v 0.27619407 0.27909993 -0.29308146
+v 0.46925815 0.30749514 0.19210365
+v 0.36548813 0.27909875 0.02615718
+v 0.36254651 0.27909966 -0.22137487
+v 0.36250781 0.27909967 -0.22414989
+v 0.36221752 0.27909973 -0.24063353
+v 0.36215943 0.27909974 -0.24340854
+v 0.36148209 0.27909980 -0.25989217
+v 0.43705500 0.29847501 -0.33703774
+v 0.43705500 0.30178253 -0.35629640
+v 0.45646589 0.30649904 -0.35618538
+v 0.46743896 0.30951291 -0.34969182
+v 0.46809695 0.30873004 -0.33703771
+v 0.30870686 0.46932468 0.19210424
+v 0.30859075 0.46938373 0.10630055
+v 0.30857137 0.46938380 0.08704188
+v 0.27619407 0.36865367 0.10613366
+v 0.27619407 0.32078538 -0.29369181
+v 0.30953903 0.32078565 -0.36722991
+v 0.31006156 0.31010008 -0.36673045
+v 0.32051210 0.30784945 -0.36861747
+v 0.33994238 0.29984502 -0.35629641
+v 0.32051210 0.27909993 -0.29535697
+v 0.47281905 0.32078391 0.10630001
+v 0.47291581 0.32078377 0.14487281
+v 0.47301259 0.32078359 0.19210370
+v 0.47163854 0.32078547 -0.31772353
+v 0.35550207 0.27909988 -0.28109334
+v 0.35486340 0.27909989 -0.28198138
+v 0.34274854 0.27909993 -0.29274846
+v 0.33994238 0.30628380 -0.36994950
+v 0.43705500 0.30812344 -0.36811797
+v 0.44996333 0.30923899 -0.36728545
+v 0.34181958 0.27909993 -0.29313696
+v 0.46885172 0.32078560 -0.35307729
+v 0.47156113 0.32078554 -0.33703766
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+v 0.31522877 0.47269082 0.19210426
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+v 0.32051210 0.47543112 0.08704191
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+v 0.30953903 0.46803492 -0.31772299
+v 0.27619407 0.36732414 -0.24063321
+v 0.27619407 0.32622602 -0.29352529
+v 0.30979062 0.37906699 -0.36695220
+v 0.30961643 0.35965293 -0.36711877
+v 0.30946163 0.34021927 -0.36728534
+v 0.32051210 0.34021929 -0.37183639
+v 0.32051210 0.32078567 -0.37166996
+v 0.33994238 0.32078568 -0.37450050
+v 0.47324483 0.34021916 -0.33703759
+v 0.47376737 0.34021732 0.16418706
+v 0.47374798 0.34021725 0.18344569
+v 0.47372867 0.34021721 0.19210377
+v 0.47328353 0.34021909 -0.31772346
+v 0.47374798 0.34021753 0.10630008
+v 0.41762473 0.32078567 -0.37250246
+v 0.43705500 0.32078566 -0.37150346
+v 0.45325333 0.32078565 -0.36833992
+v 0.46970325 0.34021922 -0.35518626
+v 0.46484569 0.34021926 -0.36484334
+v 0.32051210 0.47541116 0.19210427
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+v 0.33994238 0.47877734 0.18344620
+v 0.33994238 0.47875792 0.14487339
+v 0.33994238 0.47873842 0.12561474
+v 0.33994238 0.47819215 -0.33703708
+v 0.32051210 0.47367132 -0.33703710
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_14.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad232680dd053a5fd2d62e090609a3c85422526b
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_14.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_15.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4494d18b7765a6e3656a8a333845ff189037ddf
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_15.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_16.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d7ab1843c6209afe9f53eebc79d15b4f0cb2f8f
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_16.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v -0.37729907 0.26263861 0.29827846
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+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_17.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..822a3d173f627e3b35b8c4cdccd85a5055d43b29
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_17.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_18.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5587e1c74573bda0ba84d2a7d7331286d67a89af
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_18.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v -0.28178390 -0.36358401 0.19210120
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_19.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..266d891028af3fc0a12e4eafa0c03ef7963d48b9
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_19.obj
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_2.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10b59d600b8e7977daa3720456b0b4d89bf1c26c
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_2.obj
@@ -0,0 +1,1186 @@
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+f 323 370 324
+f 324 370 371
+f 324 371 327
+f 325 326 333
+f 327 371 372
+f 327 372 334
+f 328 368 330
+f 328 330 329
+f 330 368 366
+f 330 366 342
+f 330 342 373
+f 330 373 374
+f 330 374 331
+f 331 374 369
+f 332 363 333
+f 333 363 355
+f 334 375 377
+f 334 377 335
+f 334 372 376
+f 334 376 375
+f 335 377 336
+f 336 377 378
+f 336 378 337
+f 337 378 379
+f 338 379 380
+f 338 380 339
+f 340 342 344
+f 341 380 373
+f 341 373 342
+f 342 366 381
+f 342 381 344
+f 343 382 345
+f 344 381 383
+f 344 383 384
+f 344 384 385
+f 344 385 345
+f 344 345 382
+f 345 385 383
+f 345 383 367
+f 348 355 349
+f 349 355 386
+f 349 386 387
+f 349 387 350
+f 350 387 351
+f 351 387 388
+f 355 363 386
+f 356 389 357
+f 356 361 389
+f 357 389 390
+f 357 390 386
+f 357 386 362
+f 361 390 389
+f 361 391 390
+f 362 386 363
+f 365 381 366
+f 365 367 383
+f 365 383 381
+f 369 374 392
+f 370 392 371
+f 371 392 372
+f 372 392 393
+f 372 393 376
+f 373 393 374
+f 373 380 393
+f 374 393 392
+f 375 376 393
+f 375 393 377
+f 377 393 380
+f 377 380 378
+f 378 380 379
+f 383 385 384
+f 386 390 387
+f 387 390 388
+f 388 390 394
+f 390 391 395
+f 390 395 396
+f 390 396 394
+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_20.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b85d19c4659aa451434779a469389bee81ac06c0
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_20.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.36804280 -0.00465597 0.19210252
+v -0.37711762 -0.00465636 0.29827748
+v -0.28179347 -0.00465597 0.19210252
+v -0.36839848 -0.27394627 0.19210153
+v -0.37999198 -0.27394666 0.29823492
+v -0.28179347 -0.00465636 0.29827748
+v -0.37994390 -0.27355124 0.29827650
+v -0.28179347 -0.27394627 0.19210153
+v -0.37956898 -0.27394666 0.29827649
+v -0.28179347 -0.27394666 0.29827649
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 9
+f 2 9 10
+f 2 10 6
+f 3 6 10
+f 3 10 8
+f 4 8 10
+f 4 10 9
+f 4 9 5
+f 5 9 7
+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_21.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6328809c3e09255f1322d80ffde1e9b2dcf8358
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_21.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.28071991 0.37835198 0.29827889
+v 0.28071991 0.28102388 0.29827853
+v 0.28071991 0.36901828 0.19211429
+v -0.28136594 0.36933547 0.19211429
+v -0.28032054 0.37823869 0.29827889
+v 0.28071991 0.28102427 0.19211396
+v 0.01194648 0.26262759 0.29827846
+v -0.28136594 0.26262798 0.19211389
+v -0.28136594 0.37820470 0.29823732
+v -0.28136594 0.37701530 0.29827888
+v 0.01194648 0.26262798 0.19211389
+v -0.28136594 0.26262759 0.29827846
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 12
+f 1 12 7
+f 1 7 2
+f 2 7 11
+f 2 11 6
+f 3 6 11
+f 3 11 8
+f 3 8 4
+f 4 8 12
+f 4 12 10
+f 4 10 9
+f 4 9 5
+f 5 9 10
+f 7 12 8
+f 7 8 11
+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_22.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b9824021ffcfbd8443aacdd526235e52e251768
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_22.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.28162856 -0.01198164 0.19210250
+v 0.28162856 -0.01198203 0.29827746
+v 0.36320578 -0.01198164 0.19210250
+v 0.28162856 -0.28168923 0.19210151
+v 0.37487300 -0.01198203 0.29827746
+v 0.28162856 -0.28168962 0.29827647
+v 0.37711672 -0.27902316 0.29827648
+v 0.36322447 -0.22339690 0.19210172
+v 0.35485735 -0.28168923 0.19210151
+v 0.37703258 -0.28168962 0.29827647
+v 0.36285987 -0.28168923 0.19212231
+v 0.36312164 -0.24282768 0.19210165
+v 0.36316836 -0.23411550 0.19210168
+v 0.36279442 -0.27297705 0.19210154
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 13
+f 1 13 12
+f 1 12 14
+f 1 14 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 11
+f 4 11 10
+f 4 10 6
+f 7 10 11
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 9 14 11
+f 11 14 12
+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_23.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..012b706c3b881a9923cfb35e97c7dcaada478a6c
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_23.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.50089944 0.33513126 0.30625809
+v 0.48490091 0.33462393 0.29828911
+v 0.48563862 0.33983580 0.29828913
+v 0.48644543 0.35275024 0.29828918
+v 0.48665291 0.37149924 0.29828924
+v 0.48672207 0.37908647 0.29828927
+v 0.48681427 0.39068640 0.29828932
+v 0.48686038 0.39850425 0.29828934
+v 0.50089944 0.33748353 0.30625810
+v 0.49024911 0.28697885 0.30625791
+v 0.48248039 0.31758147 0.29828905
+v 0.48294144 0.32078702 0.29828906
+v 0.48681427 0.41794510 0.29828942
+v 0.49958545 0.42686985 0.30625843
+v 0.46323147 0.27517138 0.30625787
+v 0.46127196 0.29283651 0.29828896
+v 0.47512662 0.30196886 0.29828899
+v 0.48586912 0.43736284 0.29828949
+v 0.49870943 0.44511151 0.30625849
+v 0.44640305 0.27256542 0.30625786
+v 0.37498601 0.26523189 0.29828885
+v 0.47957577 0.45768004 0.29828956
+v 0.49373007 0.45684979 0.30625854
+v 0.39315149 0.26523187 0.30625783
+v 0.26541691 0.26523189 0.29828885
+v 0.47600261 0.46240764 0.29828958
+v 0.47662502 0.48242498 0.30625863
+v 0.26541691 0.26523187 0.30625783
+v 0.26541691 0.37767973 0.29828927
+v 0.46288566 0.47682109 0.29828963
+v 0.45739916 0.48108745 0.29828965
+v 0.45647704 0.49497046 0.30625868
+v 0.26541691 0.38552059 0.30625828
+v 0.26541691 0.37871750 0.29930957
+v 0.28934554 0.47566799 0.30625861
+v 0.30204751 0.47444573 0.29828962
+v 0.43704368 0.48872080 0.29828968
+v 0.43704368 0.50062052 0.30625870
+v 0.26541691 0.38434447 0.30505389
+v 0.30658890 0.49061182 0.30625866
+v 0.31670899 0.48343973 0.29828966
+v 0.41763338 0.48918203 0.29828968
+v 0.41763338 0.50082806 0.30625870
+v 0.31424238 0.49527023 0.30625868
+v 0.32051266 0.48503097 0.29828966
+v 0.40781296 0.48918203 0.29828968
+v 0.39820002 0.50080502 0.30625870
+v 0.32051266 0.49762251 0.30625869
+v 0.33210814 0.48738321 0.29828967
+v 0.33021784 0.49972109 0.30625870
+v 0.38837960 0.48913591 0.29828968
+v 0.38752665 0.50078194 0.30625870
+v 0.33994602 0.48844406 0.29828967
+v 0.33994602 0.50011317 0.30625870
+v 0.37878972 0.48911284 0.29828968
+v 0.37878972 0.50075887 0.30625870
+v 0.34898266 0.50045909 0.30625870
+v 0.35935636 0.48902060 0.29828968
+v 0.36823159 0.50068971 0.30625870
+v 0.35935636 0.50059744 0.30625870
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 14
+f 1 14 19
+f 1 19 23
+f 1 23 27
+f 1 27 32
+f 1 32 38
+f 1 38 43
+f 1 43 47
+f 1 47 52
+f 1 52 56
+f 1 56 59
+f 1 59 60
+f 1 60 57
+f 1 57 54
+f 1 54 50
+f 1 50 48
+f 1 48 44
+f 1 44 40
+f 1 40 35
+f 1 35 33
+f 1 33 28
+f 1 28 24
+f 1 24 20
+f 1 20 15
+f 1 15 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 11
+f 2 11 17
+f 2 17 16
+f 2 16 21
+f 2 21 25
+f 2 25 29
+f 2 29 36
+f 2 36 41
+f 2 41 45
+f 2 45 49
+f 2 49 53
+f 2 53 58
+f 2 58 55
+f 2 55 51
+f 2 51 46
+f 2 46 42
+f 2 42 37
+f 2 37 31
+f 2 31 30
+f 2 30 26
+f 2 26 22
+f 2 22 18
+f 2 18 13
+f 2 13 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 8 13 9
+f 9 13 14
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 13 18 19
+f 13 19 14
+f 15 20 21
+f 15 21 16
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 21 24 28
+f 21 28 25
+f 22 26 27
+f 22 27 23
+f 25 28 33
+f 25 33 39
+f 25 39 34
+f 25 34 29
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 29 34 35
+f 29 35 36
+f 31 37 32
+f 32 37 38
+f 33 35 39
+f 34 39 35
+f 35 40 36
+f 36 40 41
+f 37 42 38
+f 38 42 43
+f 40 44 41
+f 41 44 45
+f 42 46 43
+f 43 46 47
+f 44 48 45
+f 45 48 50
+f 45 50 49
+f 46 51 52
+f 46 52 47
+f 49 50 53
+f 50 54 53
+f 51 55 52
+f 52 55 56
+f 53 54 57
+f 53 57 58
+f 55 58 56
+f 56 58 59
+f 57 60 58
+f 58 60 59
+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_24.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7bcb3ab2e3d4f69e4d4ae44cccd7e81efd3fc7a
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_24.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.39381503 -0.50739092 0.30625500
+v 0.39093459 -0.50761796 0.30625500
+v 0.39381503 -0.48884735 0.29828608
+v 0.39381503 -0.26238896 0.30625590
+v 0.37183696 -0.50799641 0.30625499
+v 0.35110843 -0.49028540 0.29828608
+v 0.36995614 -0.48975561 0.29828608
+v 0.38859343 -0.48907439 0.29828608
+v 0.39381503 -0.28683615 0.29828683
+v 0.39374927 -0.18004045 0.30625620
+v 0.34054686 -0.50784503 0.30625499
+v 0.33991556 -0.49036109 0.29828608
+v 0.37496729 0.26523189 0.29828885
+v 0.39314423 0.26523187 0.30625783
+v 0.39368350 -0.12168502 0.30625641
+v 0.39370980 -0.14121252 0.30625634
+v 0.33130057 -0.50595284 0.30625500
+v 0.32051540 -0.48740927 0.29828609
+v 0.26543220 0.26523189 0.29828885
+v 0.26543220 0.26523187 0.30625783
+v 0.32051540 -0.50337946 0.30625501
+v 0.30264099 -0.47476937 0.29828614
+v 0.30116788 -0.49414550 0.30625504
+v 0.25946091 -0.01526771 0.29828782
+v 0.25946091 -0.01526773 0.30625680
+v 0.28581877 -0.47507215 0.30625511
+v 0.25946091 -0.37160665 0.29828652
+v 0.25946091 -0.38364108 0.30625545
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 16
+f 1 16 15
+f 1 15 14
+f 1 14 20
+f 1 20 25
+f 1 25 28
+f 1 28 26
+f 1 26 23
+f 1 23 21
+f 1 21 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 6
+f 3 6 12
+f 3 12 18
+f 3 18 22
+f 3 22 27
+f 3 27 24
+f 3 24 19
+f 3 19 13
+f 3 13 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 18
+f 11 18 12
+f 13 19 20
+f 13 20 14
+f 17 21 18
+f 18 21 23
+f 18 23 22
+f 19 24 25
+f 19 25 20
+f 22 26 27
+f 22 23 26
+f 24 27 28
+f 24 28 25
+f 26 28 27
+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_25.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68d0248e3ab95849c757eed14722f364ffb727c0
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_25.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.27727442 -0.26210739 0.30625590
+v -0.38568898 -0.26210739 0.30625590
+v -0.27727442 -0.26210737 0.29828692
+v -0.27727442 0.26255275 0.30625782
+v -0.37725140 -0.26210737 0.29828692
+v -0.38540240 0.26255275 0.30625782
+v -0.37858867 0.26255277 0.29957827
+v -0.37727263 0.26255277 0.29828884
+v -0.27727442 0.26255277 0.29828884
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 8
+f 3 8 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_26.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f818c29c59983d7f2b9eac4a08929d3d44d8fa
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_26.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.50697271 -0.35945414 0.30625554
+v 0.48799198 -0.39830156 0.29828642
+v 0.48804736 -0.38787031 0.29828646
+v 0.48808057 -0.37890182 0.29828649
+v 0.48803627 -0.35945412 0.29828656
+v 0.50672911 -0.34003042 0.30625561
+v 0.50651868 -0.40947622 0.30625536
+v 0.50623079 -0.42863617 0.30625529
+v 0.48785910 -0.40707818 0.29828638
+v 0.48754904 -0.34003040 0.29828663
+v 0.50449217 -0.32058272 0.30625568
+v 0.50548880 -0.44731650 0.30625522
+v 0.48737183 -0.42590243 0.29828632
+v 0.48763763 -0.41774926 0.29828635
+v 0.48522351 -0.32058270 0.29828670
+v 0.47544519 -0.30161462 0.29828677
+v 0.49423770 -0.30118302 0.30625575
+v 0.48192347 -0.46000183 0.29828619
+v 0.48604297 -0.44364754 0.29828625
+v 0.48687351 -0.43717298 0.29828627
+v 0.49035072 -0.49048032 0.30625506
+v 0.45648659 -0.29147112 0.29828681
+v 0.45648659 -0.27139997 0.30625586
+v 0.47589922 -0.28245469 0.30625582
+v 0.47378411 -0.47391019 0.29828614
+v 0.44701838 -0.50541977 0.30625500
+v 0.45965375 -0.48177557 0.29828611
+v 0.43707397 -0.28912110 0.29828682
+v 0.39385234 -0.26247945 0.30625590
+v 0.42869098 -0.50652284 0.30625500
+v 0.42577854 -0.48757872 0.29828609
+v 0.43707397 -0.48683534 0.29828609
+v 0.44334182 -0.48599603 0.29828609
+v 0.39385234 -0.28693893 0.29828683
+v 0.39385234 -0.50745806 0.30625500
+v 0.40987634 -0.50714634 0.30625500
+v 0.39385234 -0.48884965 0.29828608
+v 0.40727396 -0.48839405 0.29828609
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 17
+f 1 17 24
+f 1 24 23
+f 1 23 29
+f 1 29 35
+f 1 35 36
+f 1 36 30
+f 1 30 26
+f 1 26 21
+f 1 21 12
+f 1 12 8
+f 1 8 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 14
+f 2 14 13
+f 2 13 20
+f 2 20 19
+f 2 19 18
+f 2 18 25
+f 2 25 27
+f 2 27 33
+f 2 33 32
+f 2 32 31
+f 2 31 38
+f 2 38 37
+f 2 37 34
+f 2 34 28
+f 2 28 22
+f 2 22 16
+f 2 16 15
+f 2 15 10
+f 2 10 5
+f 2 5 4
+f 2 4 3
+f 5 10 6
+f 6 10 11
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 12 21 18
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 18 21 25
+f 21 26 27
+f 21 27 25
+f 22 28 29
+f 22 29 23
+f 26 30 31
+f 26 31 32
+f 26 32 33
+f 26 33 27
+f 28 34 29
+f 29 34 37
+f 29 37 35
+f 30 36 37
+f 30 37 38
+f 30 38 31
+f 35 37 36
+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_3.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1230457c65b6cfec8970b1de73e47ad995de609e
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_3.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
+v -0.47473721 0.41793708 0.19210406
+v -0.47467649 0.38980179 0.19210395
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_4.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27d27991dc8eef7a40de2c8572b764d330d89582
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_4.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_5.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8fed9097f34d24c7d81ee00882572350d1ad478
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_5.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_6.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26a36a85e436987eec83cb84986c5b3a2ae30f45
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_6.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_7.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9addf2c76ce2cc81883a8842cfaa3022d05242cf
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_7.obj
@@ -0,0 +1,532 @@
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_8.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e459a088baa57f628f619838d6aef164040c649f
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_8.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_9.obj b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbc454782f7b699986549d8097b3080157b2a1c2
--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/mjcf/mesh/wooden_walnut_table_collision_9.obj
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/textures/material_0.png b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/textures/material_0.png
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--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/textures/material_0.png
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diff --git a/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/video.mp4 b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/furniture/table/f1af886972b754c7be18017e29d3d969/video.mp4
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