diff --git a/.gitattributes b/.gitattributes
index 426027ecf59eee2e13f20ee7552370ce2afd2564..d906e06b9ed1e2bdbf92db48b87fe8afcbd7167f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3783,3 +3783,6 @@ dataset/furniture/chair/c405d6395a7156dfa757ca79e10483e8/mesh/computer_chair_48_
 dataset/furniture/chair/e9a279d82e6c50219e06e457fc224129/e9a279d82e6c50219e06e457fc224129.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/e9a279d82e6c50219e06e457fc224129/mesh/dining_chair_4.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/e9a279d82e6c50219e06e457fc224129/mesh/dining_chair_4_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/0033f5a78e7f5843a139ea446f8b8bbd.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/0033f5a78e7f5843a139ea446f8b8bbd.urdf b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/0033f5a78e7f5843a139ea446f8b8bbd.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..859e547ce5aaf446f6d0c177282d74df0dfe0084
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/0033f5a78e7f5843a139ea446f8b8bbd.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_patterned_table">
+   <link name="wooden_patterned_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_patterned_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_patterned_table_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="20.0000" />
+         <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>1.409463</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with patterned surface and four sturdy legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.775</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251009040511</generate_time>
+         <gs_model>mesh/wooden_patterned_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.934572339057922</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>12</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/0033f5a78e7f5843a139ea446f8b8bbd/0033f5a78e7f5843a139ea446f8b8bbd.usd b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/0033f5a78e7f5843a139ea446f8b8bbd.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d3a6ef72badc93086f43d025f874ba6ba4b0681d
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/0033f5a78e7f5843a139ea446f8b8bbd.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cb2a195cf9db0a23d42bbe754a0cb07def0621de139b8661eb3a3b5cc753009
+size 980167
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/material.mtl b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/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/0033f5a78e7f5843a139ea446f8b8bbd/mesh/material_0.png b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bda849d7b143f330e4703aaea433f87c53e7da1
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d630095b1fdd4b6c4a22ea499d2abcefecb82c6c08ff3d329ae89a2ded8daee6
+size 841941
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table.glb b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..886ca83c5a505efe8587e16b5b1badfab96eeb38
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c58ce2f7b01c68420a0778d515d4bda3602c305550c95e16b17e4b8873cf27c8
+size 1515160
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15f4ad22a192092a44e18178911c55ebbc798da1
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table.obj
@@ -0,0 +1,61656 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table_collision.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9aaf958b3f9fd337f657d9cea190e76f0ed12b6
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table_collision.obj
@@ -0,0 +1,6663 @@
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diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table_gs.ply b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5640936e3b378bb33608ca51d86c53c6074bc898
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table_gs.ply
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+version https://git-lfs.github.com/spec/v1
+oid sha256:db47344798ea657a6f5814b8daae8b4099ce5a08053f37514f3ae9ef696f9620
+size 19599466
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/0033f5a78e7f5843a139ea446f8b8bbd.xml b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/0033f5a78e7f5843a139ea446f8b8bbd.xml
new file mode 100644
index 0000000000000000000000000000000000000000..caccfb671f2cbee18df76ad0fce4856cc26afeb6
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+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/0033f5a78e7f5843a139ea446f8b8bbd.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/wooden_patterned_table_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wooden_patterned_table_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wooden_patterned_table_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wooden_patterned_table_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wooden_patterned_table_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wooden_patterned_table_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wooden_patterned_table_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wooden_patterned_table_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wooden_patterned_table_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wooden_patterned_table_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wooden_patterned_table_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wooden_patterned_table_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wooden_patterned_table_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wooden_patterned_table_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wooden_patterned_table_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_16" file="mesh/wooden_patterned_table_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wooden_patterned_table_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/wooden_patterned_table_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/wooden_patterned_table_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/wooden_patterned_table_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wooden_patterned_table">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
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+</mujoco>
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diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/material_0.png b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7f038e1d16e3c91db85fc0c15af30b6f79ed9db
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f30bf62a60efcab1cd379b20cf49e1b20ec7418
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision.obj
@@ -0,0 +1,6663 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_0.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b21a7eb688ceaadce3e0a346ba7f655df5a5d42e
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_0.obj
@@ -0,0 +1,3136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_1.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..573c097a3704d852682501ec505e5ca56b86f03d
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_1.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.35573574 -0.26590897 0.29266842
+v -0.35605664 -0.29186196 0.20000173
+v -0.35835648 -0.31243686 0.20000165
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+v -0.35541483 -0.26590897 0.29269565
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+v -0.28599230 -0.26590897 0.29269565
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+v -0.35723328 -0.34179733 0.29269537
+v -0.34910371 -0.35688613 0.20000149
+v 0.18691511 -0.33867220 0.29269539
+v 0.18691511 -0.34244079 0.20000154
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+v 0.11032573 -0.40291847 0.29269515
+v 0.08727404 -0.40287824 0.29269515
+v 0.08989476 -0.40065139 0.20000133
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+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_10.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..358dfe8ee2e38bb47375d2155fd587ac1556c924
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_10.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.35888191 0.00987632 0.24311964
+v 0.35641563 -0.00587199 0.22763128
+v 0.35641563 0.00564979 0.22763132
+v 0.32522849 0.28194100 0.20000384
+v 0.32607350 0.28194065 0.29269767
+v 0.35728033 0.00866036 0.26595736
+v 0.35775194 -0.01253037 0.24460758
+v 0.32999401 -0.30954895 0.20000166
+v 0.34622626 -0.01102484 0.20000276
+v 0.34608869 -0.00749304 0.20000277
+v 0.34528299 0.01178713 0.20000284
+v 0.26392521 0.28194100 0.20000384
+v 0.26236292 0.28194065 0.29269767
+v 0.34443796 0.01786611 0.29269670
+v 0.35427360 0.00402844 0.27941319
+v 0.35427360 -0.00262987 0.27941317
+v 0.33436649 -0.30954930 0.29269549
+v 0.35646478 -0.01056189 0.26393392
+v 0.26136068 -0.30954895 0.20000166
+v 0.25851120 -0.30954930 0.29269549
+v 0.34463448 0.01201837 0.29269667
+v 0.34451658 -0.01067780 0.29269659
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 12 13
+f 4 13 5
+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 4 8 19
+f 4 19 12
+f 5 13 20
+f 5 20 17
+f 5 17 22
+f 5 22 21
+f 5 21 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 17 8
+f 7 18 17
+f 8 17 20
+f 8 20 19
+f 12 19 20
+f 12 20 13
+f 14 21 15
+f 15 21 16
+f 16 21 22
+f 16 22 17
+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_11.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15b30f9cd1f21a6c3997e4165d8a11815405fe49
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_11.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.25852078 -0.30956068 0.29269549
+v 0.18693052 -0.33868537 0.29269539
+v 0.33436391 -0.30956068 0.29269549
+v 0.26135603 -0.30956033 0.20000166
+v 0.18693052 -0.34245114 0.20000154
+v 0.18693052 -0.40234425 0.29269515
+v 0.34339358 -0.35369278 0.29269533
+v 0.34243822 -0.35881665 0.20000148
+v 0.32998776 -0.30956033 0.20000166
+v 0.18693052 -0.39985600 0.20000133
+v 0.25460689 -0.42131149 0.20000125
+v 0.25565469 -0.42079825 0.29269508
+v 0.34402536 -0.35881700 0.29269531
+v 0.34428731 -0.37656345 0.29269525
+v 0.34265397 -0.38199546 0.20000140
+v 0.27191121 -0.42595638 0.20000124
+v 0.26020036 -0.42180258 0.29269508
+v 0.34433355 -0.38199581 0.29269523
+v 0.34183727 -0.40256075 0.20000132
+v 0.27453073 -0.42597919 0.20000124
+v 0.29499391 -0.42461005 0.29269507
+v 0.27191121 -0.42410791 0.29269507
+v 0.34166779 -0.40518563 0.20000131
+v 0.34115928 -0.40518598 0.29269514
+v 0.29499391 -0.42612757 0.20000123
+v 0.29761344 -0.42613898 0.20000123
+v 0.31807659 -0.42610472 0.20000123
+v 0.31807659 -0.42417638 0.29269507
+v 0.33584318 -0.41963383 0.20000126
+v 0.33427147 -0.42084392 0.29269508
+v 0.33510355 -0.42140277 0.20000125
+v 0.31995649 -0.42563680 0.20000124
+f 1 2 6
+f 1 6 12
+f 1 12 17
+f 1 17 22
+f 1 22 21
+f 1 21 28
+f 1 28 30
+f 1 30 24
+f 1 24 18
+f 1 18 14
+f 1 14 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 5 10
+f 2 10 6
+f 2 4 5
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 15
+f 4 15 19
+f 4 19 23
+f 4 23 29
+f 4 29 31
+f 4 31 32
+f 4 32 27
+f 4 27 26
+f 4 26 25
+f 4 25 20
+f 4 20 16
+f 4 16 11
+f 4 11 10
+f 4 10 5
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 11 16 12
+f 12 16 17
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 19
+f 18 24 23
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 21 27 28
+f 23 24 29
+f 24 30 31
+f 24 31 29
+f 27 32 30
+f 27 30 28
+f 30 32 31
+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_12.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb8b630aaa8eed896b0fcd50bd355aa788e0e951
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_12.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.23280115 -0.31243485 0.31188068
+v 0.18150694 -0.31914188 0.31188066
+v 0.35616967 -0.31243485 0.31188068
+v 0.25783655 -0.31243478 0.29269734
+v 0.18150694 -0.33866963 0.29269725
+v 0.18150694 -0.42093419 0.31188028
+v 0.35941435 -0.33562573 0.31188060
+v 0.34340374 -0.35369597 0.29269719
+v 0.33849242 -0.33076305 0.29269728
+v 0.33432574 -0.31243478 0.29269734
+v 0.18150694 -0.40236075 0.29269701
+v 0.24932593 -0.44026852 0.31188021
+v 0.36235761 -0.35881665 0.31188051
+v 0.34402431 -0.35881658 0.29269717
+v 0.25565570 -0.42080514 0.29269694
+v 0.26021245 -0.42179826 0.29269694
+v 0.27193227 -0.42410704 0.29269693
+v 0.27193227 -0.44390580 0.31188020
+v 0.36262358 -0.38199463 0.31188043
+v 0.34427254 -0.37657735 0.29269711
+v 0.29499961 -0.42461010 0.29269693
+v 0.29499961 -0.44415086 0.31188020
+v 0.36193209 -0.40190940 0.31188035
+v 0.34432573 -0.38199456 0.29269709
+v 0.29985775 -0.42451981 0.29269693
+v 0.31806692 -0.44406058 0.31188020
+v 0.30939673 -0.44418955 0.31188020
+v 0.36154202 -0.40518551 0.31188034
+v 0.34115197 -0.40518544 0.29269700
+v 0.35937890 -0.42215951 0.31188028
+v 0.31806692 -0.42417153 0.29269693
+v 0.33219809 -0.44378972 0.31188020
+v 0.35301364 -0.44022982 0.31188021
+v 0.33427257 -0.42084383 0.29269694
+f 1 2 6
+f 1 6 12
+f 1 12 18
+f 1 18 22
+f 1 22 27
+f 1 27 26
+f 1 26 32
+f 1 32 33
+f 1 33 30
+f 1 30 28
+f 1 28 23
+f 1 23 19
+f 1 19 13
+f 1 13 7
+f 1 7 3
+f 1 3 10
+f 1 10 4
+f 1 4 2
+f 2 5 11
+f 2 11 6
+f 2 4 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 10 9
+f 4 9 8
+f 4 8 14
+f 4 14 20
+f 4 20 24
+f 4 24 29
+f 4 29 34
+f 4 34 31
+f 4 31 25
+f 4 25 21
+f 4 21 17
+f 4 17 16
+f 4 16 15
+f 4 15 11
+f 4 11 5
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 12 17 18
+f 13 19 20
+f 13 20 14
+f 17 21 18
+f 18 21 22
+f 19 23 24
+f 19 24 20
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 24 28 30
+f 24 30 29
+f 25 31 26
+f 26 31 32
+f 29 30 33
+f 29 33 34
+f 31 34 33
+f 31 33 32
+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_13.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1af1f3398be84c2df47b4d82690f74c17b3d6089
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_13.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.29500080 0.46974736 0.31188356
+v 0.29500080 0.44943266 0.29270014
+v 0.27957186 0.46966176 0.31188356
+v 0.31806448 0.46955908 0.31188355
+v 0.29009400 0.44926151 0.29270014
+v 0.25695103 0.46902857 0.31188355
+v 0.31806448 0.44861119 0.29270014
+v 0.34059675 0.46584527 0.31188354
+v 0.27193712 0.44847425 0.29270014
+v 0.23599532 0.46577685 0.31188354
+v 0.32911805 0.44612960 0.29270013
+v 0.35443141 0.45235913 0.31188349
+v 0.33363512 0.44506850 0.29270012
+v 0.25590591 0.44508563 0.29270012
+v 0.18150694 0.40368596 0.29269997
+v 0.18150694 0.42345298 0.31188339
+v 0.36071988 0.42973397 0.31188341
+v 0.34024246 0.42973404 0.29270007
+v 0.33887848 0.43404686 0.29270008
+v 0.18150694 0.34441889 0.29269976
+v 0.18150694 0.32165672 0.31188301
+v 0.36245587 0.40654401 0.31188332
+v 0.34390927 0.40654408 0.29269998
+v 0.34337784 0.41176393 0.29270000
+v 0.26242468 0.29490703 0.29269957
+v 0.23599532 0.29490696 0.31188291
+v 0.36226100 0.38335400 0.31188324
+v 0.34383842 0.38335407 0.29269990
+v 0.34385612 0.38876224 0.29269992
+v 0.32584094 0.29490703 0.29269957
+v 0.35019776 0.29490696 0.31188291
+v 0.36041874 0.36553795 0.31188317
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 16
+f 1 16 21
+f 1 21 26
+f 1 26 31
+f 1 31 32
+f 1 32 27
+f 1 27 22
+f 1 22 17
+f 1 17 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 7
+f 2 7 11
+f 2 11 13
+f 2 13 19
+f 2 19 18
+f 2 18 24
+f 2 24 23
+f 2 23 29
+f 2 29 28
+f 2 28 30
+f 2 30 25
+f 2 25 20
+f 2 20 15
+f 2 15 14
+f 2 14 9
+f 2 9 5
+f 4 8 7
+f 5 9 6
+f 6 9 10
+f 7 8 11
+f 8 12 13
+f 8 13 11
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 15 20 21
+f 15 21 16
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 20 25 21
+f 21 25 26
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 25 30 31
+f 25 31 26
+f 27 32 28
+f 28 32 31
+f 28 31 30
+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_14.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4857e274684df2de7b6af4bcd885cdc9a52fc95
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_14.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.18691511 0.40379474 0.29269811
+v 0.18691511 0.34553687 0.29269790
+v 0.18691511 0.40125673 0.20000427
+v 0.15161642 0.40337862 0.29269811
+v 0.18386658 0.34451042 0.29269790
+v 0.18691511 0.34828367 0.20000408
+v 0.13343226 0.40021637 0.20000427
+v 0.12851182 0.40304572 0.29269811
+v -0.25886458 0.26471102 0.29269760
+v -0.25886458 0.26604299 0.20000378
+v 0.11032765 0.39946734 0.20000427
+v 0.10546071 0.40246312 0.29269811
+v -0.27619302 0.26222814 0.29269759
+v -0.28319926 0.26210364 0.20000376
+v 0.08235611 0.40118700 0.29269810
+v -0.32812489 0.37092100 0.20000416
+v -0.32652042 0.37666321 0.29269801
+v -0.27795794 0.26210329 0.29269759
+v -0.35780786 0.26210364 0.20000376
+v -0.34925063 0.35964394 0.20000412
+v -0.33973065 0.37248808 0.29269800
+v -0.33202912 0.37548421 0.29269801
+v -0.35946585 0.26210329 0.29269759
+v -0.35871708 0.31378670 0.20000395
+v -0.34989239 0.36171038 0.29269796
+v -0.34197697 0.37037969 0.29269799
+v -0.35037374 0.35707783 0.20000411
+v -0.35807528 0.33696464 0.29269787
+v -0.35887753 0.33696499 0.20000404
+v -0.35887753 0.33432952 0.20000403
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 15
+f 1 15 17
+f 1 17 22
+f 1 22 21
+f 1 21 26
+f 1 26 25
+f 1 25 28
+f 1 28 23
+f 1 23 18
+f 1 18 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 6 10
+f 3 10 14
+f 3 14 19
+f 3 19 24
+f 3 24 30
+f 3 30 29
+f 3 29 27
+f 3 27 20
+f 3 20 16
+f 3 16 11
+f 3 11 7
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 7 12 8
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 11 16 17
+f 11 17 15
+f 13 18 14
+f 14 18 23
+f 14 23 19
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 19 23 24
+f 20 25 26
+f 20 26 21
+f 20 27 25
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 25 27 29
+f 25 29 28
+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_15.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa43a34961182a0a494d97150a0613a04e9731a4
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_15.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.32813436 -0.25907816 0.07676678
+v -0.30683830 -0.25907818 0.08290742
+v -0.32845151 -0.25907816 0.07686329
+v -0.32813436 -0.05727992 0.07905971
+v -0.30543462 -0.25907819 0.08347444
+v -0.32813436 -0.03408641 0.07936139
+v -0.34797387 -0.25907819 0.08421034
+v -0.34913087 -0.05727994 0.08559846
+v -0.34913087 -0.03408643 0.08573125
+v -0.30498827 -0.25907819 0.08489800
+v -0.31256463 -0.03408644 0.08821646
+v -0.31274669 -0.01089295 0.08920581
+v -0.34883720 -0.01089294 0.08676885
+v -0.32813436 -0.01089292 0.08138825
+v -0.35354162 -0.25907827 0.10601023
+v -0.35650754 -0.15005403 0.10601063
+v -0.35712425 -0.12686053 0.10601071
+v -0.35772916 -0.10366702 0.10601080
+v -0.35825186 -0.08047352 0.10601088
+v -0.35854553 -0.05728002 0.10601097
+v -0.35858663 -0.03408651 0.10601105
+v -0.35832235 -0.01089301 0.10601114
+v -0.29885668 -0.25907827 0.10601023
+v -0.31022711 0.24398923 0.12773957
+v -0.31393307 0.01225130 0.09152221
+v -0.31053838 0.24398923 0.12725701
+v -0.34838498 0.24398924 0.12586963
+v -0.34728671 0.24398924 0.12482005
+v -0.33608074 0.24398927 0.11673708
+v -0.32813436 0.24398928 0.11543416
+v -0.35317747 -0.25907861 0.20000185
+v -0.35536230 -0.19644139 0.20000208
+v -0.35613757 -0.17324771 0.15170946
+v -0.35609642 -0.17324762 0.12887205
+v -0.35676596 -0.15005411 0.12887214
+v -0.35729456 -0.12686061 0.12887222
+v -0.35776440 -0.10366710 0.12887231
+v -0.35816380 -0.08047360 0.12887239
+v -0.35785837 -0.08047386 0.19740871
+v -0.35784665 -0.08047386 0.20000250
+v -0.35809917 -0.05728036 0.20000259
+v -0.35816380 -0.03669674 0.20000267
+v -0.35816966 -0.03408685 0.20000267
+v -0.35859253 0.01225117 0.12887274
+v -0.35832825 0.24398914 0.15171100
+v -0.29864525 -0.25907835 0.12887174
+v -0.30501175 0.24398914 0.15153003
+v -0.30497651 0.24398914 0.15171100
+v -0.30459475 0.24398906 0.17435536
+v -0.29868049 -0.25907861 0.20000185
+v -0.35593197 -0.17585776 0.20000215
+v -0.35672485 -0.15005420 0.15170955
+v -0.35721822 -0.12686070 0.15170963
+v -0.35767044 -0.10366719 0.15170972
+v -0.35755885 -0.10366727 0.17455918
+v -0.35741201 -0.10366736 0.20000242
+v -0.35838698 0.08183142 0.20000310
+v -0.35840460 0.10502494 0.20000319
+v -0.35854553 0.08183159 0.15171040
+v -0.35852205 0.10502511 0.15171049
+v -0.35832825 0.24398906 0.17476555
+v -0.29862176 -0.25907844 0.15170915
+v -0.30454189 0.24398897 0.19997958
+v -0.29866875 -0.25907861 0.19751665
+v -0.30786023 0.22360234 0.20000362
+v -0.35599659 -0.17324788 0.20000216
+v -0.35828125 0.24398897 0.20000370
+v -0.29859826 -0.25907852 0.17455861
+v -0.30882343 0.24398897 0.20000370
+f 1 2 5
+f 1 5 10
+f 1 10 23
+f 1 23 46
+f 1 46 62
+f 1 62 68
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+f 1 64 50
+f 1 50 31
+f 1 31 15
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+f 24 26 30
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+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_16.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1428b1c08041467816a49c8385ecd6a3d917a4bc
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_16.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.09460708 0.42351200 0.31188339
+v 0.07145639 0.42343561 0.31188339
+v 0.18150694 0.42345472 0.31188339
+v 0.18150694 0.40369749 0.29269997
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+v 0.12848617 0.40304846 0.29269997
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+v 0.02492912 0.42246210 0.31188338
+v 0.10544839 0.40245670 0.29269997
+v -0.28195886 0.22853524 0.31188079
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+v -0.26936716 0.23157044 0.31188268
+v -0.34711962 0.40283842 0.31188331
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+v -0.32650985 0.37666724 0.29269987
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+v -0.35807387 0.33696178 0.29269973
+v -0.39121888 0.35398925 0.31188313
+f 1 2 5
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+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_17.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aae959a65a6df58ff27c994a3644b791bbd697bd
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_17.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.37364717 -0.33560950 -0.35096084
+v -0.37307981 -0.31242723 -0.35096076
+v -0.36818329 -0.31242716 -0.37129905
+v -0.36846697 -0.33560943 -0.37147054
+v -0.36655521 -0.35880295 -0.36855699
+v -0.36997169 -0.35880301 -0.35096093
+v -0.35861222 -0.33561152 0.20000155
+v -0.35839024 -0.31505748 0.20000162
+v -0.35835322 -0.31242925 0.20000163
+v -0.37196978 -0.28923374 -0.35096067
+v -0.36764061 -0.28923367 -0.37055629
+v -0.35119961 -0.31242712 -0.38192525
+v -0.35119961 -0.33560939 -0.38203958
+v -0.36392811 -0.37132629 -0.36450078
+v -0.35119961 -0.35880292 -0.37581249
+v -0.36438446 -0.37169702 -0.35096098
+v -0.36405146 -0.37147245 -0.32810894
+v -0.36366911 -0.37116929 -0.30525691
+v -0.36322507 -0.37080994 -0.28240488
+v -0.36289207 -0.37052923 -0.26812236
+v -0.34915216 -0.35688439 0.20000147
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+v -0.36574119 -0.27447520 -0.36741407
+v -0.35119961 -0.28923363 -0.38038266
+v -0.32812297 -0.31242711 -0.38363916
+v -0.32812297 -0.33560938 -0.38358212
+v -0.35119961 -0.37203389 -0.36598617
+v -0.35119961 -0.37356147 -0.35096098
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+v -0.30505867 -0.37302241 -0.32810895
+v -0.30505867 -0.37283157 -0.30525692
+v -0.24765698 -0.36622919 0.20000143
+v -0.30505867 -0.36654368 0.20000143
+v -0.28325244 -0.35815150 -0.36901404
+v -0.29179980 -0.37112412 -0.36375811
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+v -0.24765698 -0.29542443 0.19828782
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+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_18.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb334334b9c6c9beac97d3c2142344b86a96e227
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_18.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.35782160 0.26208979 0.20000376
+v -0.35946086 0.26208944 0.29269759
+v -0.28324377 0.26208979 0.20000376
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+v -0.35955012 -0.08045996 0.29269633
+v -0.35978548 -0.06418008 0.29269639
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+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_19.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e48db970e4eeabb5e87673af0bb82efd23d1b2fb
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_19.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.28137698 -0.24267736 0.31188094
+v -0.39261157 -0.24267736 0.31188094
+v -0.30444381 -0.24267729 0.29269760
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+v -0.35663179 -0.24267729 0.29269760
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+v -0.35723501 -0.22565785 0.29269766
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+v -0.36080951 0.22851625 0.29269933
+v -0.39533717 0.22851618 0.31188267
+v -0.39459991 -0.17326210 0.31188119
+v -0.35762595 -0.20259630 0.29269775
+v -0.36085420 0.22099818 0.29269930
+v -0.39542652 0.21906094 0.31188263
+v -0.39492383 -0.15006218 0.31188128
+v -0.35978185 -0.06418090 0.29269825
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+v -0.36089890 0.19779826 0.29269922
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+v -0.35987119 -0.05726244 0.29269828
+v -0.36091004 0.15139843 0.29269905
+v -0.36091004 0.12819851 0.29269896
+v -0.39548235 0.17270724 0.31188246
+v -0.39525897 -0.10366235 0.31188145
+v -0.36079837 0.10499860 0.29269888
+v -0.39529248 -0.08046243 0.31188153
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 17
+f 1 17 22
+f 1 22 27
+f 1 27 30
+f 1 30 28
+f 1 28 23
+f 1 23 18
+f 1 18 14
+f 1 14 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 3 7 10
+f 3 10 15
+f 3 15 20
+f 3 20 19
+f 3 19 24
+f 3 24 29
+f 3 29 26
+f 3 26 25
+f 3 25 21
+f 3 21 16
+f 3 16 12
+f 3 12 8
+f 3 8 4
+f 4 8 12
+f 4 12 13
+f 4 13 9
+f 4 9 5
+f 6 10 7
+f 6 11 10
+f 10 11 14
+f 10 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 16 21 22
+f 16 22 17
+f 18 23 24
+f 18 24 19
+f 21 25 22
+f 22 25 26
+f 22 26 27
+f 23 28 24
+f 24 28 29
+f 26 29 28
+f 26 28 30
+f 26 30 27
+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_2.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c548dfc032a79308d6cb03b8fac9e526bc0e322
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_2.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.22182052 0.40945687 0.15171021
+v 0.11033341 0.40070545 0.15171018
+v 0.22182052 0.40924159 0.19883945
+v 0.22182052 0.40547781 0.13114688
+v 0.06915763 0.39558381 0.11645534
+v 0.06635436 0.39608114 0.12886465
+v 0.08726395 0.39885033 0.15171018
+v 0.22182052 0.40922815 0.19999243
+v 0.22182052 0.40506107 0.12910243
+v 0.01800958 0.37844406 0.09006767
+v -0.00505989 0.37779880 0.08956844
+v 0.01800958 0.38731640 0.10601913
+v -0.24765696 0.36674861 0.10601906
+v -0.24765696 0.36797183 0.12886455
+v 0.08726395 0.39776127 0.19999239
+v -0.24765696 0.36795830 0.15171006
+v -0.24765696 0.36783716 0.19999228
+v 0.22182052 0.34990416 0.19999222
+v 0.22182052 0.39042168 0.11615817
+v 0.04112500 0.37638729 0.09210022
+v 0.01800958 0.36016159 0.08725054
+v -0.00505989 0.36016160 0.08512289
+v -0.02808341 0.36016160 0.08476630
+v 0.22182052 0.38335067 0.11413747
+v -0.24765696 0.33697244 0.07857345
+v -0.24765696 0.35833335 0.08570531
+v -0.02808341 0.37646797 0.09003199
+v -0.24765696 0.27235147 0.19999193
+v 0.22182052 0.34989072 0.19973072
+v 0.03372623 0.34733694 0.09341950
+v 0.01800958 0.34526673 0.09177917
+v -0.00505989 0.34200009 0.09015073
+v -0.05115288 0.33697241 0.08670368
+v -0.07422234 0.33697242 0.08526544
+v -0.24765696 0.31348749 0.08039196
+v 0.22182052 0.35880370 0.12573843
+v -0.24765696 0.27213664 0.12886420
+v 0.22182052 0.34786106 0.13810015
+v 0.22182052 0.34792822 0.15286296
+v -0.03709061 0.32469893 0.09377600
+v -0.05115288 0.32323364 0.09232586
+v -0.24765696 0.29059404 0.08498000
+v -0.24765696 0.27348101 0.10601871
+v -0.24765696 0.27649231 0.09160063
+v -0.24765696 0.28035046 0.08940167
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 29
+f 1 29 39
+f 1 39 38
+f 1 38 36
+f 1 36 24
+f 1 24 19
+f 1 19 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+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 6
+f 6 13 14
+f 6 14 7
+f 7 15 8
+f 7 14 16
+f 7 16 17
+f 7 17 15
+f 8 15 17
+f 8 17 28
+f 8 28 18
+f 9 19 10
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 10 19 24
+f 10 24 20
+f 11 23 25
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 12 27 26
+f 12 26 13
+f 13 26 25
+f 13 25 35
+f 13 35 42
+f 13 42 45
+f 13 45 44
+f 13 44 43
+f 13 43 37
+f 13 37 28
+f 13 28 17
+f 13 17 16
+f 13 16 14
+f 18 28 29
+f 20 24 21
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 21 24 30
+f 22 33 34
+f 22 34 35
+f 22 35 25
+f 22 25 23
+f 24 36 30
+f 28 37 38
+f 28 38 39
+f 28 39 29
+f 30 40 31
+f 30 36 40
+f 31 40 41
+f 31 41 32
+f 32 41 33
+f 33 41 42
+f 33 42 34
+f 34 42 35
+f 36 38 40
+f 37 43 38
+f 38 43 44
+f 38 44 40
+f 40 44 41
+f 41 44 45
+f 41 45 42
+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_20.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d9db3538605aa6581cc0cc49628fc5752e1c247
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_20.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.39261763 -0.24267734 0.31188094
+v -0.35661512 -0.24267727 0.29269760
+v -0.35943222 -0.31242883 0.29269734
+v -0.39391350 -0.29270967 0.31188075
+v -0.28134227 -0.24267734 0.31188094
+v -0.30438612 -0.24267727 0.29269760
+v -0.35943222 -0.31919421 0.29269732
+v -0.39408253 -0.33560949 0.31188060
+v -0.39402616 -0.31242890 0.31188068
+v 0.18150690 -0.31914184 0.31188066
+v 0.18150690 -0.33866872 0.29269725
+v -0.35937589 -0.33560942 0.29269726
+v -0.38996957 -0.35880757 0.31188051
+v 0.18150690 -0.42093717 0.31188028
+v 0.18150690 -0.40237166 0.29269701
+v -0.35723489 -0.34179791 0.29269723
+v -0.34991043 -0.35767121 0.29269718
+v -0.36591155 -0.38198816 0.31188043
+v 0.06420295 -0.42126932 0.31188028
+v 0.11034702 -0.40291357 0.29269701
+v 0.11519242 -0.40289607 0.29269701
+v -0.32810607 -0.36730354 0.29269714
+v -0.35120629 -0.39504693 0.31188038
+v 0.04110275 -0.42091967 0.31188028
+v 0.08724682 -0.40287861 0.29269701
+v -0.32810607 -0.39955716 0.31188036
+v 0.04110275 -0.40023889 0.29269702
+v 0.01800255 -0.42009807 0.31188029
+v 0.06420295 -0.40205697 0.29269701
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 13
+f 1 13 18
+f 1 18 23
+f 1 23 26
+f 1 26 28
+f 1 28 24
+f 1 24 19
+f 1 19 14
+f 1 14 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 15
+f 2 15 21
+f 2 21 20
+f 2 20 25
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+f 2 29 27
+f 2 27 22
+f 2 22 17
+f 2 17 16
+f 2 16 12
+f 2 12 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 6
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 13
+f 13 16 17
+f 13 17 18
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 17 22 23
+f 17 23 18
+f 19 24 25
+f 19 25 20
+f 22 26 23
+f 22 27 26
+f 24 28 25
+f 25 28 29
+f 26 27 29
+f 26 29 28
+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_21.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cca57bbf4e44201e916b45902a428e004c6e64cb
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_21.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.35776313 0.01222193 0.31188187
+v 0.34463368 0.01204365 0.29269853
+v 0.35547282 0.15139452 0.31188239
+v 0.35767737 -0.01090414 0.31188179
+v 0.34443771 0.01786976 0.29269856
+v 0.35628114 -0.30351733 0.31188072
+v 0.34451119 -0.01060682 0.29269845
+v 0.35041454 0.29056710 0.31188290
+v 0.32584585 0.29490703 0.29269957
+v 0.35020634 0.29490696 0.31188291
+v 0.35617091 -0.31243485 0.31188068
+v 0.33433344 -0.31243478 0.29269734
+v 0.26241545 0.29490703 0.29269957
+v 0.23598510 0.29490696 0.31188291
+v 0.23278848 -0.31243485 0.31188068
+v 0.25783486 -0.31243478 0.29269734
+v 0.26237872 0.29056717 0.29269956
+v 0.23265376 -0.01714640 0.31188177
+v 0.23349885 0.07404999 0.31188210
+v 0.23371931 0.09699772 0.31188219
+v 0.23455215 0.17458003 0.31188247
+f 1 2 3
+f 1 3 8
+f 1 8 10
+f 1 10 14
+f 1 14 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 15
+f 1 15 11
+f 1 11 6
+f 1 6 4
+f 1 4 2
+f 2 5 3
+f 2 4 6
+f 2 6 7
+f 2 7 12
+f 2 12 16
+f 2 16 17
+f 2 17 13
+f 2 13 9
+f 2 9 5
+f 3 5 8
+f 5 9 10
+f 5 10 8
+f 6 11 7
+f 7 11 12
+f 9 13 14
+f 9 14 10
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 15 18 16
+f 16 18 17
+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_3.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37ca4834c8f427c0cd1c7e3d7a5c956fffea576e
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_3.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
+v 0.29499560 -0.45104904 -0.35095269
+v 0.27192633 -0.45091351 -0.35095269
+v 0.27192633 -0.44559128 -0.37128009
+v 0.29499560 -0.44566522 -0.37139429
+v 0.31807672 -0.44524636 -0.37110880
+v 0.31807672 -0.45016200 -0.35095268
+v 0.31807672 -0.44913964 -0.30527301
+v 0.29499560 -0.45043310 -0.32811283
+v 0.27192633 -0.45032224 -0.32811283
+v 0.24884522 -0.44727917 -0.35095267
+v 0.24884522 -0.44370639 -0.36853932
+v 0.24884522 -0.44682343 -0.32811282
+v 0.27192633 -0.42838052 -0.38167218
+v 0.29499560 -0.42838052 -0.38178634
+v 0.33274964 -0.44318895 -0.36796834
+v 0.31807672 -0.42838052 -0.38075855
+v 0.33415889 -0.44459345 -0.35095266
+v 0.33398127 -0.44421171 -0.30527299
+v 0.33382730 -0.44394077 -0.28243318
+v 0.33271411 -0.44243809 -0.19101675
+v 0.33237068 -0.44206857 -0.16817690
+v 0.33196804 -0.44171138 -0.14533707
+v 0.31807672 -0.44843748 -0.28243320
+v 0.29499560 -0.44974331 -0.30527301
+v 0.33139959 -0.44125565 -0.12244013
+v 0.33004954 -0.44027024 -0.07681757
+v 0.32964691 -0.43999922 -0.06494086
+v 0.27192633 -0.44960778 -0.30527301
+v 0.24884522 -0.44618291 -0.30527300
+v 0.23572367 -0.44183384 -0.35095265
+v 0.23624474 -0.44123012 -0.36471363
+v 0.23606710 -0.44137815 -0.30527298
+v 0.23583027 -0.44167375 -0.32811280
+v 0.24884522 -0.42838053 -0.37716128
+v 0.23642238 -0.44097168 -0.28243317
+v 0.27192633 -0.40518237 -0.38321378
+v 0.24884522 -0.40518238 -0.37984488
+v 0.29499560 -0.40518237 -0.38315666
+v 0.33478656 -0.42838056 -0.37105165
+v 0.33974858 -0.42838063 -0.35095260
+v 0.31807672 -0.40518238 -0.38178626
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+v 0.33073641 -0.44075060 -0.09960031
+v 0.33510631 -0.42140966 0.20000123
+v 0.29499560 -0.43765868 -0.00829808
+v 0.31807672 -0.44009781 -0.06277108
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+v 0.26019037 -0.44006086 -0.06357048
+v 0.24884522 -0.44534522 -0.28243319
+v 0.23718030 -0.44012177 -0.24548972
+v 0.23688424 -0.44045437 -0.25959331
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+v 0.23213539 -0.42838063 -0.35095260
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+v 0.34167893 -0.40518451 0.20000129
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+v 0.27192633 -0.43764636 -0.00829808
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diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_4.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..167b047ad6a35a89dc173743a15cda295340380c
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_4.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_5.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8fe7945cb2d6b357fde4a04e5def071bc962329
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_5.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_6.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d65971e07c5d796d53557f6da15dd342dcb547cb
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_6.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_7.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbee96d88207d04efe884c37c13e91ace552b5d8
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_7.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_8.obj b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fd468ff918a1d86a82e3f076e1be4bcea6d63e0
--- /dev/null
+++ b/dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mjcf/mesh/wooden_patterned_table_collision_8.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v -0.30880951 0.24400158 0.20000372
+v -0.35828108 0.24400158 0.20000372
+v -0.30455107 0.24400158 0.19994644
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