diff --git a/.gitattributes b/.gitattributes
index 0dee75e2419a8e6ea0354cc6530b74911144141b..19c5ea8fd713ba29b0c3783f5808cbe5bd9de7a4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3789,3 +3789,6 @@ dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_t
 dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/e862f230230a58dfad3b571d3c90ef31.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/0e5037eebfc15fddb63ea0f378d34b78.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/0e5037eebfc15fddb63ea0f378d34b78.urdf b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/0e5037eebfc15fddb63ea0f378d34b78.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ff8b30744e3a876292288bfd5f5c00d0e86ac2cd
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/0e5037eebfc15fddb63ea0f378d34b78.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="table">
+   <link name="table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/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/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>0.889395</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden round table with four vertical legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251014004916</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.269569516181946</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/0e5037eebfc15fddb63ea0f378d34b78.usd b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/0e5037eebfc15fddb63ea0f378d34b78.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ec5c1061fec51965dc465005a896fd1e42ddf397
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/0e5037eebfc15fddb63ea0f378d34b78.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66818fbff2b057eb1fb5f4202eb1e60bdf89af0864c0c359ae9ec7740cc5a0af
+size 459551
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/material.mtl b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/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/0e5037eebfc15fddb63ea0f378d34b78/mesh/material_0.png b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d8dea74bb8a99e76c814de495f56bdf364a18cc
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85c435cd5d6699c001c186049d2feefd7a16f86d43ffb8929e8084d214043cca
+size 1075442
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table.glb b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9ca3dd7f6dd16bda6bcb007ad3ca94b29f0df5e5
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aefd61d3a1ba2638607cf815efeb7998ad7dcaad5ed00f6baed3b17b8e44a4fd
+size 1407112
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d95a5c24ad0291c10bde5024aa61b2a2b472fcca
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table.obj
@@ -0,0 +1,30533 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table_collision.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bd8887768ea6b9c88dd130cb99a59ee03d18dda
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table_collision.obj
@@ -0,0 +1,13301 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table_gs.ply b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table_gs.ply
new file mode 100644
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--- /dev/null
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diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/material_0.png b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85c435cd5d6699c001c186049d2feefd7a16f86d43ffb8929e8084d214043cca
+size 1075442
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e685a55f112b4d29e071070a1ab5cb565beba0
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table.obj
@@ -0,0 +1,30533 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1d4ff864fec2ed4288839ad088b0ae19d411e1a
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision.obj
@@ -0,0 +1,13301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_0.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ede656dbb4103555b3b53a7f107e85ecbe0665
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_0.obj
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diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_1.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0720c2c40dace08a21235e995f52bdf6bc6ed191
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_1.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.02225503 0.25788759 0.29897800
+v -0.02225503 0.25778667 0.28440827
+v -0.18332421 0.25762802 0.28046684
+v -0.18332421 0.25769527 0.29897800
+v 0.10945237 0.25783472 0.29897800
+v 0.11341800 0.25780593 0.28046684
+v -0.19794501 0.25725776 0.28046683
+v -0.19794501 0.25722890 0.28440826
+v -0.19794501 0.25709418 0.29897799
+v 0.12407317 0.25781547 0.29897800
+v 0.12407317 0.25779150 0.28046684
+v -0.20960159 0.25227129 0.28046682
+v -0.20956154 0.25223763 0.28440825
+v -0.20940132 0.25207406 0.29897798
+v 0.16801569 0.25759909 0.29897800
+v 0.16801569 0.25770014 0.28046684
+v -0.21292633 0.24357743 0.28046678
+v -0.21400787 0.24032680 0.29897793
+v 0.18263649 0.25431486 0.29897798
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+v -0.21448856 0.22568958 0.29897788
+v 0.19152915 0.24927069 0.29897797
+v 0.19128880 0.24904956 0.28046680
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+v 0.19473372 0.22568958 0.29897788
+v 0.19437320 0.22568965 0.28046672
+v 0.19421296 0.20876836 0.28046666
+v 0.19453343 0.20876830 0.29671080
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_10.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86a4d9c6f85a2c40ee523efd9cb7e036ed011838
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_10.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.11045696 -0.10972712 -0.18639020
+v 0.10877407 -0.10972728 -0.14234855
+v 0.08537652 -0.10972712 -0.18639020
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_11.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0576247e4531f49d7b17be99331f7726714af324
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_11.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.00552079 0.02531041 -0.17698238
+v -0.00552079 0.02531077 -0.27380657
+v -0.00552079 0.05794595 -0.17698226
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+v -0.12033846 0.07900248 -0.26731741
+v -0.12367019 0.07900233 -0.22672768
+v -0.10480191 0.02531060 -0.22769065
+v -0.09983902 0.02531075 -0.26836700
+v -0.10383016 0.02531074 -0.26547874
+v -0.12044257 0.07900248 -0.26722112
+v -0.12369333 0.07900233 -0.22703577
+v -0.10488289 0.02531062 -0.23294729
+v -0.10499858 0.02531070 -0.25579343
+v -0.12355451 0.07900244 -0.25625536
+v -0.12368176 0.07900239 -0.24164076
+v -0.10499858 0.02531066 -0.24628144
+v -0.10497545 0.02531065 -0.24164096
+v -0.12356608 0.07900244 -0.25589913
+f 1 2 5
+f 1 5 17
+f 1 17 35
+f 1 35 21
+f 1 21 7
+f 1 7 3
+f 1 3 8
+f 1 8 24
+f 1 24 23
+f 1 23 45
+f 1 45 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 9
+f 1 9 4
+f 1 4 14
+f 1 14 33
+f 1 33 47
+f 1 47 54
+f 1 54 53
+f 1 53 58
+f 1 58 63
+f 1 63 68
+f 1 68 67
+f 1 67 64
+f 1 64 60
+f 1 60 59
+f 1 59 55
+f 1 55 48
+f 1 48 36
+f 1 36 18
+f 1 18 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 16
+f 5 16 17
+f 5 6 18
+f 5 18 19
+f 5 19 20
+f 5 20 15
+f 7 21 41
+f 7 41 34
+f 7 34 16
+f 7 16 15
+f 7 15 20
+f 7 20 19
+f 7 19 40
+f 7 40 51
+f 7 51 56
+f 7 56 61
+f 7 61 65
+f 7 65 69
+f 7 69 66
+f 7 66 62
+f 7 62 57
+f 7 57 52
+f 7 52 46
+f 7 46 30
+f 7 30 13
+f 7 13 12
+f 7 12 11
+f 7 11 29
+f 7 29 44
+f 7 44 43
+f 7 43 42
+f 7 42 22
+f 7 22 23
+f 7 23 24
+f 7 24 8
+f 9 25 10
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 11
+f 13 30 31
+f 13 31 14
+f 14 31 32
+f 14 32 33
+f 16 34 35
+f 16 35 17
+f 18 36 37
+f 18 37 38
+f 18 38 19
+f 19 38 37
+f 19 37 36
+f 19 36 39
+f 19 39 40
+f 21 35 41
+f 22 42 23
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 28 45 29
+f 29 45 44
+f 30 46 31
+f 31 46 33
+f 31 33 32
+f 33 46 47
+f 34 41 35
+f 36 48 49
+f 36 49 39
+f 39 49 40
+f 40 49 50
+f 40 50 51
+f 46 52 53
+f 46 53 54
+f 46 54 47
+f 48 55 50
+f 48 50 49
+f 50 55 51
+f 51 55 56
+f 52 57 53
+f 53 57 58
+f 55 59 56
+f 56 59 60
+f 56 60 61
+f 57 62 58
+f 58 62 63
+f 60 64 65
+f 60 65 61
+f 62 66 64
+f 62 64 67
+f 62 67 68
+f 62 68 63
+f 64 66 69
+f 64 69 65
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_12.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7cedb700bdfa25b131d40cf51d6d6ecf1f3dbe2
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_12.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.06732100 0.02066187 0.13824931
+v -0.06503702 0.00601737 0.22596522
+v -0.06709096 0.02066155 0.22596528
+v -0.06691022 0.02530576 0.13363459
+v -0.06689378 0.02530581 0.11899723
+v -0.06671304 0.02530623 0.00680154
+v -0.06665553 0.02530633 -0.02243712
+v -0.06695951 0.02066252 -0.03703843
+v -0.06562035 0.00601860 -0.11011711
+v -0.06562856 0.00601855 -0.09551581
+v -0.06562035 0.00601850 -0.08087845
+v -0.06055124 -0.00242795 0.22596519
+v -0.06158642 -0.00342354 -0.12471843
+v -0.06156177 -0.00336392 -0.11011714
+v -0.06664731 0.02530542 0.22596529
+v -0.06686913 0.02530571 0.14823589
+v -0.06661444 0.02530639 -0.03703842
+v -0.06629404 0.02530667 -0.11476783
+v -0.06625296 0.02530671 -0.12471833
+v -0.06652408 0.02066284 -0.12471834
+v -0.06551354 0.00601872 -0.14234815
+v -0.06557927 0.00601866 -0.12471840
+v -0.06156177 -0.00345156 -0.14234818
+v -0.06156999 -0.00344806 -0.13935579
+v -0.05156322 -0.00605039 0.22596518
+v -0.05156322 -0.00767071 -0.14234820
+v 0.01571544 0.02530542 0.22596529
+v -0.06622831 0.02530673 -0.12936913
+v -0.06617080 0.02530676 -0.13935569
+v -0.06643370 0.02066289 -0.13935570
+v -0.06640906 0.02066290 -0.14234809
+v -0.03693099 -0.01029762 0.22596516
+v -0.03693099 -0.00998036 -0.14234821
+v -0.03693099 -0.01054944 -0.02243725
+v 0.01655345 0.02530574 0.13767248
+v -0.01517572 -0.00110113 0.22596520
+v -0.01517572 -0.00110464 0.22592914
+v -0.06613793 0.02530677 -0.14234808
+v -0.02249595 -0.00669269 0.21132782
+v -0.02249595 -0.00667519 0.22592912
+v -0.02249595 -0.00667168 0.22596518
+v -0.02545361 -0.00663523 -0.14234819
+v -0.02250416 -0.00576121 -0.14234819
+v -0.02268491 -0.00620035 -0.03703853
+v -0.02270134 -0.00624955 -0.02243723
+v -0.02269312 -0.00648505 0.06520664
+v -0.02252059 -0.00671013 0.18208916
+v -0.02250416 -0.00670316 0.19672652
+v 0.01661096 0.02530580 0.12364802
+v -0.01517572 -0.00110810 0.21132784
+v 0.01624125 0.02530677 -0.14234808
+v -0.01667920 -0.00209314 -0.14234818
+v -0.01518394 -0.00114190 -0.14234817
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 25
+f 2 25 32
+f 2 32 41
+f 2 41 36
+f 2 36 27
+f 2 27 15
+f 2 15 3
+f 2 11 13
+f 2 13 14
+f 2 14 12
+f 3 15 16
+f 3 16 4
+f 4 16 15
+f 4 15 27
+f 4 27 35
+f 4 35 49
+f 4 49 51
+f 4 51 38
+f 4 38 29
+f 4 29 28
+f 4 28 19
+f 4 19 18
+f 4 18 17
+f 4 17 7
+f 4 7 6
+f 4 6 5
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 10 24 13
+f 10 13 11
+f 12 14 13
+f 12 13 26
+f 12 26 25
+f 13 24 26
+f 19 28 20
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 21 30 31
+f 21 31 38
+f 21 38 51
+f 21 51 53
+f 21 53 52
+f 21 52 43
+f 21 43 42
+f 21 42 33
+f 21 33 26
+f 21 26 23
+f 21 23 22
+f 23 26 24
+f 25 26 32
+f 26 33 34
+f 26 34 32
+f 27 36 37
+f 27 37 35
+f 29 38 31
+f 29 31 30
+f 32 39 40
+f 32 40 41
+f 32 34 39
+f 33 42 34
+f 34 42 43
+f 34 43 44
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 39
+f 35 37 49
+f 36 41 40
+f 36 40 37
+f 37 40 39
+f 37 39 48
+f 37 48 50
+f 37 50 49
+f 43 52 44
+f 44 52 47
+f 44 47 45
+f 45 47 46
+f 47 52 53
+f 47 53 48
+f 48 53 50
+f 49 50 53
+f 49 53 51
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_13.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50e5b3c11140ddb7c70943f65ab90fb4dbd75f11
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_13.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.22040056 0.15935683 0.31631450
+v -0.17491646 0.15935689 0.29898274
+v -0.16328343 0.07925095 0.31631420
+v -0.08147491 0.15935683 0.31631450
+v -0.16217253 0.15935689 0.29897764
+v -0.16915234 0.15246179 0.29897761
+v -0.07552215 0.02869553 0.29897716
+v -0.10000392 0.02869547 0.31631402
+v -0.00626893 0.07834269 0.31631420
+v -0.00626893 0.05841222 0.29900271
+v -0.10666934 0.15935689 0.29897764
+v -0.00626893 0.02869553 0.29897716
+v -0.00626893 0.02869547 0.31631402
+v -0.00626893 0.04307416 0.29897721
+v -0.00937108 0.05972984 0.29897727
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 9
+f 1 9 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 11 15
+f 5 15 14
+f 5 14 12
+f 5 12 7
+f 5 7 6
+f 7 12 13
+f 7 13 8
+f 9 13 12
+f 9 12 14
+f 9 14 10
+f 10 14 15
+f 10 15 11
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_14.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb01cb572ea9173cab3884aa65755f64d3a4d31a
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_14.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.18331023 0.28110402 0.31631494
+v -0.18331023 0.25769868 0.29897800
+v -0.19468801 0.28098484 0.31631494
+v -0.18012704 0.28106827 0.31631494
+v -0.02230070 0.25787743 0.29897800
+v -0.03694770 0.25786551 0.29897800
+v -0.19795724 0.25709088 0.29897799
+v -0.20894787 0.28060351 0.31631494
+v -0.19795724 0.28093718 0.31631494
+v -0.16868473 0.28086569 0.31631494
+v -0.02092418 0.27663507 0.31631493
+v -0.02092418 0.25787743 0.29901704
+v -0.02092418 0.21464175 0.29897784
+v -0.16520043 0.28078226 0.31631494
+v -0.20942105 0.25207374 0.29897798
+v -0.21998152 0.27700451 0.31631493
+v -0.02092418 0.18890050 0.31631460
+v -0.02092418 0.21010129 0.29898292
+v -0.02230070 0.21011321 0.29897782
+v -0.21402378 0.24032337 0.29897793
+v -0.23877959 0.25187108 0.31631484
+v -0.23458552 0.26231057 0.31631487
+v -0.08146944 0.15936963 0.31631450
+v -0.10667692 0.15936969 0.29897764
+v -0.21447546 0.22567709 0.29897788
+v -0.24004858 0.22567703 0.31631474
+v -0.23953237 0.24032331 0.31631479
+v -0.22039016 0.15936963 0.31631450
+v -0.16216779 0.15936969 0.29897764
+v -0.21443244 0.19640840 0.29897777
+v -0.24062929 0.19640834 0.31631463
+v -0.24037120 0.21104270 0.31631469
+v -0.22722975 0.16145514 0.31631450
+v -0.17492209 0.15936969 0.29898274
+v -0.17561034 0.16021581 0.29897764
+v -0.20985121 0.18273935 0.29897772
+v -0.24002706 0.18176208 0.31631458
+v -0.23163890 0.16711582 0.31631452
+v -0.20101139 0.17541026 0.29897769
+f 1 2 3
+f 1 3 9
+f 1 9 8
+f 1 8 16
+f 1 16 22
+f 1 22 21
+f 1 21 27
+f 1 27 26
+f 1 26 32
+f 1 32 31
+f 1 31 37
+f 1 37 38
+f 1 38 33
+f 1 33 28
+f 1 28 23
+f 1 23 17
+f 1 17 11
+f 1 11 14
+f 1 14 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 5
+f 2 5 13
+f 2 13 19
+f 2 19 24
+f 2 24 29
+f 2 29 35
+f 2 35 39
+f 2 39 36
+f 2 36 30
+f 2 30 25
+f 2 25 20
+f 2 20 15
+f 2 15 7
+f 4 10 5
+f 5 11 12
+f 5 12 13
+f 5 10 14
+f 5 14 11
+f 7 15 16
+f 7 16 8
+f 11 17 18
+f 11 18 13
+f 11 13 12
+f 13 18 19
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 17 23 24
+f 17 24 18
+f 18 24 19
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 23 28 34
+f 23 34 29
+f 23 29 24
+f 25 30 31
+f 25 31 32
+f 25 32 26
+f 28 33 34
+f 29 34 35
+f 30 36 37
+f 30 37 31
+f 33 38 36
+f 33 36 39
+f 33 39 34
+f 34 39 35
+f 36 38 37
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_15.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1178984e8c97c44971e10061d6eb3fc12043bc7
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_15.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.06837968 0.02531041 -0.17697277
+v -0.06824486 0.02969421 -0.17697275
+v 0.01761937 0.02531041 -0.17697277
+v -0.06664386 0.02530893 0.22607953
+v -0.06737695 0.04434703 -0.17697270
+v 0.01770363 0.02538669 -0.17697277
+v 0.01692842 0.02558230 0.12365944
+v 0.01660821 0.02530931 0.12365944
+v 0.01574030 0.02530893 0.22607953
+v -0.06569169 0.03530898 0.22607957
+v -0.06671970 0.04995124 -0.17697268
+v 0.01770363 0.05457992 -0.17697266
+v 0.01770363 0.02640124 0.12519811
+v 0.01691156 0.02561435 0.13825705
+v 0.01654923 0.02530925 0.13825705
+v 0.01652395 0.02596329 0.22607954
+v -0.06298683 0.04994976 0.22607962
+v -0.06464682 0.05753056 -0.17697265
+v -0.02229612 0.06383328 -0.17697263
+v 0.01770363 0.05537732 0.22604018
+v 0.01770363 0.02644936 0.13825706
+v 0.01770363 0.02717165 0.22607954
+v -0.05993651 0.05811117 0.22607965
+v -0.06328176 0.06164138 -0.17697263
+v -0.03726970 0.06632225 -0.17697262
+v -0.02242252 0.06331393 0.22607967
+v -0.02229612 0.06328984 0.22607967
+v 0.01722334 0.05491566 0.22607964
+v 0.01770363 0.05479522 0.22607964
+v -0.05990280 0.05819548 0.22607965
+v -0.05156917 0.06533067 -0.17697262
+v -0.05165343 0.06215776 0.22607967
+v -0.05156917 0.06219791 0.22607967
+v -0.03692422 0.06537742 0.21132424
+v -0.03692422 0.06533321 0.22607968
+v -0.03705061 0.06532116 0.22607968
+f 1 2 5
+f 1 5 11
+f 1 11 18
+f 1 18 24
+f 1 24 31
+f 1 31 25
+f 1 25 19
+f 1 19 12
+f 1 12 6
+f 1 6 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 16
+f 4 16 22
+f 4 22 29
+f 4 29 28
+f 4 28 27
+f 4 27 26
+f 4 26 35
+f 4 35 36
+f 4 36 33
+f 4 33 32
+f 4 32 30
+f 4 30 23
+f 4 23 17
+f 4 17 10
+f 4 10 5
+f 5 10 11
+f 6 12 20
+f 6 20 29
+f 6 29 22
+f 6 22 21
+f 6 21 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 9 15 16
+f 10 17 11
+f 11 17 18
+f 12 19 20
+f 13 21 14
+f 14 21 22
+f 14 22 16
+f 14 16 15
+f 17 23 24
+f 17 24 18
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 23 30 24
+f 24 30 32
+f 24 32 33
+f 24 33 31
+f 25 31 34
+f 25 34 26
+f 26 34 35
+f 31 33 36
+f 31 36 35
+f 31 35 34
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_16.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67e5583d05aeb7e277a407d3cad2502ea4e1c5f3
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_16.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.06418167 0.08403276 -0.17698212
+v 0.04252462 0.08403276 -0.17698212
+v 0.05923291 0.07652577 -0.17698215
+v 0.07785300 0.02531050 -0.20181100
+v 0.09166372 0.08403285 -0.20246315
+v -0.00550923 0.08403284 -0.19945070
+v -0.00550923 0.05794799 -0.17698222
+v 0.05363693 0.06846697 -0.17698218
+v 0.08198526 0.02531053 -0.20906387
+v 0.04478492 0.05589018 -0.17698222
+v 0.03134261 0.03973808 -0.17698228
+v 0.02492018 0.03241503 -0.17698231
+v 0.01763146 0.02531041 -0.17698234
+v 0.08384727 0.02531054 -0.21243129
+v 0.09559685 0.08403289 -0.21243107
+v -0.00550923 0.08403293 -0.22448083
+v -0.00550923 0.02531041 -0.17698234
+v 0.08491270 0.02531059 -0.22703299
+v 0.09599513 0.08403292 -0.22180417
+v -0.00550923 0.05837367 -0.26507212
+v 0.03672949 0.08403310 -0.26893831
+v -0.00550923 0.02531077 -0.27380257
+v 0.08497244 0.02531063 -0.23701049
+v 0.09621419 0.08403294 -0.22703277
+v -0.00550923 0.04995275 -0.27052142
+v 0.05089868 0.08403312 -0.27369681
+v -0.00550923 0.03531242 -0.27463719
+v 0.03163137 0.02531077 -0.27472356
+v 0.08499236 0.02531065 -0.24164428
+v 0.09619428 0.08403300 -0.24164406
+v 0.06554582 0.08403312 -0.27467537
+v 0.05089868 0.07923922 -0.27448352
+v 0.02163428 0.04995277 -0.27472347
+v 0.00699710 0.03531242 -0.27477149
+v 0.06554582 0.02531077 -0.27492504
+v 0.08491270 0.02531070 -0.25625558
+v 0.09615445 0.08403305 -0.25625536
+v 0.08018300 0.08403312 -0.27383112
+v 0.06554582 0.06459312 -0.27483854
+v 0.03627146 0.04995277 -0.27481942
+v 0.02163428 0.03531242 -0.27485785
+v 0.06554582 0.03531242 -0.27498257
+v 0.08018300 0.07923921 -0.27341861
+v 0.07465672 0.02531076 -0.27108753
+v 0.07884873 0.02531075 -0.26929350
+v 0.09219146 0.08403309 -0.26801732
+v 0.09402360 0.08403308 -0.26355622
+v 0.06554582 0.04995277 -0.27494413
+f 1 2 7
+f 1 7 17
+f 1 17 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 19
+f 1 19 24
+f 1 24 30
+f 1 30 37
+f 1 37 47
+f 1 47 46
+f 1 46 38
+f 1 38 31
+f 1 31 26
+f 1 26 21
+f 1 21 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 17
+f 4 17 22
+f 4 22 28
+f 4 28 35
+f 4 35 44
+f 4 44 45
+f 4 45 36
+f 4 36 29
+f 4 29 23
+f 4 23 18
+f 4 18 14
+f 4 14 9
+f 5 9 14
+f 5 14 15
+f 6 16 20
+f 6 20 25
+f 6 25 27
+f 6 27 22
+f 6 22 17
+f 6 17 7
+f 14 18 15
+f 15 18 19
+f 16 21 20
+f 18 23 24
+f 18 24 19
+f 20 21 25
+f 21 26 25
+f 22 27 28
+f 23 29 24
+f 24 29 30
+f 25 26 27
+f 26 31 32
+f 26 32 27
+f 27 33 34
+f 27 34 28
+f 27 32 31
+f 27 31 33
+f 28 34 35
+f 29 36 37
+f 29 37 30
+f 31 38 39
+f 31 39 40
+f 31 40 33
+f 33 40 34
+f 34 41 35
+f 34 40 41
+f 35 42 38
+f 35 38 43
+f 35 43 44
+f 35 41 42
+f 36 45 46
+f 36 46 47
+f 36 47 37
+f 38 46 43
+f 38 42 48
+f 38 48 39
+f 39 48 40
+f 40 48 41
+f 41 48 42
+f 43 45 44
+f 43 46 45
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_17.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1afb46157317675f4766e04e34cded3df46a298
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_17.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.21445785 0.20876350 0.29897782
+v -0.21435240 0.20876357 0.28046666
+v -0.21435240 0.19638920 0.28046661
+v -0.21443676 0.19638913 0.29897777
+v -0.13438200 0.20876350 0.29897782
+v -0.13452962 0.20876357 0.28046666
+v -0.20981822 0.18283377 0.28046656
+v -0.20986039 0.18272795 0.29897772
+v -0.13442418 0.20876355 0.28683819
+v 0.00098984 0.05676308 0.29897726
+v 0.00098984 0.05676308 0.29855321
+v 0.00098984 0.05660450 0.28046610
+v -0.07307557 0.02868282 0.28046600
+v -0.07309666 0.02868282 0.28054755
+v -0.07552193 0.02868275 0.29897716
+v 0.00098984 0.02868275 0.29897716
+v 0.00098984 0.02868282 0.28046600
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 16
+f 1 16 10
+f 1 10 5
+f 1 5 9
+f 1 9 6
+f 1 6 2
+f 2 6 12
+f 2 12 17
+f 2 17 13
+f 2 13 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 10 11
+f 5 11 9
+f 6 9 12
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 11 12
+f 10 16 17
+f 10 17 12
+f 10 12 11
+f 13 17 16
+f 13 16 15
+f 13 15 14
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_18.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67621626b0c3a0f3376f0676f9d3eddf357790ac
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_18.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01770364 0.02539993 -0.17685440
+v 0.01770364 0.02539993 -0.17697277
+v 0.02492088 0.03241887 -0.17697274
+v 0.01770364 0.02640344 0.12519811
+v 0.01770364 0.05458747 -0.17697266
+v 0.03134047 0.03974589 -0.17697271
+v 0.03047556 0.04081601 0.22607959
+v 0.02423855 0.03339553 0.13825708
+v 0.01770364 0.02645696 0.13825706
+v 0.09271104 0.16221573 -0.17697226
+v 0.01770364 0.05538969 0.22604018
+v 0.04478510 0.05590017 -0.17697265
+v 0.03053322 0.04088298 0.22607959
+v 0.02385415 0.03348898 0.22607956
+v 0.01770364 0.02717997 0.22607954
+v 0.11385341 0.16221573 -0.17697226
+v 0.09385465 0.16221425 0.22608004
+v 0.01770364 0.05480032 0.22607964
+v 0.05364568 0.06847801 -0.17697261
+v 0.06232367 0.08088131 -0.06626731
+v 0.06231406 0.08088126 -0.05166968
+v 0.06229484 0.08089461 -0.03707205
+v 0.06198731 0.08137585 0.22607974
+v 0.05661523 0.07411580 0.22607971
+v 0.04392980 0.05703727 0.22607965
+v 0.03784656 0.04969685 0.22607962
+v 0.11393991 0.16221570 -0.16935782
+v 0.10307081 0.14390486 -0.17697233
+v 0.11588117 0.16221425 0.22608004
+v 0.05923880 0.07652837 -0.17697258
+v 0.06962741 0.09144986 -0.05166964
+v 0.06960818 0.09143642 -0.03707201
+v 0.06933910 0.09182389 0.22607978
+v 0.11408407 0.16221565 -0.15397112
+v 0.09865013 0.13613523 -0.02243478
+v 0.09129834 0.12456208 -0.03707189
+v 0.09113497 0.12481695 -0.13933418
+v 0.07434600 0.09920598 -0.17697250
+v 0.07438444 0.09916432 0.22607980
+v 0.07440366 0.09895038 0.12365971
+v 0.07449015 0.09875005 -0.03707199
+v 0.09132718 0.12457540 -0.02243482
+v 0.06956013 0.09167784 -0.12473669
+v 0.06960818 0.09161076 -0.09550197
+v 0.07446132 0.09876349 -0.05166962
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 10
+f 2 10 16
+f 2 16 28
+f 2 28 38
+f 2 38 30
+f 2 30 19
+f 2 19 12
+f 2 12 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 11 10
+f 6 12 13
+f 6 13 7
+f 7 13 26
+f 7 26 25
+f 7 25 24
+f 7 24 23
+f 7 23 33
+f 7 33 39
+f 7 39 29
+f 7 29 17
+f 7 17 18
+f 7 18 15
+f 7 15 14
+f 7 14 8
+f 8 14 9
+f 9 14 15
+f 10 11 17
+f 10 17 29
+f 10 29 34
+f 10 34 27
+f 10 27 16
+f 11 18 17
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 16 27 28
+f 19 30 20
+f 20 31 21
+f 20 30 31
+f 21 31 32
+f 21 32 22
+f 22 32 33
+f 22 33 23
+f 27 34 28
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 34 29
+f 28 29 35
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 36
+f 29 36 35
+f 30 38 43
+f 30 43 44
+f 30 44 31
+f 31 45 41
+f 31 41 32
+f 31 44 45
+f 32 41 40
+f 32 40 39
+f 32 39 33
+f 36 42 41
+f 36 41 45
+f 36 45 38
+f 36 38 37
+f 38 45 43
+f 43 45 44
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_19.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5475e1aba3fa55f6b808a03a7b1a476da861498a
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_19.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.05206197 -0.11266311 0.31631350
+v 0.07697688 -0.11266308 0.30896765
+v -0.02456231 -0.14318617 0.31631338
+v 0.16629930 -0.11266311 0.31631350
+v -0.02456231 -0.16584061 0.30896745
+v 0.15467844 -0.11266308 0.30896765
+v -0.02456231 -0.23262966 0.31631306
+v 0.19724239 -0.13236980 0.31631342
+v -0.02456231 -0.21933523 0.30896725
+v 0.19611926 -0.14162417 0.30896754
+v -0.00714249 -0.21933523 0.30896725
+v -0.00764675 -0.23260617 0.31631306
+v 0.20542511 -0.14048501 0.31631339
+v 0.19715071 -0.14470113 0.30896753
+v 0.00745807 -0.21928826 0.30896725
+v -0.00333763 -0.23259441 0.31631306
+v 0.20932165 -0.15508299 0.31631334
+v 0.20015333 -0.15508296 0.30896749
+v 0.01121708 -0.23252394 0.31631306
+v 0.10908895 -0.21864233 0.30896726
+v 0.20948210 -0.16972796 0.31631329
+v 0.20029086 -0.16972793 0.30896744
+v 0.02570303 -0.23235954 0.31631306
+v 0.13872556 -0.21839571 0.30896726
+v 0.15250096 -0.21827826 0.30896726
+v 0.20959671 -0.18436117 0.31631323
+v 0.20031378 -0.17225293 0.30896743
+v 0.04009730 -0.23211292 0.31631306
+v 0.15337195 -0.21826653 0.30896726
+v 0.20945918 -0.19568254 0.31631319
+v 0.20035961 -0.18436114 0.30896738
+v 0.05439989 -0.23177233 0.31631306
+v 0.16662019 -0.21785548 0.30896726
+v 0.09717012 -0.23065662 0.31631306
+v 0.20929873 -0.19900613 0.31631318
+v 0.19976368 -0.19900610 0.30896733
+v 0.16801835 -0.21779675 0.30896726
+v 0.15362409 -0.22854267 0.31631307
+v 0.13957363 -0.22912988 0.31631307
+v 0.12547733 -0.22968187 0.31631307
+v 0.11135810 -0.23019862 0.31631306
+v 0.20810685 -0.20874204 0.31631314
+v 0.19566086 -0.21187770 0.30896728
+v 0.16801835 -0.22770886 0.31631307
+v 0.16721613 -0.22775581 0.31631307
+v 0.18005177 -0.21663409 0.30896726
+v 0.20388942 -0.22020434 0.31631310
+v 0.19263531 -0.21311083 0.30896728
+v 0.17977673 -0.22628781 0.31631308
+v 0.18266475 -0.21623478 0.30896727
+v 0.19201644 -0.22419735 0.31631309
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 16
+f 1 16 19
+f 1 19 23
+f 1 23 28
+f 1 28 32
+f 1 32 34
+f 1 34 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 45
+f 1 45 44
+f 1 44 49
+f 1 49 51
+f 1 51 47
+f 1 47 42
+f 1 42 35
+f 1 35 30
+f 1 30 26
+f 1 26 21
+f 1 21 17
+f 1 17 13
+f 1 13 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 14
+f 2 14 18
+f 2 18 22
+f 2 22 27
+f 2 27 31
+f 2 31 36
+f 2 36 43
+f 2 43 48
+f 2 48 50
+f 2 50 46
+f 2 46 37
+f 2 37 33
+f 2 33 29
+f 2 29 25
+f 2 25 24
+f 2 24 20
+f 2 20 15
+f 2 15 11
+f 2 11 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 6
+f 6 8 10
+f 7 9 11
+f 7 11 12
+f 8 13 10
+f 10 13 14
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 14
+f 15 19 16
+f 15 20 19
+f 17 21 18
+f 18 21 22
+f 19 20 24
+f 19 24 25
+f 19 25 23
+f 21 26 27
+f 21 27 22
+f 23 25 29
+f 23 29 28
+f 26 30 31
+f 26 31 27
+f 28 29 32
+f 29 33 34
+f 29 34 32
+f 30 35 36
+f 30 36 31
+f 33 37 38
+f 33 38 39
+f 33 39 40
+f 33 40 41
+f 33 41 34
+f 35 42 36
+f 36 42 43
+f 37 44 45
+f 37 45 38
+f 37 46 44
+f 42 47 43
+f 43 47 48
+f 44 46 49
+f 46 50 49
+f 47 51 48
+f 48 51 50
+f 49 50 51
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_2.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc7138fe237e5377f5b00a409c5f609791005912
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_2.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.00758897 0.02868281 0.28046769
+v -0.00758897 0.00549413 0.28046760
+v -0.00758897 0.02868268 0.31631402
+v 0.07013858 0.02868281 0.28046769
+v -0.00758897 0.00531427 0.28048164
+v 0.08185049 -0.11266297 0.28046717
+v -0.00758897 -0.01871852 0.31631384
+v 0.08687231 0.02868268 0.31631402
+v 0.15007914 -0.11266297 0.28046717
+v 0.05206003 -0.11266310 0.31631350
+v 0.16631920 -0.11266310 0.31631350
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 5
+f 3 7 10
+f 3 10 11
+f 3 11 8
+f 4 8 9
+f 5 10 7
+f 5 6 10
+f 6 9 11
+f 6 11 10
+f 8 11 9
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_20.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7212b04b8e71b329c1e2f37072d66d7413546b8
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_20.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.08559603 0.16222744 0.28045935
+v 0.15128624 0.16222744 0.28045935
+v 0.08649693 0.16222748 0.26979110
+v -0.00210602 0.05620141 0.22608498
+v -0.00210602 0.05658992 0.26970555
+v -0.00210602 0.05658992 0.26979071
+v -0.00210602 0.05653627 0.28045896
+v 0.07014570 0.02532216 0.27310714
+v 0.07014570 0.02532217 0.26979059
+v 0.15125622 0.16222745 0.27774972
+v 0.07013068 0.02532213 0.28045884
+v 0.09385423 0.16222764 0.22608537
+v -0.00210602 0.02532233 0.22608486
+v -0.00210602 0.02532213 0.28045884
+v 0.06742800 0.02532220 0.26179474
+v 0.14892890 0.16222752 0.25923999
+v 0.15068565 0.16222749 0.26547910
+v 0.15110606 0.16222748 0.26979110
+v 0.11588110 0.16222764 0.22608537
+v 0.01576172 0.02532233 0.22608486
+v 0.06591150 0.02532221 0.25757855
+v 0.07433486 0.09906222 0.22608513
+v 0.01654249 0.02596564 0.22608487
+v 0.02385475 0.03348438 0.22608489
+v 0.03047632 0.04081548 0.22608492
+v 0.03053638 0.04088249 0.22608492
+v 0.03780360 0.04963424 0.22608495
+v 0.04386962 0.05696534 0.22608498
+v 0.04392968 0.05704576 0.22608498
+v 0.05661727 0.07410699 0.22608504
+v 0.06199261 0.08137108 0.22608507
+v 0.06930486 0.09175793 0.22608511
+f 1 2 10
+f 1 10 18
+f 1 18 17
+f 1 17 16
+f 1 16 19
+f 1 19 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 11
+f 1 11 2
+f 2 8 9
+f 2 9 10
+f 2 11 8
+f 3 12 4
+f 4 13 14
+f 4 14 7
+f 4 7 6
+f 4 6 5
+f 4 12 19
+f 4 19 22
+f 4 22 32
+f 4 32 31
+f 4 31 30
+f 4 30 29
+f 4 29 28
+f 4 28 27
+f 4 27 26
+f 4 26 25
+f 4 25 24
+f 4 24 23
+f 4 23 20
+f 4 20 13
+f 8 11 14
+f 8 14 13
+f 8 13 20
+f 8 20 21
+f 8 21 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 15 21 16
+f 16 21 19
+f 19 21 22
+f 20 23 21
+f 21 23 24
+f 21 24 25
+f 21 25 26
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 22
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_21.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac11aa87cd99ab64b1f46ebeab666d5d779b43a7
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_21.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.10516093 -0.01530416 -0.24164957
+v -0.10498004 0.02531065 -0.24164942
+v -0.10500415 0.02531066 -0.24627475
+v -0.10499210 0.02531070 -0.25578522
+v -0.10488356 -0.01530411 -0.25625309
+v -0.10511269 -0.01530418 -0.23676442
+v -0.10488356 0.02531062 -0.23294447
+v -0.10383440 0.02531074 -0.26547759
+v -0.10417206 -0.01530408 -0.26300918
+v -0.10498004 -0.01530422 -0.22703307
+v -0.10479914 0.02531060 -0.22768252
+v -0.09984277 0.02531075 -0.26836193
+v -0.10370175 -0.01530408 -0.26512695
+v -0.10390675 0.02531056 -0.21766534
+v -0.10374999 -0.01530426 -0.21576859
+v -0.09636969 0.02531075 -0.27050567
+v -0.09610439 -0.01530406 -0.27059676
+v -0.10365351 0.02531055 -0.21579443
+v -0.10291789 -0.01530427 -0.21206574
+v -0.08549219 0.02531077 -0.27433846
+v -0.08084937 -0.01530404 -0.27502720
+v -0.10192903 -0.01530429 -0.20821997
+v -0.10319526 0.02531055 -0.21411840
+v -0.08084937 0.02531077 -0.27507903
+v -0.08084937 -0.00862502 -0.27505315
+v -0.02230143 0.02066329 -0.27474123
+v -0.05156937 -0.00862502 -0.27479332
+v -0.06620936 -0.01530404 -0.27487129
+v -0.10167579 0.02531053 -0.20899937
+v -0.09497081 -0.01530432 -0.19963196
+v -0.06156653 -0.00344927 -0.14236115
+v -0.06550993 0.00601666 -0.14236112
+v -0.06641438 0.02066280 -0.14236106
+v -0.02694426 0.02531077 -0.27476720
+v 0.01801283 0.02531077 -0.27435145
+v -0.05156937 -0.01530404 -0.27458546
+v -0.06613701 0.02531028 -0.14236105
+v -0.08784376 -0.01530433 -0.19563028
+v -0.03694143 -0.00998119 -0.14236118
+v -0.05156937 -0.00767136 -0.14236117
+v 0.01801283 0.02426519 -0.27429948
+v 0.01801283 0.02531043 -0.18330029
+v 0.01801283 0.02180429 -0.27400067
+v 0.01801283 0.02066329 -0.27385774
+v 0.01801283 0.00796915 -0.27029785
+v -0.03677260 -0.01530405 -0.27170112
+v 0.01624012 0.02531028 -0.14236105
+v -0.08048758 -0.01530434 -0.19230421
+v -0.02546097 -0.00663373 -0.14236116
+v -0.06810268 -0.01530435 -0.19113489
+v -0.05156937 -0.01530435 -0.19113489
+v -0.03872620 -0.01530434 -0.19229122
+v 0.01801283 -0.01530432 -0.19816382
+v 0.01801283 0.00585810 -0.26925848
+v -0.02637748 -0.01530407 -0.26655611
+v -0.01518644 -0.00113944 -0.14236114
+v -0.02250644 -0.00575909 -0.14236116
+v -0.01668179 -0.00208961 -0.14236115
+v 0.01801283 -0.01530421 -0.22892994
+v 0.01801283 -0.00412867 -0.25625305
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 17
+f 1 17 21
+f 1 21 28
+f 1 28 36
+f 1 36 46
+f 1 46 55
+f 1 55 59
+f 1 59 53
+f 1 53 52
+f 1 52 51
+f 1 51 50
+f 1 50 48
+f 1 48 38
+f 1 38 30
+f 1 30 22
+f 1 22 19
+f 1 19 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 11
+f 2 11 14
+f 2 14 18
+f 2 18 23
+f 2 23 29
+f 2 29 37
+f 2 37 47
+f 2 47 42
+f 2 42 35
+f 2 35 34
+f 2 34 24
+f 2 24 20
+f 2 20 16
+f 2 16 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 6 10 7
+f 7 10 11
+f 8 12 13
+f 8 13 9
+f 10 14 11
+f 10 15 14
+f 12 16 17
+f 12 17 13
+f 14 15 18
+f 15 19 18
+f 16 20 17
+f 17 20 21
+f 18 19 22
+f 18 22 23
+f 20 24 25
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 21 27 28
+f 22 29 23
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 29
+f 24 34 26
+f 24 26 25
+f 26 34 35
+f 26 35 27
+f 27 35 36
+f 27 36 28
+f 29 33 37
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 31 40 39
+f 31 39 49
+f 31 49 57
+f 31 57 58
+f 31 58 56
+f 31 56 47
+f 31 47 37
+f 31 37 33
+f 31 33 32
+f 35 41 36
+f 35 42 53
+f 35 53 59
+f 35 59 60
+f 35 60 54
+f 35 54 45
+f 35 45 44
+f 35 44 43
+f 35 43 41
+f 36 41 43
+f 36 43 44
+f 36 44 45
+f 36 45 46
+f 38 48 39
+f 39 48 50
+f 39 50 51
+f 39 51 52
+f 39 52 53
+f 39 53 49
+f 42 47 53
+f 45 54 46
+f 46 54 55
+f 47 56 53
+f 49 53 57
+f 53 56 58
+f 53 58 57
+f 54 60 55
+f 55 60 59
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_22.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a46c794663a8a9ff0d8e6f5d94121fa79d1a1368
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_22.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.11024190 0.20876357 0.28046666
+v 0.11029875 0.20876357 0.28122595
+v 0.19421344 0.20876357 0.28046666
+v 0.00098984 0.05660450 0.28046610
+v 0.00098984 0.05676308 0.29855321
+v 0.00098984 0.05676308 0.29897726
+v 0.11058302 0.20876355 0.28485389
+v 0.19459244 0.20876350 0.29897782
+v 0.19453559 0.19638913 0.29897777
+v 0.19413762 0.19638920 0.28046661
+v 0.00098984 0.02868282 0.28046600
+v 0.00098984 0.02868275 0.29897716
+v 0.11560501 0.20876350 0.29897782
+v 0.19226148 0.18530154 0.29897773
+v 0.19205302 0.18530161 0.28046657
+v 0.19358805 0.19339254 0.28046660
+v 0.07014175 0.02868282 0.28046600
+v 0.07008490 0.02868275 0.29897716
+v 0.07014175 0.02868281 0.28440743
+f 1 2 7
+f 1 7 13
+f 1 13 8
+f 1 8 3
+f 1 3 10
+f 1 10 16
+f 1 16 15
+f 1 15 17
+f 1 17 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 6
+f 4 6 5
+f 6 12 18
+f 6 18 14
+f 6 14 9
+f 6 9 8
+f 6 8 13
+f 6 13 7
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 19
+f 11 19 18
+f 11 18 12
+f 14 17 15
+f 14 18 19
+f 14 19 17
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_23.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fa705ecfa32d92cf750e297b523520b1034ef73
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_23.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.01509178 -0.17432797 -0.18293218
+v 0.10926530 -0.16374914 -0.18293214
+v -0.01509178 -0.20414291 -0.18293229
+v -0.01509178 -0.16892658 0.26975855
+v 0.19372838 -0.16374914 -0.18293214
+v 0.09964503 -0.16375084 0.28046348
+v 0.12410088 -0.21567219 -0.18293233
+v -0.01509178 -0.21641767 0.26975838
+v -0.01509178 -0.16901440 0.27520173
+v 0.19391538 -0.16945179 -0.18293216
+v 0.19645031 -0.16375010 0.07979176
+v -0.01509178 -0.16910741 0.28046346
+v 0.19705288 -0.16375084 0.28046348
+v 0.13872869 -0.21603376 -0.18293233
+v 0.12410088 -0.21605453 -0.15394742
+v -0.01509178 -0.21651585 0.28046328
+v 0.19422706 -0.18409583 -0.18293222
+v 0.19703210 -0.16375048 0.18207808
+v 0.19653343 -0.18436538 0.07979168
+v 0.19570230 -0.19900383 -0.03705519
+v 0.19441407 -0.19873470 -0.18293227
+v 0.19709444 -0.16972209 0.28046346
+v 0.19709444 -0.16375066 0.23188313
+v 0.13899881 -0.21602860 -0.18293233
+v 0.13872869 -0.21611657 -0.13934157
+v 0.00699537 -0.21645903 0.28046328
+v 0.13872869 -0.21613728 -0.12473573
+v 0.13872869 -0.21614772 -0.09552402
+v 0.13872869 -0.21615294 -0.08087281
+v 0.19709444 -0.16375053 0.19672929
+v 0.19703210 -0.16972173 0.18207806
+v 0.19709444 -0.18436581 0.19672921
+v 0.19665809 -0.19900437 0.10904869
+v 0.19657499 -0.19900432 0.09439748
+v 0.19223236 -0.20900360 -0.18293231
+v 0.19227392 -0.20881763 -0.18293231
+v 0.19441407 -0.19900330 -0.18293227
+v 0.19713600 -0.18436612 0.28046340
+v 0.19711521 -0.16972194 0.24054683
+v 0.15337725 -0.21555854 -0.18293233
+v 0.15337725 -0.21564124 -0.16855329
+v 0.15337725 -0.21569811 -0.15394742
+v 0.15337725 -0.21573433 -0.13934157
+v 0.02164394 -0.21641254 0.28046329
+v 0.13872869 -0.21614788 -0.05166110
+v 0.15337725 -0.21575505 -0.12473573
+v 0.15337725 -0.21576544 -0.11012988
+v 0.15337725 -0.21577065 -0.09552402
+v 0.15337725 -0.21579152 -0.03705525
+v 0.19711521 -0.16972184 0.21133514
+v 0.19715677 -0.18436597 0.24054677
+v 0.19669966 -0.19900442 0.12365454
+v 0.19329204 -0.20970717 0.10904865
+v 0.19291803 -0.20952589 -0.02244938
+v 0.19285570 -0.20948451 -0.03705523
+v 0.18284064 -0.21304814 -0.18293232
+v 0.19696977 -0.18831769 0.28046339
+v 0.19659576 -0.19900491 0.25515257
+v 0.19665809 -0.19900469 0.19672916
+v 0.15364739 -0.21554821 -0.18293233
+v 0.16802583 -0.21492836 -0.18293233
+v 0.16802583 -0.21495940 -0.16855329
+v 0.16802583 -0.21498528 -0.15394742
+v 0.03232390 -0.21637639 0.28046329
+v 0.13872869 -0.21614277 -0.03705525
+v 0.16802583 -0.21502671 -0.12473573
+v 0.16802583 -0.21505782 -0.09552402
+v 0.15337725 -0.21578642 -0.02244940
+v 0.16802583 -0.21506304 -0.08087281
+v 0.16802583 -0.21500754 0.28046329
+v 0.19331283 -0.20969689 0.12365450
+v 0.18265364 -0.21377237 0.10904863
+v 0.18265364 -0.21363243 -0.02244939
+v 0.18265364 -0.21360138 -0.03705524
+v 0.18265364 -0.21312562 -0.18293232
+v 0.19645031 -0.19900500 0.28046335
+v 0.19653343 -0.19900496 0.26975844
+v 0.19298036 -0.20921699 0.25515253
+v 0.04697248 -0.21631956 0.28046329
+v 0.15337725 -0.21558607 0.28046329
+v 0.13872869 -0.21613250 -0.02244940
+v 0.06160028 -0.21626275 0.28046329
+v 0.18265364 -0.21375693 0.12365448
+v 0.18265364 -0.21331836 0.25515252
+v 0.18265364 -0.21322026 0.26975839
+v 0.18265364 -0.21308600 0.28046330
+v 0.19547375 -0.20173236 0.28046334
+v 0.19293882 -0.20911890 0.26975840
+v 0.14942942 -0.21563773 0.28046329
+v 0.13872869 -0.21575654 0.28046329
+v 0.08019670 -0.21616460 0.28046329
+v 0.06556890 -0.21624209 0.28046329
+v 0.19285570 -0.20897947 0.28046331
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 21
+f 1 21 37
+f 1 37 36
+f 1 36 35
+f 1 35 56
+f 1 56 75
+f 1 75 61
+f 1 61 60
+f 1 60 40
+f 1 40 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 12
+f 1 12 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 23
+f 2 23 30
+f 2 30 18
+f 2 18 11
+f 2 11 5
+f 3 7 8
+f 4 9 6
+f 5 11 10
+f 6 9 12
+f 6 12 16
+f 6 16 26
+f 6 26 44
+f 6 44 64
+f 6 64 79
+f 6 79 82
+f 6 82 92
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+f 6 91 90
+f 6 90 89
+f 6 89 80
+f 6 80 70
+f 6 70 86
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+f 6 93 87
+f 6 87 76
+f 6 76 57
+f 6 57 38
+f 6 38 22
+f 6 22 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 10 11 17
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 17
+f 13 22 23
+f 14 24 25
+f 14 25 15
+f 15 25 16
+f 16 25 27
+f 16 27 28
+f 16 28 29
+f 16 29 26
+f 18 30 32
+f 18 32 31
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 20 34 35
+f 22 38 51
+f 22 51 39
+f 22 39 23
+f 23 39 50
+f 23 50 30
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 25
+f 25 43 46
+f 25 46 27
+f 26 29 45
+f 26 45 44
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 28 48 49
+f 28 49 29
+f 29 49 45
+f 30 50 51
+f 30 51 32
+f 32 51 52
+f 32 52 33
+f 33 52 53
+f 33 53 54
+f 33 54 55
+f 33 55 35
+f 33 35 34
+f 35 55 56
+f 38 57 58
+f 38 58 59
+f 38 59 52
+f 38 52 51
+f 39 51 50
+f 40 60 41
+f 41 60 61
+f 41 61 42
+f 42 61 43
+f 43 61 62
+f 43 62 63
+f 43 63 66
+f 43 66 46
+f 44 45 65
+f 44 65 64
+f 45 49 68
+f 45 68 65
+f 46 66 67
+f 46 67 47
+f 47 67 48
+f 48 67 49
+f 49 67 69
+f 49 69 70
+f 49 70 68
+f 52 71 53
+f 52 59 71
+f 53 71 72
+f 53 72 73
+f 53 73 74
+f 53 74 54
+f 54 74 75
+f 54 75 56
+f 54 56 55
+f 57 76 77
+f 57 77 58
+f 58 77 78
+f 58 78 71
+f 58 71 59
+f 61 75 74
+f 61 74 62
+f 62 74 73
+f 62 73 63
+f 63 73 66
+f 64 65 79
+f 65 68 80
+f 65 80 81
+f 65 81 82
+f 65 82 79
+f 66 73 67
+f 67 73 72
+f 67 72 69
+f 68 70 80
+f 69 72 70
+f 70 72 83
+f 70 83 84
+f 70 84 85
+f 70 85 86
+f 71 83 72
+f 71 78 84
+f 71 84 83
+f 76 87 88
+f 76 88 77
+f 77 88 78
+f 78 88 85
+f 78 85 84
+f 80 89 81
+f 81 89 90
+f 81 90 91
+f 81 91 92
+f 81 92 82
+f 85 88 86
+f 86 88 93
+f 87 93 88
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_24.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..689caa5e8cffa30b3061422a53dbaa542a4573f7
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_24.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.09795648 -0.10974474 -0.24133043
+v -0.09456681 -0.15688149 -0.23054265
+v -0.09795648 -0.15688149 -0.23054265
+v -0.09795648 -0.10974491 -0.19603255
+v -0.01511255 -0.10974481 -0.22208682
+v -0.01511255 -0.15688150 -0.22823254
+v -0.09795648 -0.15688161 -0.19864436
+v -0.08084600 -0.15688161 -0.19864436
+v -0.06620883 -0.15688161 -0.19864879
+v -0.05157167 -0.15688161 -0.19869757
+v -0.01511255 -0.15688161 -0.19885276
+v -0.01511255 -0.10974490 -0.20003203
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 10
+f 2 10 9
+f 2 9 8
+f 2 8 7
+f 2 7 3
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 12 11
+f 5 11 6
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_25.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5025d4f39c600aef82df14a6cdb224973b0d0fa1
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_25.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.08560582 0.16223235 0.28046468
+v 0.15128472 0.16223235 0.28046468
+v 0.10949099 0.21242434 0.28046486
+v 0.10895926 0.21242438 0.26895553
+v 0.09356045 0.16223335 0.00702417
+v 0.18266724 0.17949372 0.26978515
+v 0.18266724 0.17962634 0.28046474
+v 0.15125282 0.16223236 0.27773456
+v 0.18266724 0.17860512 0.06524008
+v 0.18266724 0.17858050 0.07985427
+v 0.18266724 0.17860501 0.09446845
+v 0.18266724 0.17863935 0.10905587
+v 0.18266724 0.17867861 0.12367005
+v 0.18266724 0.17872769 0.13828425
+v 0.19423762 0.21242434 0.28046486
+v 0.10896990 0.21242438 0.26887523
+v 0.11456367 0.19155746 0.00702427
+v 0.10724710 0.18284573 0.00702424
+v 0.10714075 0.18271798 0.00702424
+v 0.10138747 0.17552453 0.00702421
+v 0.10129176 0.17537712 0.00702421
+v 0.09628289 0.16691597 0.00702418
+v 0.11443605 0.16223335 0.00702417
+v 0.18953715 0.18373408 0.28046475
+v 0.15111456 0.16223239 0.26978509
+v 0.18266724 0.17869361 0.05062590
+v 0.19187675 0.18494852 0.06524010
+v 0.19190865 0.18488459 0.07985429
+v 0.19190865 0.18488945 0.09446847
+v 0.19204690 0.18530643 0.28046476
+v 0.19404620 0.21242513 0.06660526
+v 0.19414192 0.19639632 0.28046480
+v 0.16619435 0.21242534 0.00702435
+v 0.12411347 0.19833326 0.00702430
+v 0.18266724 0.17906720 0.00702423
+v 0.15067855 0.16223240 0.26547578
+v 0.18266724 0.17893939 0.02139753
+v 0.19181294 0.18507142 0.05062592
+v 0.19378034 0.19639716 0.05062596
+v 0.19386541 0.19639711 0.06524014
+v 0.19389732 0.19639706 0.07985433
+v 0.19358891 0.19339905 0.28046479
+v 0.19199373 0.18512498 0.18210006
+v 0.19400367 0.21103957 0.05062602
+v 0.19401430 0.21242518 0.05062602
+v 0.19382288 0.21242534 0.00702435
+v 0.19155772 0.18551870 0.00702425
+v 0.19164280 0.18536634 0.02139755
+v 0.19172787 0.18521396 0.03601173
+v 0.19366335 0.19639722 0.03601177
+v 0.19380160 0.21103973 0.00702435
+v 0.19387605 0.21103968 0.02139765
+v 0.19395049 0.21103963 0.03601183
+v 0.19397176 0.21242524 0.03601183
+v 0.19389732 0.21242529 0.02139765
+v 0.19339749 0.19639732 0.00702429
+f 1 2 7
+f 1 7 24
+f 1 24 30
+f 1 30 42
+f 1 42 32
+f 1 32 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 23
+f 1 23 36
+f 1 36 25
+f 1 25 8
+f 1 8 2
+f 2 6 7
+f 2 8 9
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+f 2 10 11
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+f 2 12 13
+f 2 13 14
+f 2 14 6
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+f 3 31 45
+f 3 45 54
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+f 3 46 33
+f 3 33 16
+f 3 16 4
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+f 5 47 35
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+f 8 25 26
+f 8 26 9
+f 9 26 27
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+f 10 28 29
+f 10 29 11
+f 11 29 30
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+f 50 56 51
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_26.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cf1156e161ee692d03ff872ae256f2e16f0f0a3
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_26.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.10401221 0.20642619 -0.23006675
+v -0.10401221 0.20642606 -0.19657544
+v -0.10320401 0.20642619 -0.23012831
+v -0.10401221 0.16222932 -0.23104159
+v -0.10401221 0.16222919 -0.19630201
+v -0.10008907 0.20642606 -0.19657544
+v -0.09547560 0.20642619 -0.23070285
+v -0.08084381 0.20642619 -0.23114744
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+v -0.05156341 0.20642619 -0.23123978
+v -0.03693162 0.20642619 -0.23122951
+v -0.02228300 0.20642619 -0.23118165
+v -0.00002383 0.20642619 -0.23107564
+v 0.06799965 0.16223362 -0.22695820
+v -0.00002383 0.16222929 -0.22356564
+v -0.08084381 0.20642606 -0.19666436
+v -0.09547560 0.20642606 -0.19658571
+v -0.00002383 0.16222920 -0.19957488
+v 0.06799965 0.16223352 -0.19895245
+v -0.00002383 0.20642607 -0.19852480
+v 0.06799965 0.19721993 -0.22528573
+v -0.06619519 0.20642606 -0.19693796
+v 0.06799965 0.19721983 -0.19926012
+f 1 2 6
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+f 1 16 22
+f 1 22 20
+f 1 20 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
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+f 1 5 2
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_27.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..806fee22b0b8c905d4e1b3fe5a983a7ea4e4292b
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_27.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v 0.09987537 -0.19944623 -0.30027663
+v 0.09987537 -0.19951042 -0.30027663
+v 0.10201123 -0.19256980 -0.30027661
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+v 0.11167787 -0.18436114 -0.37315893
+v 0.10868582 -0.19900464 -0.37315898
+v 0.10012394 -0.20882609 -0.30027667
+v 0.11822357 -0.15593295 -0.30027647
+v 0.12682228 -0.14238845 -0.37315877
+v 0.12900417 -0.14496405 -0.38776962
+v 0.12443783 -0.15507409 -0.38776966
+v 0.13125051 -0.14754769 -0.39521342
+v 0.11860103 -0.18436106 -0.39345757
+v 0.11428326 -0.18436109 -0.38614739
+v 0.11299437 -0.19900459 -0.38754077
+v 0.11397946 -0.20973247 -0.38505955
+v 0.11221184 -0.21165824 -0.37315903
+v 0.10945915 -0.21465140 -0.30027669
+v 0.11840769 -0.15559596 -0.30027647
+v 0.13875366 -0.13644279 -0.37315875
+v 0.12614100 -0.14181101 -0.30027642
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+v 0.13875366 -0.14676939 -0.39570011
+v 0.13875366 -0.15507405 -0.39691216
+v 0.13012735 -0.15507406 -0.39579559
+v 0.11737658 -0.19900456 -0.39485096
+v 0.12726418 -0.20787892 -0.39607252
+v 0.12307530 -0.21159399 -0.38906775
+v 0.12411562 -0.21732306 -0.37315905
+v 0.12411562 -0.21770035 -0.32933613
+v 0.12411562 -0.21766831 -0.31471576
+v 0.12411562 -0.21758009 -0.30027670
+v 0.12411562 -0.21755581 -0.35854822
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+v 0.15338252 -0.20783881 -0.39607252
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+v 0.15338252 -0.21592719 -0.30027669
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+v 0.18172878 -0.14432214 -0.38713974
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+v 0.18265861 -0.21284603 -0.30027668
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+v 0.18275988 -0.14031055 -0.30027642
+v 0.19112844 -0.14571861 -0.30027644
+v 0.18410401 -0.15507408 -0.38988827
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+v 0.17662847 -0.19900456 -0.39564305
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+v 0.18394750 -0.19900458 -0.39027016
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+v 0.19377985 -0.19900485 -0.31471569
+v 0.19391795 -0.19900491 -0.30027663
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+f 113 120 119
+f 113 119 118
+f 113 118 117
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_28.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9c540587b496f07d40f37bb2fef0955abf2a59e
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_28.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.10401220 0.24033038 -0.28200774
+v -0.10401220 0.23193250 -0.28158656
+v -0.10401220 0.24980698 -0.28003461
+v -0.00001004 0.24033033 -0.27021357
+v -0.00001004 0.22569203 -0.27079001
+v -0.10401220 0.22054044 -0.27992388
+v -0.10401220 0.25474181 -0.27129979
+v -0.00001004 0.25169216 -0.26677725
+v -0.00001004 0.21433019 -0.26735378
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+v -0.10401220 0.25792247 -0.25624670
+v -0.09549043 0.25787206 -0.25624670
+v -0.08084970 0.25777629 -0.25624670
+v -0.00001004 0.25672277 -0.25624671
+v -0.00001004 0.25409655 -0.26176693
+v -0.08084970 0.21392191 -0.26912735
+v -0.10401220 0.21647255 -0.27617725
+v -0.00001004 0.20993464 -0.25624688
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+v -0.10401220 0.25779129 -0.22702727
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+v -0.09549043 0.20642606 -0.19656653
+v -0.08084970 0.20642606 -0.19665520
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+f 42 46 47
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_29.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a4e74569d4d85c86acddffdd40f6f9b6a3f3808
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_29.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.09565642 -0.01426802 0.26979157
+v -0.10455679 -0.02819283 0.25986788
+v -0.09989790 -0.01971647 0.26979155
+v -0.09560257 -0.01426804 0.27585839
+v -0.09358281 -0.01426799 0.26214795
+v -0.10539162 -0.02703402 0.26979152
+v -0.09202088 -0.01426798 0.25870512
+v -0.09580454 -0.02329576 0.25666250
+v -0.15519865 -0.10974196 0.25591640
+v -0.15058015 -0.09649000 0.25884179
+v -0.14737548 -0.08833136 0.26134404
+v -0.16510889 -0.10974201 0.26979122
+v -0.09984404 -0.01978193 0.28046098
+v -0.10535122 -0.02710883 0.28046095
+v -0.09553524 -0.01426806 0.28046100
+v -0.16508195 -0.10974204 0.27734050
+v -0.16506849 -0.10974205 0.28046065
+v -0.08131620 -0.01426796 0.25422729
+v -0.09549484 -0.03792151 0.25201416
+v -0.13940421 -0.09648998 0.25316156
+v -0.13940421 -0.10974194 0.25137467
+v -0.02755046 -0.01426806 0.28046100
+v -0.10061154 -0.10974205 0.28046065
+v -0.06657203 -0.01426795 0.25043441
+v -0.08085839 -0.02327705 0.25151804
+v -0.12476775 -0.10974194 0.25131682
+v -0.05157202 -0.01426795 0.24936592
+v -0.06002804 -0.05836030 0.28046084
+v -0.06008190 -0.05830418 0.26979141
+v -0.02767165 -0.01426802 0.26979157
+v -0.10050383 -0.10974201 0.26979122
+v -0.07463756 -0.07710744 0.28046077
+v -0.11011783 -0.09648998 0.25186175
+v -0.10949844 -0.10974196 0.25584029
+v -0.03693557 -0.01426796 0.25201731
+v -0.06187274 -0.06076210 0.28046083
+v -0.06688172 -0.06720114 0.26979137
+v -0.02804867 -0.01426799 0.26075072
+v -0.02780630 -0.01426800 0.26407482
+v -0.07314295 -0.07501397 0.26178243
+v -0.10602448 -0.10974197 0.25760280
+v -0.10051729 -0.10686355 0.25960580
+v -0.07302176 -0.07517288 0.26979134
+v -0.07306216 -0.07512619 0.28046077
+v -0.08683685 -0.09083597 0.26045821
+v -0.06852445 -0.06935065 0.28046080
+f 1 2 3
+f 1 3 4
+f 1 4 15
+f 1 15 22
+f 1 22 30
+f 1 30 39
+f 1 39 38
+f 1 38 35
+f 1 35 27
+f 1 27 24
+f 1 24 18
+f 1 18 7
+f 1 7 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 6
+f 3 13 4
+f 3 6 14
+f 3 14 13
+f 4 13 15
+f 6 12 16
+f 6 16 17
+f 6 17 14
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 20 21
+f 9 21 26
+f 9 26 34
+f 9 34 41
+f 9 41 31
+f 9 31 23
+f 9 23 17
+f 9 17 16
+f 9 16 12
+f 9 12 10
+f 9 19 20
+f 10 12 11
+f 13 14 17
+f 13 17 23
+f 13 23 32
+f 13 32 44
+f 13 44 46
+f 13 46 36
+f 13 36 28
+f 13 28 22
+f 13 22 15
+f 18 24 25
+f 18 25 19
+f 19 25 24
+f 19 24 21
+f 19 21 20
+f 21 24 27
+f 21 27 26
+f 22 28 29
+f 22 29 30
+f 23 31 32
+f 26 33 34
+f 26 27 35
+f 26 35 33
+f 28 36 37
+f 28 37 29
+f 29 38 39
+f 29 39 30
+f 29 37 40
+f 29 40 38
+f 31 41 42
+f 31 42 40
+f 31 40 43
+f 31 43 44
+f 31 44 32
+f 33 35 34
+f 34 35 41
+f 35 38 40
+f 35 40 45
+f 35 45 42
+f 35 42 41
+f 36 43 37
+f 36 46 43
+f 37 43 40
+f 40 42 45
+f 43 46 44
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_3.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ca3f5b6243475bceee52c907446fb4964964a2e
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_3.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.10000193 0.02868268 0.31631402
+v -0.12000561 0.00124643 0.31631391
+v -0.00760747 0.02868268 0.31631402
+v -0.07307745 0.02868281 0.28046769
+v -0.19285900 -0.10159451 0.31631354
+v -0.00760747 -0.01871852 0.31631384
+v -0.00760747 0.02868281 0.28046769
+v -0.16748893 -0.11266297 0.28046717
+v -0.19655996 -0.11249706 0.31631350
+v -0.01123442 -0.03435289 0.31631378
+v -0.00760747 0.00531427 0.28048164
+v -0.00760747 0.00549413 0.28046760
+v -0.10281466 -0.11266297 0.28046717
+v -0.19661549 -0.11266310 0.31631350
+v -0.04050901 -0.07826748 0.31631362
+v -0.00766299 0.00531427 0.28046760
+v -0.05338834 -0.09467665 0.31631356
+v -0.06752601 -0.10984060 0.31631351
+v -0.07274436 -0.11266310 0.31631350
+f 1 2 5
+f 1 5 9
+f 1 9 14
+f 1 14 19
+f 1 19 18
+f 1 18 17
+f 1 17 15
+f 1 15 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 5
+f 3 6 11
+f 3 11 12
+f 3 12 7
+f 4 7 12
+f 4 12 16
+f 4 16 13
+f 4 13 8
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 8 13 19
+f 8 19 14
+f 8 14 9
+f 10 15 11
+f 11 16 12
+f 11 15 17
+f 11 17 13
+f 11 13 16
+f 13 17 18
+f 13 18 19
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_30.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66ee56a944e454e75add985508355f9eec618fe8
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_30.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.17754058 0.16222744 0.28046165
+v -0.17736187 0.16222748 0.26979403
+v -0.14358788 0.11983761 0.26979387
+v -0.14364745 0.11975595 0.28046149
+v -0.10890551 0.16222744 0.28046165
+v -0.17640883 0.16222749 0.26767089
+v -0.16174066 0.14463307 0.26180850
+v -0.10348499 0.07107207 0.26134085
+v -0.10245748 0.06957562 0.26294466
+v -0.13626125 0.11072297 0.26979384
+v -0.10342542 0.06957556 0.28046131
+v -0.10405087 0.07035552 0.28046131
+v -0.10883105 0.16222748 0.26979403
+v -0.02540869 0.06957556 0.28046131
+v -0.16911196 0.16222753 0.25521005
+v -0.14835317 0.12833556 0.26013132
+v -0.13483167 0.11247338 0.25935228
+v -0.10120659 0.06957563 0.26047630
+v -0.10315738 0.06957560 0.26979369
+v -0.11309003 0.16222752 0.25851544
+v -0.02545337 0.06957557 0.27699708
+v -0.02564696 0.06957560 0.26979369
+v -0.02680850 0.06957564 0.25961178
+v -0.02756796 0.06957564 0.25742450
+v -0.16745901 0.16222754 0.25436384
+v -0.09848143 0.06957564 0.25835623
+v -0.11781065 0.16222753 0.25616012
+v -0.03693474 0.06957566 0.25233201
+v -0.15450338 0.16222755 0.24956160
+v -0.08583853 0.06957566 0.25262835
+v -0.09550313 0.07924352 0.25328211
+v -0.09516063 0.06957565 0.25671577
+v -0.13451894 0.16222755 0.25044749
+v -0.05078386 0.06957567 0.24925575
+v -0.15404174 0.16222755 0.24939359
+v -0.07121505 0.06957567 0.25037689
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 11
+f 1 11 14
+f 1 14 5
+f 1 5 13
+f 1 13 20
+f 1 20 27
+f 1 27 33
+f 1 33 35
+f 1 35 29
+f 1 29 25
+f 1 25 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 5 14 13
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 26
+f 9 26 32
+f 9 32 30
+f 9 30 36
+f 9 36 34
+f 9 34 28
+f 9 28 24
+f 9 24 23
+f 9 23 22
+f 9 22 21
+f 9 21 14
+f 9 14 11
+f 9 11 19
+f 9 19 10
+f 10 19 11
+f 13 14 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 20
+f 15 17 16
+f 15 25 26
+f 15 26 17
+f 17 26 18
+f 20 24 28
+f 20 28 27
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 26
+f 27 28 33
+f 28 34 33
+f 29 35 30
+f 30 32 31
+f 30 35 36
+f 33 34 35
+f 34 36 35
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_31.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8fb42d198210f7f46da5a842c7c62a5ae1cc129
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_31.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.10997037 0.24314878 -0.05552392
+v -0.00001062 0.24349091 0.06522074
+v -0.00001062 0.24296162 -0.05552392
+v -0.10997037 0.22819116 -0.05552397
+v -0.10997037 0.24361616 0.07984561
+v -0.00001062 0.24354795 0.07984561
+v -0.00001062 0.22761068 -0.05552397
+v -0.09933397 0.22763605 -0.05552397
+v -0.10997037 0.22758847 -0.05546888
+v -0.10997037 0.24361134 0.09441539
+v -0.00001062 0.24359385 0.10904025
+v -0.10997037 0.22758529 -0.05166807
+v -0.00344485 0.22761068 -0.05552397
+v -0.00001062 0.22759629 -0.02244588
+v -0.10997037 0.22741456 0.22584634
+v -0.10997037 0.24348111 0.13826244
+v -0.00001062 0.24357633 0.12366512
+v -0.00001062 0.24358588 0.11600841
+v -0.00001062 0.22759306 -0.01481671
+v -0.00001062 0.22749228 0.22584634
+v -0.09549066 0.24287813 0.22584639
+v -0.10997037 0.24287970 0.22579128
+v -0.00001062 0.24324448 0.22584639
+v -0.09537223 0.24287970 0.22584639
+v -0.05157781 0.24305258 0.22584639
+v -0.02218774 0.24316519 0.22584639
+v -0.00760036 0.24321753 0.22584639
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 12
+f 1 12 15
+f 1 15 22
+f 1 22 16
+f 1 16 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 18
+f 2 18 17
+f 2 17 23
+f 2 23 20
+f 2 20 19
+f 2 19 14
+f 2 14 7
+f 2 7 3
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 7 12 9
+f 7 9 13
+f 7 14 15
+f 7 15 12
+f 8 13 9
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 14 19 15
+f 15 20 23
+f 15 23 27
+f 15 27 26
+f 15 26 25
+f 15 25 24
+f 15 24 21
+f 15 21 22
+f 15 19 20
+f 16 22 23
+f 16 23 17
+f 21 24 22
+f 22 24 25
+f 22 25 26
+f 22 26 27
+f 22 27 23
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_32.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf59e8815794b8c4087553e77b20d580a99011b
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_32.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.09961421 -0.11266868 0.30449863
+v -0.13344861 -0.16723131 0.30449843
+v -0.13744611 -0.16757069 0.23406830
+v -0.10051365 -0.10974201 0.26978686
+v -0.10063580 -0.10974205 0.28045890
+v -0.16942611 -0.11266868 0.30449863
+v -0.13625796 -0.16757086 0.28045868
+v -0.13622465 -0.16757082 0.26978664
+v -0.13714630 -0.16757072 0.24148635
+v -0.21298776 -0.16723131 0.30449843
+v -0.14427518 -0.14445276 0.23406839
+v -0.10953024 -0.10974196 0.25584698
+v -0.10604353 -0.10974197 0.25759808
+v -0.21124441 -0.16757069 0.23406830
+v -0.16507327 -0.10974205 0.28045890
+v -0.16508438 -0.10974204 0.27733590
+v -0.16510658 -0.10974201 0.26978686
+v -0.20993411 -0.14258501 0.30449852
+v -0.21081134 -0.16757086 0.28045868
+v -0.21302107 -0.16174619 0.30449845
+v -0.21123329 -0.16757071 0.24057633
+v -0.21119998 -0.16757077 0.25518492
+v -0.21102232 -0.16757082 0.26978664
+v -0.21084465 -0.16757085 0.27889373
+v -0.14993830 -0.14133376 0.23406840
+v -0.12477626 -0.10974194 0.25131755
+v -0.21305438 -0.15506666 0.30449847
+v -0.21126661 -0.15507206 0.23406835
+v -0.15521278 -0.10974196 0.25592281
+v -0.20826849 -0.14384707 0.23406839
+v -0.15406904 -0.13932990 0.23406841
+v -0.16868214 -0.13767134 0.23406841
+v -0.13942265 -0.10974194 0.25137961
+v -0.19796382 -0.13901857 0.23406841
+v -0.18331742 -0.13796569 0.23406841
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 6
+f 1 6 18
+f 1 18 27
+f 1 27 20
+f 1 20 10
+f 1 10 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 10 19
+f 2 19 7
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 3 9 8
+f 3 8 7
+f 3 7 19
+f 3 19 24
+f 3 24 23
+f 3 23 22
+f 3 22 21
+f 3 21 14
+f 3 14 28
+f 3 28 30
+f 3 30 34
+f 3 34 35
+f 3 35 32
+f 3 32 31
+f 3 31 25
+f 3 25 11
+f 4 13 12
+f 4 12 26
+f 4 26 33
+f 4 33 29
+f 4 29 17
+f 4 17 16
+f 4 16 15
+f 4 15 5
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 10 20 14
+f 10 14 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 19
+f 11 25 26
+f 11 26 12
+f 14 20 27
+f 14 27 28
+f 17 29 30
+f 17 30 18
+f 18 30 28
+f 18 28 27
+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 29 33 34
+f 29 34 30
+f 32 35 33
+f 33 35 34
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_33.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e83e6aa6533eef190b55ad546006ff84836cc660
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_33.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.21123239 -0.16757071 0.23406830
+v -0.21123239 -0.17785013 0.23406827
+v -0.21123239 -0.16757073 0.24057160
+v -0.13741147 -0.16757071 0.23406830
+v -0.21119400 -0.19249661 0.23406821
+v -0.21121320 -0.18436405 0.24057154
+v -0.21123239 -0.16972246 0.24057160
+v -0.21119400 -0.16757079 0.25518137
+v -0.13712348 -0.16757074 0.24148444
+v -0.01511255 -0.16893033 0.26979113
+v -0.01511255 -0.17028981 0.26262475
+v -0.01511255 -0.17175199 0.25518136
+v -0.01511255 -0.17722418 0.23406827
+v -0.21115561 -0.19900563 0.24057149
+v -0.21113640 -0.19900569 0.25518126
+v -0.21113640 -0.19900561 0.23406819
+v -0.21117480 -0.18436411 0.25518131
+v -0.21119400 -0.16972252 0.25518137
+v -0.21102121 -0.16757084 0.26979113
+v -0.13620192 -0.16757084 0.26979113
+v -0.01511255 -0.16904773 0.27723905
+v -0.13624032 -0.16757088 0.28046346
+v -0.01511255 -0.20451210 0.23406817
+v -0.20819892 -0.21031202 0.24057145
+v -0.20819892 -0.21029252 0.25518122
+v -0.21094440 -0.19900574 0.26979102
+v -0.20810293 -0.21018498 0.26979098
+v -0.20817972 -0.21030712 0.23406815
+v -0.21102121 -0.16972257 0.26979113
+v -0.21084841 -0.16757087 0.27889668
+v -0.01511255 -0.16910643 0.28046346
+v -0.21081002 -0.16757088 0.28046346
+v -0.01511255 -0.21642013 0.26979096
+v -0.13940819 -0.21663028 0.23406812
+v -0.19796575 -0.21593586 0.23406813
+v -0.19796575 -0.21594566 0.24057143
+v -0.19796575 -0.21593594 0.25518120
+v -0.19796575 -0.21584307 0.26979096
+v -0.21069482 -0.19900578 0.28046335
+v -0.21071401 -0.19505442 0.28046336
+v -0.21077162 -0.18041282 0.28046342
+v -0.21081002 -0.16972261 0.28046346
+v -0.20875569 -0.20705034 0.28046332
+v -0.20798773 -0.21006765 0.28046331
+v -0.19796575 -0.21572086 0.28046329
+v -0.20069204 -0.21419509 0.28046329
+v -0.01511255 -0.21651308 0.28046328
+v -0.18331676 -0.21744697 0.23406812
+v -0.16868697 -0.21717800 0.23406812
+v -0.16054651 -0.21702640 0.23406812
+v -0.14591671 -0.21675255 0.23406812
+v -0.18331676 -0.21752538 0.28046328
+v -0.18727180 -0.21708037 0.28046328
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 30
+f 1 30 32
+f 1 32 22
+f 1 22 20
+f 1 20 9
+f 1 9 4
+f 1 4 13
+f 1 13 23
+f 1 23 34
+f 1 34 51
+f 1 51 50
+f 1 50 49
+f 1 49 48
+f 1 48 35
+f 1 35 28
+f 1 28 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 18
+f 3 18 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 6
+f 5 16 14
+f 6 17 18
+f 6 18 7
+f 6 15 17
+f 8 18 29
+f 8 29 19
+f 9 20 10
+f 10 21 31
+f 10 31 47
+f 10 47 33
+f 10 33 23
+f 10 23 13
+f 10 13 12
+f 10 12 11
+f 10 20 22
+f 10 22 21
+f 14 16 24
+f 14 24 25
+f 14 25 15
+f 15 26 29
+f 15 29 17
+f 15 25 27
+f 15 27 26
+f 16 28 24
+f 17 29 18
+f 19 29 30
+f 21 22 31
+f 22 32 42
+f 22 42 41
+f 22 41 40
+f 22 40 39
+f 22 39 43
+f 22 43 44
+f 22 44 46
+f 22 46 45
+f 22 45 53
+f 22 53 52
+f 22 52 47
+f 22 47 31
+f 23 33 34
+f 24 28 35
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 25 37 38
+f 25 38 27
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 30
+f 26 30 29
+f 26 27 43
+f 26 43 39
+f 27 44 43
+f 27 38 45
+f 27 45 46
+f 27 46 44
+f 30 42 32
+f 33 47 48
+f 33 48 49
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 35 48 52
+f 35 52 36
+f 36 52 37
+f 37 52 53
+f 37 53 38
+f 38 53 45
+f 47 52 48
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_34.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..029ebd9c297236364c8cbe4f83348d1ae455c9a8
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_34.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.08558777 -0.16063023 0.30896676
+v 0.20017321 -0.16063023 0.30896676
+v 0.09651223 -0.16063014 0.28380319
+v -0.21078875 -0.16723905 0.28046347
+v -0.21297364 -0.16723914 0.30449707
+v -0.02454696 -0.16584265 0.30896674
+v 0.20029459 -0.16972181 0.30896673
+v 0.19701726 -0.16063013 0.28046349
+v 0.10156985 -0.16063013 0.28046349
+v -0.21066737 -0.19900213 0.28046335
+v -0.21297364 -0.16972755 0.30449706
+v -0.02454696 -0.21933474 0.30896654
+v 0.20037550 -0.18437065 0.30896667
+v 0.19713863 -0.18437055 0.28046340
+v -0.21135521 -0.20523760 0.30449693
+v -0.21281180 -0.19900222 0.30449695
+v -0.21289272 -0.18437064 0.30449700
+v -0.20872524 -0.20704778 0.28046332
+v -0.18327530 -0.21858188 0.30449688
+v -0.18327530 -0.21752436 0.28046328
+v -0.00759382 -0.21934048 0.30896654
+v -0.20977722 -0.21148447 0.30449690
+v -0.19792216 -0.21706470 0.30449688
+v 0.19976860 -0.19900223 0.30896662
+v 0.19645080 -0.19900213 0.28046335
+v -0.20795649 -0.21006490 0.28046331
+v 0.00697213 -0.21928877 0.30896654
+v -0.18724047 -0.21707611 0.28046328
+v 0.06551914 -0.21624281 0.28046329
+v -0.20067351 -0.21419117 0.28046329
+v -0.19792216 -0.21571985 0.28046329
+v 0.19564158 -0.21187527 0.30896657
+v 0.19547973 -0.20172616 0.28046334
+v 0.02161900 -0.21919681 0.30896654
+v 0.07624129 -0.21618534 0.28046329
+v 0.08016600 -0.21616235 0.28046329
+v 0.19260701 -0.21310510 0.30896657
+v 0.19280931 -0.20897298 0.28046331
+v 0.10945974 -0.21863936 0.30896655
+v 0.13474783 -0.21578306 0.28046329
+v 0.18261315 -0.21624291 0.30896656
+v 0.18261315 -0.21308777 0.28046330
+v 0.13871301 -0.21575432 0.28046329
+v 0.13798472 -0.21840375 0.30896655
+v 0.18002364 -0.21662795 0.30896655
+v 0.16800675 -0.21500723 0.28046329
+v 0.14939471 -0.21563364 0.28046329
+v 0.15246973 -0.21827732 0.30896655
+v 0.16800675 -0.21778883 0.30896655
+v 0.16659061 -0.21785204 0.30896655
+v 0.15335987 -0.21558192 0.28046329
+v 0.15335987 -0.21826582 0.30896655
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 21
+f 1 21 27
+f 1 27 34
+f 1 34 39
+f 1 39 44
+f 1 44 48
+f 1 48 52
+f 1 52 50
+f 1 50 49
+f 1 49 45
+f 1 45 41
+f 1 41 37
+f 1 37 32
+f 1 32 24
+f 1 24 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 8
+f 4 8 14
+f 4 14 25
+f 4 25 33
+f 4 33 38
+f 4 38 42
+f 4 42 46
+f 4 46 51
+f 4 51 47
+f 4 47 43
+f 4 43 40
+f 4 40 36
+f 4 36 35
+f 4 35 29
+f 4 29 20
+f 4 20 28
+f 4 28 31
+f 4 31 30
+f 4 30 26
+f 4 26 18
+f 4 18 10
+f 5 11 12
+f 5 12 6
+f 7 13 8
+f 8 13 14
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 10 18 15
+f 11 17 12
+f 12 19 20
+f 12 20 21
+f 12 17 16
+f 12 16 15
+f 12 15 22
+f 12 22 23
+f 12 23 19
+f 13 24 14
+f 14 24 25
+f 15 18 22
+f 18 26 22
+f 19 23 20
+f 20 27 21
+f 20 23 28
+f 20 29 27
+f 22 26 30
+f 22 30 31
+f 22 31 23
+f 23 31 28
+f 24 32 25
+f 25 32 33
+f 27 29 35
+f 27 35 36
+f 27 36 34
+f 32 37 38
+f 32 38 33
+f 34 36 39
+f 36 40 39
+f 37 41 42
+f 37 42 38
+f 39 40 43
+f 39 43 44
+f 41 45 42
+f 42 45 46
+f 43 47 48
+f 43 48 44
+f 45 49 46
+f 46 49 50
+f 46 50 51
+f 47 51 52
+f 47 52 48
+f 50 52 51
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_35.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e75b09851d93de3248a72c468c1690719e60257a
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_35.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00000014 0.21019371 0.28045952
+v 0.00000014 0.21018887 0.27742813
+v 0.00000014 0.25771653 0.28045970
+v -0.13614637 0.20825696 0.28045951
+v 0.00000014 0.21019375 0.26979349
+v -0.13650315 0.20825705 0.25529947
+v -0.02230967 0.25771168 0.28045970
+v 0.00000014 0.25764390 0.27677071
+v -0.15404878 0.25754240 0.22584645
+v -0.16857219 0.25756663 0.22584645
+v -0.18320054 0.25757631 0.22584645
+v -0.18332648 0.25757631 0.22584645
+v -0.21434613 0.20825696 0.28045951
+v 0.00000014 0.21428516 0.25729904
+v -0.13751057 0.20825712 0.23775799
+v -0.13895871 0.20825716 0.22584626
+v -0.18332648 0.25759077 0.24057038
+v -0.18332648 0.25762453 0.28045970
+v 0.00000014 0.25750351 0.26979367
+v 0.00000014 0.25307811 0.25518200
+v 0.00000014 0.24324443 0.22584639
+v -0.19784990 0.25719381 0.22584644
+v -0.19795482 0.25734859 0.26979367
+v -0.21436713 0.22568766 0.28045958
+v -0.21438811 0.20825710 0.24335565
+v 0.00000014 0.22749385 0.22584634
+v -0.21184860 0.20825716 0.22584626
+v -0.19795482 0.25726138 0.28045969
+v -0.19795482 0.25718896 0.22584644
+v -0.20972887 0.25236146 0.26979365
+v -0.21434613 0.22963860 0.28045959
+v -0.21432514 0.22579920 0.22584633
+v -0.21438811 0.21115744 0.22584628
+v -0.21438811 0.20825716 0.22586766
+v -0.21438811 0.21104608 0.22584628
+v -0.20962392 0.25226943 0.28045968
+v -0.20951899 0.25226478 0.22584643
+v -0.20960294 0.25222605 0.22584643
+v -0.21407329 0.24041676 0.22584638
+v -0.21426218 0.24032945 0.26979360
+v -0.21293997 0.24357829 0.28045964
+v -0.21415725 0.24032941 0.28045963
+v -0.21409427 0.24032961 0.22584638
+f 1 2 5
+f 1 5 14
+f 1 14 26
+f 1 26 21
+f 1 21 20
+f 1 20 19
+f 1 19 8
+f 1 8 3
+f 1 3 7
+f 1 7 18
+f 1 18 28
+f 1 28 36
+f 1 36 41
+f 1 41 42
+f 1 42 31
+f 1 31 24
+f 1 24 13
+f 1 13 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 7
+f 4 13 25
+f 4 25 34
+f 4 34 27
+f 4 27 16
+f 4 16 15
+f 4 15 6
+f 5 6 15
+f 5 15 16
+f 5 16 14
+f 7 12 17
+f 7 17 18
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 26
+f 9 26 16
+f 9 16 27
+f 9 27 35
+f 9 35 33
+f 9 33 32
+f 9 32 43
+f 9 43 39
+f 9 39 38
+f 9 38 37
+f 9 37 29
+f 9 29 22
+f 9 22 12
+f 9 12 11
+f 9 11 10
+f 12 22 23
+f 12 23 17
+f 13 24 25
+f 14 16 26
+f 17 23 18
+f 18 23 28
+f 22 29 23
+f 23 29 30
+f 23 30 28
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 25 33 35
+f 25 35 34
+f 27 34 35
+f 28 30 36
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 36
+f 31 42 40
+f 31 40 32
+f 32 40 43
+f 39 43 40
+f 40 42 41
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_36.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86ace97cd1f7287b44cbb41bd98fcdabff14c482
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_36.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00550922 0.16222929 -0.22360063
+v 0.02299466 0.08404061 -0.23065930
+v -0.00550922 0.08404058 -0.22447336
+v -0.00550922 0.16222920 -0.19956642
+v 0.07685290 0.16222932 -0.23065901
+v 0.06797959 0.15204144 -0.23065905
+v 0.09619584 0.08404061 -0.23065930
+v -0.00550922 0.08404049 -0.19945108
+v 0.04252456 0.08404041 -0.17697255
+v 0.09271555 0.16222912 -0.17697226
+v 0.14141087 0.16222932 -0.23065901
+v 0.09621022 0.08404059 -0.22703288
+v 0.06419729 0.08404041 -0.17697255
+v 0.11385616 0.16222912 -0.17697226
+v 0.14139650 0.16222930 -0.22703259
+v 0.09599451 0.08404057 -0.22179821
+v 0.09166571 0.08404050 -0.20245733
+v 0.07435054 0.09921124 -0.17697250
+v 0.10307014 0.14390472 -0.17697233
+v 0.13617606 0.16222921 -0.20079624
+v 0.14087877 0.16222926 -0.21507591
+v 0.09559182 0.08404054 -0.21242209
+v 0.10240859 0.10066566 -0.20480655
+v 0.14076372 0.16222925 -0.21242180
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 14
+f 1 14 20
+f 1 20 24
+f 1 24 21
+f 1 21 15
+f 1 15 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 11
+f 2 11 7
+f 2 7 12
+f 2 12 16
+f 2 16 22
+f 2 22 17
+f 2 17 13
+f 2 13 9
+f 2 9 8
+f 2 8 3
+f 4 8 9
+f 4 9 10
+f 7 11 12
+f 9 13 18
+f 9 18 19
+f 9 19 14
+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 13 17 18
+f 14 19 20
+f 15 21 22
+f 15 22 16
+f 17 22 23
+f 17 23 20
+f 17 20 19
+f 17 19 18
+f 20 23 24
+f 21 24 22
+f 22 24 23
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_37.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14cee28f752d926a28493e3eb07b7464557a9897
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_37.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.08644675 -0.10974111 0.02140421
+v 0.08650092 -0.10974105 0.00676731
+v 0.10765736 -0.16373945 0.02140401
+v 0.10762487 -0.16373950 0.03595799
+v 0.10763569 -0.16373954 0.04499721
+v 0.08665258 -0.10974159 0.15288757
+v 0.10797151 -0.16373918 -0.05165611
+v 0.08736755 -0.10974036 -0.18293194
+v 0.10764653 -0.16373956 0.05059489
+v 0.10766819 -0.16373959 0.05959265
+v 0.08704256 -0.10974191 0.24066754
+v 0.10851315 -0.16373886 -0.13935314
+v 0.10918479 -0.10974036 -0.18293194
+v 0.10928227 -0.16373870 -0.18293214
+v 0.10781985 -0.16373970 0.08878353
+v 0.09487467 -0.12588062 0.24066748
+v 0.11372373 -0.10974191 0.24066754
+v 0.10785235 -0.16373972 0.09442268
+v 0.10792818 -0.16373975 0.10333750
+v 0.10799318 -0.16373977 0.10901812
+v 0.10814484 -0.16373980 0.11785002
+v 0.10826399 -0.16373982 0.12365501
+v 0.10845898 -0.16373986 0.13244546
+v 0.10861065 -0.16373988 0.13825046
+v 0.10889230 -0.16373991 0.14708235
+v 0.10911979 -0.16373993 0.15288737
+v 0.18266360 -0.13976068 -0.15394850
+v 0.18266360 -0.13990330 -0.18293205
+v 0.19372388 -0.16373870 -0.18293214
+v 0.10026940 -0.13695517 0.24066744
+v 0.19348556 -0.14396993 0.24066741
+v 0.19348556 -0.14396993 0.24054300
+v 0.19351806 -0.14398569 0.21131067
+v 0.19352889 -0.14399620 0.19671522
+v 0.18266360 -0.13969731 -0.13935305
+v 0.11766686 -0.16374025 0.24066734
+v 0.10446168 -0.14427653 0.24066741
+v 0.19318225 -0.14414379 0.07982731
+v 0.19161149 -0.14506267 -0.16858543
+v 0.19154649 -0.14514192 -0.18293207
+v 0.19344223 -0.15506937 -0.18293211
+v 0.19642124 -0.15507033 0.07982727
+v 0.19645374 -0.16373966 0.07982724
+v 0.19701705 -0.15499690 0.24066737
+v 0.19707121 -0.15507087 0.22594752
+v 0.19709288 -0.15507082 0.21131063
+v 0.19350723 -0.14398045 0.22594756
+v 0.19710372 -0.15507076 0.19671518
+v 0.19350723 -0.14400673 0.18207831
+v 0.19321474 -0.14411741 0.09442275
+v 0.19708205 -0.16374025 0.24066734
+v 0.19703872 -0.15507071 0.18207827
+v 0.19340974 -0.15488434 -0.18293211
+v 0.19703872 -0.16374004 0.18207824
+v 0.19703872 -0.15507092 0.24066737
+v 0.19708205 -0.16368210 0.24066734
+v 0.19710372 -0.16374020 0.22594749
+v 0.19710372 -0.16374009 0.19671515
+v 0.19711455 -0.16374015 0.21131060
+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 13
+f 1 13 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 7 12
+f 3 12 14
+f 3 14 29
+f 3 29 43
+f 3 43 54
+f 3 54 58
+f 3 58 59
+f 3 59 57
+f 3 57 51
+f 3 51 36
+f 3 36 26
+f 3 26 25
+f 3 25 24
+f 3 24 23
+f 3 23 22
+f 3 22 21
+f 3 21 20
+f 3 20 19
+f 3 19 18
+f 3 18 15
+f 3 15 10
+f 3 10 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 7 8 12
+f 8 13 28
+f 8 28 40
+f 8 40 53
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+f 8 41 29
+f 8 29 14
+f 8 14 12
+f 10 15 11
+f 11 16 30
+f 11 30 37
+f 11 37 36
+f 11 36 51
+f 11 51 56
+f 11 56 55
+f 11 55 44
+f 11 44 31
+f 11 31 17
+f 11 15 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 16
+f 13 27 28
+f 13 17 27
+f 16 26 30
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 27
+f 26 36 37
+f 26 37 30
+f 27 35 38
+f 27 38 28
+f 28 39 40
+f 28 38 39
+f 29 41 42
+f 29 42 43
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 31 47 33
+f 31 33 32
+f 33 47 48
+f 33 48 34
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 35 50 38
+f 38 50 49
+f 38 49 48
+f 38 48 52
+f 38 52 42
+f 38 42 40
+f 38 40 39
+f 40 42 53
+f 41 53 42
+f 42 52 43
+f 43 52 54
+f 44 55 45
+f 45 55 56
+f 45 56 46
+f 46 56 57
+f 46 57 48
+f 46 48 47
+f 48 58 54
+f 48 54 52
+f 48 57 59
+f 48 59 58
+f 51 57 56
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_38.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e3c1a3b6eb1e018ae3ef8747407fc1868800f12
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_38.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.07686781 0.16222932 -0.23066925
+v 0.06798376 0.15204144 -0.23066929
+v 0.14141058 0.16222932 -0.23066925
+v 0.08226088 0.16222941 -0.25626145
+v 0.07230981 0.14601762 -0.26444338
+v 0.02298359 0.08404061 -0.23066954
+v 0.08434852 0.16222945 -0.26547982
+v 0.09620165 0.08404061 -0.23066954
+v 0.14146858 0.16222936 -0.24165019
+v 0.04028778 0.09389183 -0.26662675
+v 0.04322207 0.10176044 -0.26416315
+v 0.02933928 0.08404070 -0.25626174
+v 0.08478924 0.16222945 -0.26659145
+v 0.09619006 0.08404065 -0.24165048
+v 0.09615527 0.08404070 -0.25626174
+v 0.14141058 0.16222941 -0.25626145
+v 0.03673880 0.08404075 -0.26894014
+v 0.08025443 0.15152873 -0.26810868
+v 0.09431118 0.16222947 -0.27204438
+v 0.09402123 0.08404073 -0.26355732
+v 0.13963609 0.16222946 -0.27087268
+v 0.05091153 0.09389185 -0.27209470
+v 0.05091153 0.08404077 -0.27370207
+v 0.10702257 0.16222949 -0.27725694
+v 0.09218875 0.08404074 -0.26802383
+v 0.13470697 0.16222950 -0.28127778
+v 0.11180093 0.16222949 -0.27888930
+v 0.06555979 0.08404077 -0.27467348
+v 0.12453552 0.16222951 -0.28181858
+v 0.08019644 0.08404077 -0.27382725
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 21
+f 1 21 26
+f 1 26 29
+f 1 29 27
+f 1 27 24
+f 1 24 19
+f 1 19 13
+f 1 13 7
+f 1 7 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 5
+f 3 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 5 7 13
+f 5 13 10
+f 6 12 17
+f 6 17 23
+f 6 23 28
+f 6 28 30
+f 6 30 25
+f 6 25 20
+f 6 20 15
+f 6 15 14
+f 6 14 8
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 10 17 12
+f 10 12 11
+f 10 13 17
+f 13 18 17
+f 13 19 18
+f 15 20 21
+f 15 21 16
+f 17 22 23
+f 17 18 19
+f 17 19 24
+f 17 24 22
+f 20 25 21
+f 21 25 26
+f 22 24 27
+f 22 27 23
+f 23 27 29
+f 23 29 28
+f 25 30 26
+f 26 30 28
+f 26 28 29
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_39.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a36c94676c16a84cf0558b25cebaf6d8e5a37ad3
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_39.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.07989010 -0.10974031 -0.19496635
+v 0.07989010 -0.15419346 -0.19956995
+v 0.07989010 -0.10974015 -0.24048817
+v -0.01511255 -0.10974030 -0.20003324
+v -0.01511255 -0.15419346 -0.19955657
+v 0.07989010 -0.15419336 -0.22486430
+v 0.03626662 -0.15419336 -0.22589373
+v 0.02162937 -0.15419336 -0.22622348
+v 0.00699212 -0.15419336 -0.22646413
+v -0.00764513 -0.15419336 -0.22662010
+v -0.01511255 -0.15419336 -0.22666468
+v -0.01511255 -0.10974021 -0.22208781
+f 1 2 6
+f 1 6 3
+f 1 3 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 10
+f 2 10 9
+f 2 9 8
+f 2 8 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 12 11
+f 4 11 5
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_4.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffe162b2c1c751fc5447368fa1de88aae93a1d3c
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_4.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.19661949 -0.11267513 0.31631235
+v -0.16942962 -0.11267509 0.30449866
+v -0.20795522 -0.11579138 0.31631233
+v -0.07275893 -0.11267513 0.31631235
+v -0.20993699 -0.14259832 0.30449855
+v -0.22515696 -0.12784730 0.31631229
+v -0.09963172 -0.11267509 0.30449866
+v -0.02456231 -0.14317588 0.31631223
+v -0.21304835 -0.15507536 0.30449850
+v -0.22642529 -0.14145533 0.31631224
+v -0.02456231 -0.16726363 0.30449846
+v -0.02456231 -0.23263275 0.31631191
+v -0.21283036 -0.19900367 0.30449834
+v -0.22701983 -0.15507540 0.31631219
+v -0.02456231 -0.21807416 0.30449827
+v -0.18332182 -0.23558056 0.31631189
+v -0.22448316 -0.21363444 0.31631198
+v -0.22628658 -0.19900371 0.31631203
+v -0.22654420 -0.18522723 0.31631208
+v -0.21136386 -0.20523616 0.30449832
+v -0.02870421 -0.21809823 0.30449827
+v -0.19796710 -0.23484660 0.31631190
+v -0.18332182 -0.21859153 0.30449827
+v -0.07250130 -0.21825464 0.30449827
+v -0.05791548 -0.21820651 0.30449827
+v -0.20979826 -0.21148070 0.30449829
+v -0.21257273 -0.22725449 0.31631193
+v -0.19796710 -0.21706349 0.30449827
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 14
+f 1 14 19
+f 1 19 18
+f 1 18 17
+f 1 17 27
+f 1 27 22
+f 1 22 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 11
+f 2 11 15
+f 2 15 21
+f 2 21 25
+f 2 25 24
+f 2 24 23
+f 2 23 28
+f 2 28 26
+f 2 26 20
+f 2 20 13
+f 2 13 9
+f 2 9 5
+f 4 8 7
+f 5 9 6
+f 6 9 10
+f 7 8 11
+f 8 12 15
+f 8 15 11
+f 9 13 14
+f 9 14 10
+f 12 16 15
+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 13 20 17
+f 15 16 21
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 21
+f 17 20 26
+f 17 26 27
+f 22 27 26
+f 22 26 28
+f 22 28 23
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_40.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84a3dd437bb8648c914efc318dd99644b1bfdec8
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_40.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.10462594 -0.17582109 -0.16841469
+v -0.01512131 -0.17602459 -0.16841469
+v -0.10462594 -0.20518569 -0.16841479
+v -0.10462594 -0.17719181 0.23406827
+v -0.01512131 -0.17722380 0.23406827
+v -0.01512131 -0.20385715 -0.16841479
+v -0.10462594 -0.20518860 -0.16794203
+v -0.10462594 -0.20552148 0.23406817
+v -0.01512131 -0.20451272 0.23406817
+v -0.01512131 -0.20388334 -0.16140208
+v -0.10462594 -0.20523817 -0.12417160
+v -0.01512131 -0.20390952 -0.15395598
+v -0.01512131 -0.20392989 -0.14678566
+v -0.01512131 -0.20394738 -0.13933958
+v -0.01512131 -0.20395902 -0.13216926
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 15
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 10
+f 2 10 6
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 6 10 7
+f 7 10 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 9
+f 7 9 11
+f 8 11 9
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_41.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..749b04a79f38e20cb09c98e4fe63e66db1ddd521
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_41.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.18502073 0.16222930 -0.22668219
+v -0.12366068 0.07900759 -0.22668250
+v -0.12227253 0.07900754 -0.21277339
+v -0.12213195 0.07900754 -0.21140808
+v -0.18345686 0.16222925 -0.21242399
+v -0.09289281 0.16222930 -0.22668219
+v -0.01675504 0.07900759 -0.22668250
+v -0.12104252 0.07900753 -0.20898775
+v -0.17946809 0.16222921 -0.20142005
+v -0.18231470 0.16222924 -0.20902623
+v -0.08846477 0.15755337 -0.22668221
+v -0.00550922 0.16222929 -0.22360248
+v -0.08372043 0.15253531 -0.22668223
+v -0.00550922 0.07900759 -0.22477029
+v -0.11990036 0.08194014 -0.20266542
+v -0.11078071 0.07900748 -0.19717315
+v -0.17184203 0.16222918 -0.19396125
+v -0.00550922 0.16222920 -0.19956989
+v -0.00550922 0.07900749 -0.19931809
+v -0.11021841 0.07900748 -0.19677365
+v -0.16440923 0.16222916 -0.18868619
+v -0.05281198 0.07900746 -0.18957860
+v -0.15370814 0.16222916 -0.18706099
+v -0.11000755 0.07900748 -0.19664564
+v -0.10310191 0.08547556 -0.19040862
+v -0.06620154 0.07900746 -0.18982296
+v -0.09387681 0.07900746 -0.19036987
+v -0.09545826 0.07900746 -0.19050950
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 17
+f 1 17 21
+f 1 21 23
+f 1 23 18
+f 1 18 12
+f 1 12 6
+f 1 6 11
+f 1 11 13
+f 1 13 7
+f 1 7 2
+f 2 7 14
+f 2 14 19
+f 2 19 22
+f 2 22 26
+f 2 26 27
+f 2 27 28
+f 2 28 24
+f 2 24 20
+f 2 20 16
+f 2 16 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 12 11
+f 7 13 12
+f 7 12 14
+f 8 15 9
+f 8 16 15
+f 9 15 17
+f 11 12 13
+f 12 18 19
+f 12 19 14
+f 15 16 17
+f 16 20 17
+f 17 20 21
+f 18 22 19
+f 18 23 22
+f 20 24 21
+f 21 24 25
+f 21 25 23
+f 22 23 26
+f 23 25 27
+f 23 27 26
+f 24 28 25
+f 25 28 27
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_42.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d7882a6ac081c721ae76cbcd270b820caf53e68
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_42.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00000014 0.22568936 -0.27080328
+v 0.08334604 0.24033016 -0.28584225
+v 0.00000014 0.21433276 -0.26735291
+v 0.00000014 0.24033010 -0.27022985
+v 0.08334604 0.24757559 -0.28408180
+v 0.08334604 0.22817650 -0.28189895
+v 0.08334604 0.22097295 -0.27663785
+v 0.06554448 0.21474629 -0.26869083
+v 0.00000014 0.19722280 -0.22631009
+v 0.00000014 0.24573571 -0.26859012
+v 0.08334604 0.25159088 -0.28224088
+v 0.00000014 0.25169269 -0.26677940
+v 0.08334604 0.21552537 -0.26933463
+v 0.08018059 0.21530362 -0.26947547
+v 0.08334604 0.19722280 -0.22598818
+v 0.00000014 0.19722270 -0.19937065
+v 0.08334604 0.25578588 -0.27426367
+v 0.00000014 0.25409582 -0.26176972
+v 0.08334604 0.19722270 -0.19913929
+v 0.00000014 0.22633030 -0.18308416
+v 0.08334604 0.25678669 -0.27087359
+v 0.00000014 0.25672670 -0.25625708
+v 0.08334604 0.22692359 -0.18308416
+v 0.05102258 0.22662396 -0.18308416
+v 0.00005725 0.22633030 -0.18308416
+v 0.00000014 0.24438699 -0.18308409
+v 0.08334604 0.25841073 -0.25940571
+v 0.00000014 0.25721211 -0.24928585
+v 0.08334604 0.24513611 -0.18308409
+v 0.00000014 0.25266328 -0.19850532
+v 0.00000014 0.25770949 -0.24164059
+v 0.08018059 0.25841072 -0.25625707
+v 0.08334604 0.25844068 -0.25625707
+v 0.08334604 0.25289702 -0.19808283
+v 0.08334604 0.25405365 -0.20119123
+v 0.08334604 0.25817084 -0.21242770
+v 0.00000014 0.25528822 -0.20576831
+v 0.00000014 0.25768542 -0.21242770
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 20
+f 1 20 26
+f 1 26 30
+f 1 30 37
+f 1 37 38
+f 1 38 31
+f 1 31 28
+f 1 28 22
+f 1 22 18
+f 1 18 12
+f 1 12 10
+f 1 10 4
+f 1 4 2
+f 2 5 11
+f 2 11 17
+f 2 17 21
+f 2 21 27
+f 2 27 33
+f 2 33 36
+f 2 36 35
+f 2 35 34
+f 2 34 29
+f 2 29 23
+f 2 23 19
+f 2 19 15
+f 2 15 13
+f 2 13 7
+f 2 7 6
+f 2 6 3
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 12
+f 5 12 11
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 19
+f 9 19 16
+f 11 12 17
+f 12 18 17
+f 13 15 14
+f 16 19 20
+f 17 18 22
+f 17 22 21
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 20 25 24
+f 20 24 23
+f 20 23 29
+f 20 29 26
+f 21 22 27
+f 22 28 27
+f 26 29 30
+f 27 28 31
+f 27 31 32
+f 27 32 33
+f 29 34 30
+f 30 34 35
+f 30 35 36
+f 30 36 37
+f 31 33 32
+f 31 38 33
+f 33 38 36
+f 36 38 37
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_43.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..215318db1b54fc79dd005a316a8760fb9f7caf0f
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_43.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.21250232 -0.15507154 -0.29991335
+v -0.20892521 -0.14306548 -0.29991331
+v -0.21250232 -0.15611317 -0.29991335
+v -0.21250232 -0.15507159 -0.28548259
+v -0.19796964 -0.13722158 -0.25626059
+v -0.19796964 -0.13722628 -0.27087156
+v -0.19796964 -0.13730447 -0.29991328
+v -0.21242381 -0.15507202 -0.16841463
+v -0.20882429 -0.14320584 -0.19781675
+v -0.13871754 -0.15611317 -0.29991335
+v -0.21250232 -0.15611323 -0.28443987
+v -0.19796964 -0.13732366 -0.24164962
+v -0.18332481 -0.13187586 -0.24164960
+v -0.18358272 -0.13187581 -0.25626057
+v -0.20882429 -0.14329133 -0.18320578
+v -0.17906368 -0.13187572 -0.28136313
+v -0.16867999 -0.13187570 -0.28693716
+v -0.18332481 -0.13607064 -0.29991328
+v -0.18288748 -0.13187576 -0.27087154
+v -0.21242381 -0.15611365 -0.16841463
+v -0.20882429 -0.14344797 -0.16841459
+v -0.20882429 -0.14344560 -0.16859481
+v -0.09795648 -0.15611343 -0.22967770
+v -0.14740799 -0.14821196 -0.29991332
+v -0.12514920 -0.13187576 -0.26923666
+v -0.09795648 -0.13187592 -0.22549385
+v -0.19796964 -0.13744473 -0.22703865
+v -0.18316782 -0.13187588 -0.23604980
+v -0.15365391 -0.13187571 -0.28373177
+v -0.16867999 -0.13601370 -0.29991328
+v -0.15014409 -0.15611365 -0.16841463
+v -0.19796964 -0.13854351 -0.16841457
+v -0.19796964 -0.13820892 -0.18320576
+v -0.19796964 -0.13767968 -0.21242770
+v -0.09795648 -0.15611354 -0.19892387
+v -0.15461826 -0.14190758 -0.29991330
+v -0.14163303 -0.13187573 -0.27868550
+v -0.09795648 -0.13187602 -0.19900102
+v -0.18286506 -0.13187592 -0.22703863
+v -0.14270954 -0.15507202 -0.16841463
+v -0.14226100 -0.15611365 -0.16844038
+v -0.18332481 -0.13820421 -0.16841457
+v -0.14839478 -0.13187607 -0.18499508
+v -0.15912609 -0.13187606 -0.18733799
+v -0.16716617 -0.13187604 -0.19220402
+v -0.17501561 -0.13187602 -0.19907826
+v -0.17944494 -0.13187598 -0.21057393
+v -0.18015140 -0.13187597 -0.21242767
+v -0.18230439 -0.13187593 -0.22203101
+v -0.13173152 -0.13187606 -0.18767270
+v -0.15405759 -0.14160198 -0.16841458
+v -0.14517651 -0.14570920 -0.16841460
+v -0.14507558 -0.14575902 -0.16841460
+v -0.14273196 -0.15496051 -0.16841463
+v -0.16885940 -0.13894214 -0.16841457
+v -0.16867999 -0.13895163 -0.16841457
+v -0.15422580 -0.14157113 -0.16841458
+f 1 2 7
+f 1 7 18
+f 1 18 30
+f 1 30 36
+f 1 36 24
+f 1 24 10
+f 1 10 3
+f 1 3 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 4 8
+f 2 8 9
+f 2 9 5
+f 3 10 23
+f 3 23 35
+f 3 35 41
+f 3 41 31
+f 3 31 20
+f 3 20 11
+f 4 11 8
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 9 15
+f 5 15 12
+f 6 14 7
+f 7 16 17
+f 7 17 18
+f 7 14 19
+f 7 19 16
+f 8 20 31
+f 8 31 40
+f 8 40 54
+f 8 54 53
+f 8 53 52
+f 8 52 51
+f 8 51 57
+f 8 57 56
+f 8 56 55
+f 8 55 42
+f 8 42 32
+f 8 32 21
+f 8 21 22
+f 8 22 15
+f 8 15 9
+f 8 11 20
+f 10 24 25
+f 10 25 26
+f 10 26 23
+f 12 15 27
+f 12 27 13
+f 13 27 28
+f 13 28 39
+f 13 39 49
+f 13 49 48
+f 13 48 47
+f 13 47 46
+f 13 46 45
+f 13 45 44
+f 13 44 43
+f 13 43 50
+f 13 50 38
+f 13 38 26
+f 13 26 25
+f 13 25 37
+f 13 37 29
+f 13 29 17
+f 13 17 16
+f 13 16 19
+f 13 19 14
+f 15 22 27
+f 17 29 30
+f 17 30 18
+f 21 32 33
+f 21 33 34
+f 21 34 27
+f 21 27 22
+f 23 26 38
+f 23 38 35
+f 24 36 25
+f 25 36 30
+f 25 30 37
+f 27 34 39
+f 27 39 28
+f 29 37 30
+f 31 41 40
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 39
+f 32 39 33
+f 33 39 34
+f 35 38 41
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 41
+f 40 41 54
+f 41 53 54
+f 42 55 43
+f 43 55 56
+f 43 56 50
+f 50 56 57
+f 50 57 51
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_44.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87c7312393913cfbe89db62aebb4bfec3ca9ef22
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_44.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+v -0.15934160 -0.10974018 -0.22962723
+v -0.15932423 -0.10974019 -0.22703701
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+v -0.01756647 -0.01530421 -0.22962689
+v -0.09067632 -0.10974018 -0.22962723
+v -0.15718875 -0.10974024 -0.21242267
+v -0.10374964 -0.01530426 -0.21577989
+v 0.01802488 -0.01530421 -0.22893357
+v -0.02845222 -0.03123150 -0.22962694
+v -0.08657898 -0.10509973 -0.22962722
+v 0.01802488 -0.10974020 -0.22205520
+v -0.15708458 -0.10974024 -0.21206821
+v -0.10192667 -0.01530429 -0.20821565
+v -0.10291628 -0.01530427 -0.21206787
+v 0.01802488 -0.01530432 -0.19816244
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+v -0.05367868 -0.06511974 -0.22962707
+v -0.04619581 -0.05533042 -0.22962703
+v -0.03501492 -0.04041072 -0.22962698
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+v -0.15187609 -0.10974028 -0.20169952
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+v -0.05164737 -0.01530435 -0.19113183
+v -0.12375024 -0.10974032 -0.18984290
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+v -0.06812356 -0.01530435 -0.19113572
+v -0.13451447 -0.10974032 -0.19019345
+v -0.12368079 -0.09751984 -0.19020899
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+f 34 39 40
+f 34 40 38
+f 36 38 37
+f 37 40 39
+f 37 38 40
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_45.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd78ca9ce1fcd37dab47ff280fa029c102474df6
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_45.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.21451946 0.19640037 0.07984544
+v -0.21446830 0.21104975 0.07984550
+v -0.21435574 0.22568372 -0.03707075
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+v -0.18332988 0.17752296 -0.05552416
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+v -0.16879930 0.17716559 0.22584615
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+v -0.10998114 0.24361095 0.07970789
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+v -0.10998114 0.22818603 -0.05552397
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_46.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14acd88209e0b0ea14ff4c549ff6dcdda156f2eb
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_46.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.21435994 0.19640502 -0.05552410
+v -0.20981252 0.18343992 -0.09552565
+v -0.20983413 0.18351892 -0.05552415
+v -0.21432755 0.22568370 -0.05552399
+v -0.21428433 0.22568407 -0.15396614
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+v -0.21427353 0.21104874 -0.16907096
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+v -0.19796333 0.17762206 -0.06630535
+v -0.19796333 0.17766161 -0.05552417
+v -0.21424113 0.22953053 -0.05552398
+v -0.21400349 0.24032742 -0.16858180
+v -0.21400349 0.24032742 -0.16907086
+v -0.21423032 0.19640544 -0.16907102
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+v -0.18334895 0.17730583 -0.16907109
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+v -0.20951009 0.25235076 -0.16858175
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+v -0.16868057 0.17771744 -0.16907109
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+v -0.15356931 0.25778066 -0.16907079
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_47.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f0b0b78a5e1289423f61fc92099d99a105dfe26
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_47.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00210603 0.02530873 0.28045884
+v -0.00210603 0.02530893 0.22608486
+v -0.00210603 0.05651997 0.28045896
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+f 6 18 19
+f 6 19 20
+f 7 11 8
+f 8 11 16
+f 8 16 15
+f 8 15 14
+f 8 14 13
+f 8 13 25
+f 8 25 31
+f 8 31 39
+f 8 39 38
+f 8 38 37
+f 8 37 32
+f 8 32 26
+f 8 26 19
+f 8 19 18
+f 8 18 22
+f 8 22 21
+f 8 21 9
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 12 24 25
+f 12 25 13
+f 17 23 18
+f 18 23 22
+f 19 26 27
+f 19 27 20
+f 24 28 25
+f 25 28 29
+f 25 29 30
+f 25 30 31
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 31
+f 32 37 33
+f 33 37 36
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_48.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..761c8c3106b60da9967241afb2fd5513bb2b2c38
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_48.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.20021981 -0.16062724 0.30896676
+v 0.19704675 -0.16374040 0.28045964
+v 0.19705880 -0.16374036 0.26979620
+v 0.19708294 -0.16374025 0.24066734
+v 0.19703468 -0.15506648 0.24066737
+v 0.20018362 -0.15766726 0.30896677
+v 0.08557930 -0.16062724 0.30896676
+v 0.09967108 -0.16374040 0.28045964
+v 0.11767189 -0.16374025 0.24066734
+v 0.19714326 -0.14468568 0.30896682
+v 0.20013534 -0.15506673 0.30896678
+v 0.19348761 -0.14396658 0.24066741
+v 0.07696497 -0.11266513 0.30896694
+v 0.08037933 -0.10974730 0.26979640
+v 0.08705122 -0.10974719 0.24066754
+v 0.08707535 -0.10980533 0.24066754
+v 0.09483307 -0.12578390 0.24066748
+v 0.10025020 -0.13689965 0.24066744
+v 0.10898517 -0.16374030 0.25428577
+v 0.10447290 -0.14427315 0.24066741
+v 0.19611775 -0.14161471 0.30896683
+v 0.11372667 -0.10974719 0.24066754
+v 0.13923183 -0.10974725 0.25622478
+v 0.14630185 -0.10974728 0.26528367
+v 0.14754453 -0.10974730 0.26979640
+v 0.07989674 -0.10974734 0.28045984
+v 0.15468695 -0.11266513 0.30896694
+v 0.14768931 -0.10974732 0.27463674
+v 0.14783409 -0.10974734 0.28045984
+v 0.14773757 -0.10974733 0.27635491
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 10
+f 1 10 21
+f 1 21 27
+f 1 27 13
+f 1 13 7
+f 1 7 8
+f 1 8 2
+f 2 8 19
+f 2 19 9
+f 2 9 4
+f 2 4 3
+f 4 9 20
+f 4 20 18
+f 4 18 17
+f 4 17 16
+f 4 16 15
+f 4 15 22
+f 4 22 12
+f 4 12 5
+f 5 10 11
+f 5 11 6
+f 5 12 10
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 9 19 20
+f 10 12 21
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 21
+f 13 26 14
+f 13 27 29
+f 13 29 26
+f 14 26 29
+f 14 29 30
+f 14 30 28
+f 14 28 25
+f 14 25 24
+f 14 24 23
+f 14 23 22
+f 14 22 15
+f 18 20 19
+f 21 25 27
+f 25 28 27
+f 27 28 30
+f 27 30 29
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_49.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..538c638d0c800cc14d91643a51496a6e352bd622
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_49.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01511255 -0.18436654 -0.27072115
+v 0.07989010 -0.17507754 -0.27956022
+v 0.07989010 -0.18409420 -0.28099783
+v 0.07989010 -0.19848866 -0.28213433
+v 0.07989010 -0.19900231 -0.28215374
+v -0.01511255 -0.19153901 -0.27057545
+v -0.01511255 -0.17792429 -0.26901157
+v 0.07989010 -0.17497853 -0.27943393
+v -0.01511255 -0.17173580 -0.26734085
+v 0.07989010 -0.20962799 -0.28072593
+v -0.01511255 -0.19900236 -0.27035210
+v 0.07989010 -0.17020721 -0.27088621
+v -0.01511255 -0.16865393 -0.26170713
+v 0.07989010 -0.21513579 -0.27089609
+v -0.01511255 -0.21084098 -0.26697189
+v 0.07989010 -0.17008964 -0.27057537
+v -0.01511255 -0.16570824 -0.25625796
+v -0.01511255 -0.15419771 -0.22667116
+v -0.01511255 -0.21633642 -0.25625814
+v 0.07989010 -0.21738228 -0.25625815
+v 0.06554113 -0.21733897 -0.25625815
+v -0.00764513 -0.15419771 -0.22663230
+v 0.00699212 -0.15419771 -0.22647691
+v 0.02162937 -0.15419771 -0.22623406
+v 0.03626662 -0.15419771 -0.22590381
+v 0.07989010 -0.15419771 -0.22487420
+v -0.01511255 -0.15419781 -0.19956133
+v -0.01511255 -0.21731426 -0.24164932
+v 0.07989010 -0.21740090 -0.24194072
+v 0.07989010 -0.15419781 -0.19957104
+v -0.01511255 -0.17432910 -0.18293221
+v 0.07989010 -0.21741952 -0.22704050
+v -0.01511255 -0.21729575 -0.22704050
+v 0.02162937 -0.17433528 -0.18293221
+v 0.03626662 -0.17439717 -0.18293221
+v 0.07989010 -0.17477466 -0.18293221
+v -0.01511255 -0.20413914 -0.18293232
+v 0.07989010 -0.21704208 -0.21243168
+v -0.01511255 -0.21704208 -0.21243168
+v -0.01511255 -0.21717200 -0.21988181
+v 0.07989010 -0.17483656 -0.18293221
+v -0.01497306 -0.20413914 -0.18293232
+v -0.01511255 -0.21155910 -0.19895930
+v 0.07989010 -0.21149103 -0.19920214
+v 0.06554113 -0.21151579 -0.19916329
+v 0.06581081 -0.20389160 -0.18293232
+v 0.07989010 -0.20389160 -0.18294203
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 15
+f 1 15 19
+f 1 19 28
+f 1 28 33
+f 1 33 40
+f 1 40 39
+f 1 39 43
+f 1 43 37
+f 1 37 31
+f 1 31 27
+f 1 27 18
+f 1 18 17
+f 1 17 13
+f 1 13 9
+f 1 9 7
+f 1 7 2
+f 2 8 12
+f 2 12 16
+f 2 16 26
+f 2 26 30
+f 2 30 36
+f 2 36 41
+f 2 41 47
+f 2 47 44
+f 2 44 38
+f 2 38 32
+f 2 32 29
+f 2 29 20
+f 2 20 14
+f 2 14 10
+f 2 10 5
+f 2 5 4
+f 2 4 3
+f 2 7 9
+f 2 9 8
+f 5 10 11
+f 5 11 6
+f 8 9 12
+f 9 13 12
+f 10 14 15
+f 10 15 11
+f 12 13 17
+f 12 17 18
+f 12 18 16
+f 14 19 15
+f 14 20 21
+f 14 21 19
+f 16 18 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 18 27 30
+f 18 30 26
+f 18 26 25
+f 18 25 24
+f 18 24 23
+f 18 23 22
+f 19 21 28
+f 20 29 28
+f 20 28 21
+f 27 31 30
+f 28 29 32
+f 28 32 33
+f 30 31 34
+f 30 34 35
+f 30 35 36
+f 31 37 42
+f 31 42 46
+f 31 46 41
+f 31 41 36
+f 31 36 35
+f 31 35 34
+f 32 38 39
+f 32 39 40
+f 32 40 33
+f 37 43 42
+f 38 44 45
+f 38 45 43
+f 38 43 39
+f 41 46 47
+f 42 47 46
+f 42 43 45
+f 42 45 47
+f 44 47 45
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_5.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d0bd890f1becd0e9ea333e221f1214cd9bc7dc9
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_5.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.02090268 0.27662486 0.31631493
+v -0.00765001 0.25788015 0.29897800
+v -0.02090268 0.25788015 0.29901704
+v -0.02090268 0.18890440 0.31631460
+v -0.01458976 0.27657893 0.31631493
+v 0.16801505 0.25759317 0.29897800
+v 0.12409318 0.25781128 0.29897800
+v 0.10945256 0.25783425 0.29897800
+v -0.02090268 0.21463978 0.29897784
+v -0.02090268 0.21010568 0.29898292
+v 0.08301438 0.15936969 0.29899123
+v 0.05299439 0.15936963 0.31631450
+v 0.02163123 0.27616570 0.31631492
+v 0.16801505 0.27248105 0.31631491
+v 0.18265567 0.25431027 0.29897798
+v 0.02989176 0.27600502 0.31631492
+v 0.03627185 0.27584431 0.31631492
+v 0.08820799 0.15936969 0.29897764
+v 0.17609649 0.15936963 0.31631450
+v 0.18265567 0.26848645 0.31631490
+v 0.19693812 0.26250603 0.31631487
+v 0.19154302 0.24927111 0.29897797
+v 0.14681525 0.15936969 0.29897764
+v 0.14867331 0.15936969 0.29898444
+v 0.19501289 0.16869035 0.31631453
+v 0.20461660 0.25460866 0.31631485
+v 0.19393836 0.24032918 0.29897793
+v 0.18265567 0.17982478 0.29897771
+v 0.19225939 0.18531162 0.29897773
+v 0.20488524 0.17391317 0.31631455
+v 0.20777307 0.24032912 0.31631479
+v 0.19472187 0.22568232 0.29897788
+v 0.19452040 0.19640007 0.29897777
+v 0.20694477 0.18773357 0.31631460
+v 0.20779545 0.22568226 0.31631474
+v 0.20745966 0.19640001 0.31631463
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 12
+f 1 12 19
+f 1 19 25
+f 1 25 30
+f 1 30 34
+f 1 34 36
+f 1 36 35
+f 1 35 31
+f 1 31 26
+f 1 26 21
+f 1 21 20
+f 1 20 14
+f 1 14 17
+f 1 17 16
+f 1 16 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 7
+f 2 7 6
+f 2 6 15
+f 2 15 22
+f 2 22 27
+f 2 27 32
+f 2 32 33
+f 2 33 29
+f 2 29 28
+f 2 28 23
+f 2 23 18
+f 2 18 9
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 14 15
+f 6 13 16
+f 6 16 17
+f 6 17 14
+f 9 18 10
+f 10 18 11
+f 11 18 23
+f 11 23 24
+f 11 24 19
+f 11 19 12
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 19 24 25
+f 21 26 22
+f 22 26 27
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 24 30 25
+f 26 31 27
+f 27 31 32
+f 29 33 30
+f 30 33 34
+f 31 35 32
+f 32 35 33
+f 33 35 36
+f 33 36 34
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_50.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e27ec5d14bd8c4a6d6088d2de96d07ce4757bfd
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_50.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00658597 0.00563655 0.28046410
+v 0.00658597 0.00560948 0.26978945
+v 0.00658597 0.02530873 0.28046417
+v -0.02755941 -0.01426806 0.28046403
+v 0.00658597 0.00560948 0.26938935
+v 0.00658597 0.02530893 0.22596529
+v -0.07307322 0.02530873 0.28046417
+v -0.02762946 -0.01426803 0.27344895
+v -0.09551990 -0.01426806 0.28046403
+v 0.00658597 0.01769652 0.22596527
+v -0.02763947 -0.01426803 0.27246204
+v -0.02766949 -0.01426802 0.26978938
+v -0.02780959 -0.01426800 0.26407061
+v -0.02804977 -0.01426799 0.26074714
+v -0.02249564 -0.00667095 0.22596518
+v -0.01517020 -0.00110013 0.22596520
+v -0.06664845 0.02530893 0.22596529
+v -0.07271295 0.02530877 0.26978952
+v -0.09565000 -0.01426802 0.26978938
+v -0.09559996 -0.01426804 0.27423315
+v -0.09557995 -0.01426804 0.27585488
+v -0.03693637 -0.01426796 0.25201963
+v -0.03693637 -0.01029701 0.22596516
+v -0.06708878 0.02066013 0.22596528
+v -0.09200729 -0.01426798 0.25869861
+v -0.09357845 -0.01426799 0.26214481
+v -0.07246277 0.02530878 0.26781569
+v -0.05156724 -0.01426795 0.24936830
+v -0.06656839 -0.01426795 0.25043524
+v -0.08130935 -0.01426796 0.25422285
+v -0.05156724 -0.00605111 0.22596518
+v -0.06503725 0.00601641 0.22596522
+v -0.06055392 -0.00242892 0.22596519
+f 1 2 5
+f 1 5 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 17
+f 3 17 27
+f 3 27 18
+f 3 18 7
+f 4 8 5
+f 4 9 21
+f 4 21 20
+f 4 20 19
+f 4 19 26
+f 4 26 25
+f 4 25 30
+f 4 30 29
+f 4 29 28
+f 4 28 22
+f 4 22 14
+f 4 14 13
+f 4 13 12
+f 4 12 11
+f 4 11 8
+f 5 8 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 10
+f 6 10 16
+f 6 16 15
+f 6 15 23
+f 6 23 31
+f 6 31 33
+f 6 33 32
+f 6 32 24
+f 6 24 17
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 9
+f 14 22 23
+f 14 23 15
+f 17 24 25
+f 17 25 26
+f 17 26 19
+f 17 19 27
+f 18 27 19
+f 22 28 23
+f 23 28 29
+f 23 29 30
+f 23 30 25
+f 23 25 31
+f 24 32 25
+f 25 32 33
+f 25 33 31
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_51.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f781ce95071a7dd6bdb9686927593370585e03d7
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_51.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.18513416 0.16222936 -0.24165346
+v -0.18511767 0.16222935 -0.23872180
+v -0.18501878 0.16222940 -0.25325404
+v -0.12355471 0.07900770 -0.25626045
+v -0.12368657 0.07900765 -0.24165377
+v -0.12368657 0.07900759 -0.22704137
+v -0.18505175 0.16222930 -0.22704106
+v -0.18498581 0.16222941 -0.25626014
+v -0.12043948 0.07900774 -0.26722548
+v -0.18447485 0.16222945 -0.26744276
+v -0.18419465 0.16222946 -0.27087255
+v -0.12367010 0.07900759 -0.22673215
+v -0.18501878 0.16222930 -0.22669178
+v -0.12034059 0.07900774 -0.26731709
+v -0.18005748 0.16222951 -0.28212385
+v -0.12365362 0.07900759 -0.22669209
+v -0.09288038 0.16222930 -0.22669178
+v -0.11013778 0.07900776 -0.27316319
+v -0.17773342 0.16222951 -0.28325759
+v -0.01676318 0.07900759 -0.22669209
+v -0.08371599 0.15253531 -0.22669182
+v -0.11358267 0.16222945 -0.26745420
+v -0.10989054 0.07900776 -0.27326627
+v -0.16781082 0.16222952 -0.28518146
+v -0.03871816 0.07900774 -0.26628069
+v -0.04369594 0.08719467 -0.26443121
+v -0.11849453 0.16222946 -0.27031139
+v -0.05785460 0.10236292 -0.26507245
+v -0.03911375 0.07900774 -0.26657272
+v -0.09550113 0.07900777 -0.27532183
+v -0.16314621 0.16222952 -0.28502115
+v -0.06598058 0.07900777 -0.27486950
+v -0.09527037 0.07900777 -0.27532183
+v -0.13573545 0.16222949 -0.27679309
+v -0.05134392 0.07900776 -0.27256198
+v -0.05157468 0.07900776 -0.27260206
+f 1 2 7
+f 1 7 13
+f 1 13 17
+f 1 17 22
+f 1 22 27
+f 1 27 34
+f 1 34 31
+f 1 31 24
+f 1 24 19
+f 1 19 15
+f 1 15 11
+f 1 11 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 14
+f 4 14 18
+f 4 18 23
+f 4 23 30
+f 4 30 33
+f 4 33 32
+f 4 32 36
+f 4 36 35
+f 4 35 29
+f 4 29 25
+f 4 25 20
+f 4 20 16
+f 4 16 12
+f 4 12 6
+f 4 6 5
+f 4 8 10
+f 4 10 11
+f 4 11 9
+f 6 12 7
+f 7 12 13
+f 9 11 15
+f 9 15 14
+f 12 16 13
+f 13 16 20
+f 13 20 21
+f 13 21 17
+f 14 15 18
+f 15 19 18
+f 17 21 22
+f 18 19 23
+f 19 24 23
+f 20 25 26
+f 20 26 21
+f 21 26 22
+f 22 26 28
+f 22 28 25
+f 22 25 29
+f 22 29 27
+f 23 24 30
+f 24 31 32
+f 24 32 33
+f 24 33 30
+f 25 28 26
+f 27 29 35
+f 27 35 34
+f 31 34 35
+f 31 35 36
+f 31 36 32
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_52.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5ceadee9c84ec40c58bc8a35a7527691212fab6
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_52.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.09795648 -0.19900444 -0.27737919
+v -0.09795648 -0.20259620 -0.27725122
+v -0.09795648 -0.19145346 -0.27736850
+v -0.01511255 -0.18436481 -0.27071287
+v -0.01511255 -0.19154239 -0.27057422
+v -0.01511255 -0.19900447 -0.27035027
+v -0.09795648 -0.20995754 -0.27333681
+v -0.01511255 -0.21084068 -0.26697983
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diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_53.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab464b547bed3c3077666ce4bbfe5d15ddfa02bc
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_53.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_54.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e2d1c14369b70b75b9ce3224e4afb9f465aa600
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_54.obj
@@ -0,0 +1,334 @@
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_55.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..596220d790d63b87ed399b1dec34d19dc5db60b3
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_55.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+v -0.21259456 -0.16972287 -0.05168042
+v -0.21260514 -0.16972292 -0.03706402
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+v -0.18332641 -0.21783594 -0.16841484
+v -0.16868176 -0.21717812 0.23406812
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+v -0.13941359 -0.21713740 -0.16841484
+v -0.14993448 -0.14134246 0.23406840
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_56.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bedf8e3d2a4937c3f059a7c16b9a80e873c951be
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_56.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.10517112 -0.01530416 -0.24165153
+v -0.10501836 -0.01530421 -0.22963079
+v -0.10487949 -0.01530411 -0.25626310
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_57.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0e2a032aac1235d8af62141ca03b3acb43a8ed6
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_57.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.08477912 -0.06248054 -0.18639005
+v 0.07785673 0.02530191 -0.20180822
+v 0.08107922 -0.05255410 -0.18639001
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+v 0.08017950 -0.03790905 -0.27416012
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+f 1 40 38
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+f 1 52 60
+f 1 60 59
+f 1 59 58
+f 1 58 55
+f 1 55 54
+f 1 54 53
+f 1 53 41
+f 1 41 32
+f 1 32 27
+f 1 27 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 6 3
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+f 2 23 15
+f 2 15 8
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+f 5 13 7
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+f 10 17 11
+f 11 18 19
+f 11 19 23
+f 11 23 29
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+f 11 34 43
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+f 11 39 30
+f 11 30 24
+f 11 24 20
+f 11 17 18
+f 12 21 13
+f 13 21 22
+f 20 24 25
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+f 24 26 25
+f 26 30 31
+f 27 32 33
+f 27 33 28
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 34
+f 30 39 31
+f 31 39 40
+f 32 41 33
+f 33 41 42
+f 34 38 44
+f 34 44 43
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+f 35 46 47
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+f 35 48 49
+f 35 49 36
+f 36 49 37
+f 37 50 51
+f 37 51 52
+f 37 52 38
+f 37 49 50
+f 38 40 44
+f 39 43 44
+f 39 44 40
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+f 42 53 54
+f 42 54 55
+f 42 55 56
+f 45 57 58
+f 45 58 59
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+f 47 51 48
+f 48 51 50
+f 48 50 49
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+f 51 60 52
+f 55 58 56
+f 56 58 57
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_58.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38ac9f97f9ab553b44a74a4621c8f13a5cf4b935
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_58.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.21424022 0.19791840 -0.16907102
+v -0.21422943 0.19639874 -0.16907103
+v -0.14138786 0.19791840 -0.16907102
+v -0.21402442 0.19791888 -0.30063084
+v -0.20988116 0.18372442 -0.16907108
+v -0.21401363 0.19639922 -0.30063085
+v -0.20963299 0.18307861 -0.30009000
+v -0.20964379 0.18304363 -0.28548512
+v -0.10402299 0.16223267 -0.19631040
+v -0.10402299 0.19791851 -0.19901489
+v -0.14161445 0.19592364 -0.16907103
+v -0.15068862 0.19791888 -0.30063084
+v -0.20973010 0.18328774 -0.16907108
+v -0.20969773 0.18319347 -0.18319943
+v -0.20963299 0.18308211 -0.30063090
+v -0.20315916 0.17585041 -0.24164473
+v -0.20315916 0.17583288 -0.22703986
+v -0.10402299 0.16223280 -0.23104530
+v -0.14405294 0.18533492 -0.16907107
+v -0.12086578 0.16223265 -0.19033452
+v -0.10402299 0.19791861 -0.22629278
+v -0.11360428 0.16223293 -0.26745446
+v -0.15109864 0.19639922 -0.30063085
+v -0.19796928 0.17726849 -0.16907110
+v -0.20261966 0.17582235 -0.21243496
+v -0.18506475 0.16223278 -0.22703991
+v -0.18345708 0.16223273 -0.21243501
+v -0.18232415 0.16223272 -0.20903494
+v -0.19684715 0.17573883 -0.30063092
+v -0.18420157 0.16223294 -0.27086743
+v -0.20294336 0.17584002 -0.27086738
+v -0.18512949 0.16223284 -0.24164478
+v -0.10968760 0.16223289 -0.25624966
+v -0.15405502 0.17976981 -0.16907109
+v -0.16868592 0.17771566 -0.16907110
+v -0.13941334 0.16223264 -0.18841552
+v -0.11851361 0.16223294 -0.27031361
+v -0.15661219 0.18230655 -0.30063090
+v -0.18333839 0.17729993 -0.16907110
+v -0.17947566 0.16223269 -0.20142340
+v -0.17185811 0.16223266 -0.19396641
+v -0.16441317 0.16223264 -0.18868599
+v -0.15372054 0.16223264 -0.18706323
+v -0.18332760 0.17447418 -0.30063093
+v -0.16781195 0.16223300 -0.28517607
+v -0.17773851 0.16223299 -0.28325709
+v -0.18005831 0.16223299 -0.28212372
+v -0.18447131 0.16223293 -0.26744158
+v -0.18498922 0.16223289 -0.25624966
+v -0.18502159 0.16223288 -0.25324884
+v -0.13575562 0.16223297 -0.27679181
+v -0.16789827 0.17502616 -0.30063093
+v -0.16765010 0.17517987 -0.30063093
+v -0.17934618 0.17439384 -0.30063093
+v -0.16315078 0.16223300 -0.28502154
+f 1 2 5
+f 1 5 13
+f 1 13 24
+f 1 24 39
+f 1 39 35
+f 1 35 34
+f 1 34 19
+f 1 19 11
+f 1 11 3
+f 1 3 10
+f 1 10 21
+f 1 21 12
+f 1 12 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 3 11 9
+f 4 12 23
+f 4 23 38
+f 4 38 53
+f 4 53 52
+f 4 52 54
+f 4 54 44
+f 4 44 29
+f 4 29 15
+f 4 15 6
+f 5 8 14
+f 5 14 13
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 14
+f 9 18 21
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+f 9 33 18
+f 12 22 23
+f 12 21 22
+f 13 14 17
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+f 13 26 27
+f 13 27 28
+f 13 28 24
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 16 31 32
+f 16 32 17
+f 17 26 25
+f 17 32 26
+f 18 33 21
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 21 33 22
+f 22 37 38
+f 22 38 23
+f 24 28 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 39
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 30 48 31
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 35 39 43
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+f 37 51 52
+f 37 52 53
+f 37 53 38
+f 44 54 45
+f 45 54 55
+f 51 55 52
+f 52 55 54
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_59.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57f5791725eb371712cf9c848b2493b7ac67e1da
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_59.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.10892435 0.16223195 0.28045935
+v -0.10884165 0.16223199 0.26979332
+v -0.13615477 0.20825212 0.28045951
+v -0.17753796 0.16223195 0.28045935
+v -0.11310092 0.16223203 0.25851249
+v -0.13896672 0.20825232 0.22584626
+v -0.13754006 0.20825228 0.23775799
+v -0.13651659 0.20825221 0.25529947
+v -0.21435174 0.20825212 0.28045951
+v -0.20009558 0.17553116 0.28045939
+v -0.17736221 0.16223199 0.26979332
+v -0.11781507 0.16223204 0.25615471
+v -0.14389796 0.18443356 0.22584618
+v -0.14107567 0.19630466 0.22584622
+v -0.14105499 0.19639475 0.22584622
+v -0.21184994 0.20825232 0.22584626
+v -0.21439310 0.20825227 0.24057019
+v -0.21444479 0.19639475 0.22584622
+v -0.21442411 0.19639470 0.24057015
+v -0.21437242 0.19639459 0.26979344
+v -0.21435174 0.19639455 0.28045947
+v -0.20285583 0.17750892 0.28045940
+v -0.20987536 0.18297839 0.22584617
+v -0.17641112 0.16223200 0.26767082
+v -0.19805898 0.17688741 0.22584615
+v -0.19796594 0.17684237 0.22584615
+v -0.13453169 0.16223206 0.25044480
+v -0.15406026 0.17850927 0.22584616
+v -0.21443445 0.19650738 0.22584622
+v -0.21440344 0.20825232 0.22586766
+v -0.21440344 0.20825231 0.22874400
+v -0.20986502 0.18292878 0.24057010
+v -0.20983402 0.18286560 0.26979339
+v -0.20982368 0.18285205 0.28045942
+v -0.16912280 0.16223204 0.25520307
+v -0.16746871 0.16223205 0.25435833
+v -0.18332726 0.17695950 0.22584615
+v -0.15406026 0.16223206 0.24939155
+v -0.16868859 0.17716673 0.22584615
+f 1 2 3
+f 1 3 9
+f 1 9 21
+f 1 21 34
+f 1 34 22
+f 1 22 10
+f 1 10 4
+f 1 4 11
+f 1 11 24
+f 1 24 35
+f 1 35 36
+f 1 36 38
+f 1 38 27
+f 1 27 12
+f 1 12 5
+f 1 5 2
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+f 2 8 3
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+f 3 7 6
+f 3 6 16
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+f 10 22 23
+f 10 23 11
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+f 11 26 24
+f 12 27 28
+f 12 28 13
+f 16 29 30
+f 17 31 18
+f 18 23 32
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 18 31 30
+f 18 30 29
+f 19 34 20
+f 20 34 21
+f 22 34 33
+f 22 33 32
+f 22 32 23
+f 24 26 35
+f 26 36 35
+f 26 37 38
+f 26 38 36
+f 27 38 39
+f 27 39 28
+f 37 39 38
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_6.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5719639eef4359ed1ec401bd0d1350bbb30691b6
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_6.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.10959217 -0.10974185 0.22596480
+v 0.10457981 -0.09890038 0.22592878
+v 0.10457276 -0.09888943 0.22596484
+v 0.08713172 -0.10974185 0.22596480
+v 0.10902820 -0.10974072 -0.08087887
+v 0.08999391 -0.06985837 0.22596494
+v 0.10416388 -0.09981908 -0.09551620
+v 0.05591550 -0.04945669 0.22596502
+v 0.08701188 -0.10974180 0.21132744
+v 0.10899295 -0.10974068 -0.09371361
+v 0.05990565 -0.01279280 0.22592909
+v 0.05989860 -0.01278185 0.22596515
+v 0.08944403 -0.07075522 -0.08087873
+v 0.07078338 -0.03464978 -0.09551596
+v 0.06494621 -0.02327176 -0.08087856
+v 0.10893655 -0.10974062 -0.10831491
+v 0.10892950 -0.10974062 -0.11011753
+v 0.10880260 -0.10974051 -0.13751750
+v 0.10413568 -0.09990664 -0.11011750
+v 0.08942288 -0.07080992 -0.09551609
+v 0.08694843 -0.10974176 0.20155718
+v 0.04124500 -0.02048039 0.22596512
+v 0.04118155 -0.02064460 0.21132776
+v 0.04093481 -0.02101678 0.16748781
+v 0.04087136 -0.02107147 0.15288651
+v 0.08666644 -0.10974160 0.15717645
+v 0.05549956 -0.00546659 0.22592912
+v 0.05968711 -0.01344873 -0.08087852
+v 0.05549251 -0.00545564 0.22596518
+v 0.07068469 -0.03483578 -0.14234830
+v 0.06485456 -0.02327171 -0.09551592
+v 0.10876736 -0.10974050 -0.14234857
+v 0.10514379 -0.10233763 -0.14234855
+v 0.10410043 -0.09999419 -0.12471879
+v 0.10405108 -0.10008174 -0.13935615
+v 0.07445630 -0.04216199 -0.14234832
+v 0.03793162 -0.00863143 0.22596517
+v 0.08664529 -0.10974158 0.15288619
+v 0.03757209 -0.00863089 0.07980793
+v 0.03760734 -0.00863084 0.06520663
+v 0.03806557 -0.00863046 -0.03703854
+v 0.04176668 -0.01949345 -0.14234824
+v 0.08536929 -0.10768225 0.00680105
+v 0.08535519 -0.10773707 0.02140235
+v 0.05493559 -0.00612252 -0.08087849
+v 0.06450912 -0.02327154 -0.14234826
+v 0.05962366 -0.01356914 -0.09551588
+v 0.04817489 0.00213339 0.22596521
+v 0.04761091 0.00169648 -0.08087846
+v 0.08794949 -0.10974050 -0.14234857
+v 0.10500279 -0.10205291 -0.14234854
+v 0.10403698 -0.10012554 -0.14234854
+v 0.04027919 0.00213339 0.22596521
+v 0.08644085 -0.10974110 0.02140235
+v 0.03991965 0.00173975 0.06520667
+v 0.03994080 0.00173980 0.05056932
+v 0.04003950 0.00174002 -0.00783590
+v 0.04009589 0.00172917 -0.03703850
+v 0.04018754 0.00169648 -0.08087846
+v 0.03814312 -0.00863041 -0.05167590
+v 0.03833346 -0.00863030 -0.08087850
+v 0.04131550 -0.00863008 -0.14234820
+v 0.08511549 -0.10433072 -0.14234855
+v 0.08553848 -0.10732071 -0.03703890
+v 0.08686383 -0.10974088 -0.03703891
+v 0.08649725 -0.10974104 0.00680105
+v 0.08647609 -0.10974106 0.01083894
+v 0.05936986 -0.01422603 -0.14234822
+v 0.05325774 -0.00840011 -0.14234820
+v 0.05161516 -0.00689982 -0.14234820
+v 0.04579208 -0.00215804 -0.14234818
+v 0.04429754 -0.00096439 -0.14234817
+v 0.08615180 -0.10635665 -0.14234856
+v 0.04313433 -0.00096439 -0.14234817
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 29
+f 1 29 48
+f 1 48 53
+f 1 53 37
+f 1 37 22
+f 1 22 8
+f 1 8 4
+f 1 4 9
+f 1 9 21
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+f 1 38 54
+f 1 54 67
+f 1 67 66
+f 1 66 65
+f 1 65 50
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+f 1 17 16
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+f 6 11 12
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+f 13 20 14
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+f 30 71 70
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+f 39 57 58
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+f 39 59 40
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+f 40 59 41
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+f 41 60 42
+f 42 60 61
+f 42 61 62
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+f 42 64 43
+f 43 64 65
+f 43 65 66
+f 43 66 67
+f 43 67 54
+f 43 54 44
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+f 45 68 49
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+f 48 49 59
+f 48 59 53
+f 49 68 69
+f 49 69 70
+f 49 70 71
+f 49 71 72
+f 49 72 74
+f 49 74 59
+f 50 65 64
+f 50 64 73
+f 53 59 58
+f 53 58 57
+f 53 57 56
+f 53 56 55
+f 59 74 62
+f 59 62 61
+f 59 61 60
+f 63 73 64
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_60.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebe57ee6af429a991d5e85a15a82868d711bc9a7
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_60.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.21428200 0.22569025 -0.16907092
+v -0.21427120 0.21104767 -0.16907097
+v -0.21400135 0.24033284 -0.16907087
+v -0.21414168 0.24033332 -0.30008979
+v -0.21414168 0.24033332 -0.30063069
+v -0.21418485 0.22623457 -0.30063074
+v -0.21418485 0.22569073 -0.30063074
+v -0.21426040 0.21104772 -0.18319932
+v -0.21423883 0.19792431 -0.17011422
+v -0.21423883 0.19792431 -0.16907102
+v -0.21386104 0.24072892 -0.16907087
+v -0.21397977 0.24078850 -0.30063069
+v -0.21402294 0.19792479 -0.30063084
+v -0.14138044 0.19792431 -0.16907102
+v -0.20951112 0.25235076 -0.16907082
+v -0.20967303 0.25258768 -0.30008974
+v -0.20967303 0.25258768 -0.30063064
+v -0.15069552 0.19792479 -0.30063084
+v -0.10402299 0.22734546 -0.16907091
+v -0.10402299 0.19792442 -0.19901489
+v -0.19796172 0.25762964 -0.16907080
+v -0.19796172 0.25768882 -0.18319915
+v -0.20924127 0.25278867 -0.30063064
+v -0.13223807 0.21912904 -0.30063077
+v -0.10402299 0.21785802 -0.27880073
+v -0.10402299 0.21647473 -0.27617341
+v -0.10402299 0.19792452 -0.22629278
+v -0.10402299 0.24322351 -0.16907086
+v -0.19747599 0.25764740 -0.16907080
+v -0.18332528 0.25822675 -0.18319915
+v -0.19796172 0.25794934 -0.30008972
+v -0.19796172 0.25794934 -0.30063062
+v -0.12923738 0.22437841 -0.30063075
+v -0.10402299 0.22054183 -0.27993409
+v -0.10402299 0.25300704 -0.19781694
+v -0.13941597 0.25564343 -0.16907081
+v -0.18332528 0.25812622 -0.16907080
+v -0.10402299 0.25779538 -0.22703956
+v -0.10402299 0.25791964 -0.25624931
+v -0.13941597 0.25822713 -0.28548484
+v -0.18332528 0.25825045 -0.19781692
+v -0.18332528 0.25830995 -0.30063062
+v -0.12880562 0.22518826 -0.30063074
+v -0.10402299 0.23192721 -0.28159545
+v -0.12869769 0.22547791 -0.30063074
+v -0.12458525 0.23983085 -0.30063069
+v -0.12448810 0.24032148 -0.30063069
+v -0.10402299 0.25761799 -0.21243466
+v -0.15356668 0.25777744 -0.16907080
+v -0.15405241 0.25784838 -0.16907080
+v -0.10402299 0.25474527 -0.27130496
+v -0.13941597 0.25713357 -0.30063063
+v -0.13941597 0.25721043 -0.30008973
+v -0.15405241 0.25830404 -0.30063062
+v -0.10402299 0.24033326 -0.28200753
+v -0.12813642 0.25179556 -0.30063065
+v -0.10402299 0.24980334 -0.28003701
+f 1 2 10
+f 1 10 14
+f 1 14 19
+f 1 19 28
+f 1 28 36
+f 1 36 49
+f 1 49 50
+f 1 50 37
+f 1 37 29
+f 1 29 21
+f 1 21 15
+f 1 15 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 7 8
+f 3 11 4
+f 4 12 5
+f 4 11 12
+f 5 12 17
+f 5 17 23
+f 5 23 32
+f 5 32 42
+f 5 42 54
+f 5 54 52
+f 5 52 56
+f 5 56 47
+f 5 47 46
+f 5 46 45
+f 5 45 43
+f 5 43 33
+f 5 33 24
+f 5 24 18
+f 5 18 13
+f 5 13 7
+f 5 7 6
+f 7 13 9
+f 7 9 8
+f 9 13 18
+f 9 18 27
+f 9 27 20
+f 9 20 14
+f 9 14 10
+f 11 15 16
+f 11 16 12
+f 12 16 17
+f 14 20 19
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 16 23 17
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 19 20 27
+f 19 27 26
+f 19 26 25
+f 19 25 34
+f 19 34 44
+f 19 44 55
+f 19 55 57
+f 19 57 51
+f 19 51 39
+f 19 39 38
+f 19 38 48
+f 19 48 35
+f 19 35 28
+f 21 29 30
+f 21 30 22
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 24 33 25
+f 25 33 34
+f 28 35 36
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 31
+f 31 42 32
+f 31 41 42
+f 33 43 34
+f 34 43 45
+f 34 45 46
+f 34 46 47
+f 34 47 44
+f 35 48 36
+f 36 48 49
+f 37 50 38
+f 38 50 48
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 39 54 40
+f 40 54 41
+f 41 54 42
+f 44 47 55
+f 47 56 57
+f 47 57 55
+f 48 50 49
+f 51 57 56
+f 51 56 52
+f 52 54 53
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_61.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa3408f739f09250f8873ebc141e8d5095dfc6ab
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_61.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.09002037 0.16223413 -0.19177511
+v 0.09092482 0.16544419 -0.19177510
+v 0.11541615 0.16223413 -0.19177511
+v 0.09356704 0.16223340 0.00702416
+v 0.09544708 0.17735023 -0.19177506
+v 0.16802679 0.17521848 -0.19177507
+v 0.18266062 0.17906882 0.00702422
+v 0.11443041 0.16223340 0.00702416
+v 0.09628040 0.16691432 0.00702417
+v 0.09690030 0.18001369 -0.19177505
+v 0.17407341 0.17706699 -0.19177506
+v 0.18282321 0.17918311 0.00702422
+v 0.18266062 0.17973538 -0.18319336
+v 0.10138191 0.17552086 0.00702420
+v 0.11826162 0.21299382 -0.19177493
+v 0.18266062 0.17977020 -0.19177505
+v 0.19156286 0.18551876 0.00675181
+v 0.19156286 0.18551875 0.00702424
+v 0.10724560 0.18284536 0.00702423
+v 0.19300591 0.21299382 -0.19177493
+v 0.11443041 0.19140220 0.00702426
+v 0.11456252 0.19155624 0.00702426
+v 0.12411515 0.19833414 0.00702429
+v 0.16631951 0.21299309 0.00700488
+v 0.18615648 0.18258770 -0.19177504
+v 0.19339209 0.19639619 0.00675185
+v 0.19111571 0.18654807 -0.18319333
+v 0.19339209 0.19639618 0.00702428
+v 0.19294494 0.21104094 -0.19177493
+v 0.19304657 0.21299379 -0.18319324
+v 0.16617724 0.21234710 0.00702434
+v 0.19085150 0.21299309 0.00702434
+v 0.19108523 0.18659779 -0.19177502
+v 0.19340225 0.19665458 0.00702428
+v 0.19165433 0.19066253 -0.19177501
+v 0.19244698 0.19639691 -0.19177499
+v 0.19298560 0.21104091 -0.18319324
+v 0.19382907 0.21299310 0.00675191
+v 0.19380875 0.21129861 0.00702434
+v 0.19382907 0.21299309 0.00702434
+f 1 2 5
+f 1 5 10
+f 1 10 15
+f 1 15 20
+f 1 20 29
+f 1 29 36
+f 1 36 35
+f 1 35 33
+f 1 33 25
+f 1 25 16
+f 1 16 11
+f 1 11 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 8 7
+f 4 7 12
+f 4 12 18
+f 4 18 28
+f 4 28 34
+f 4 34 39
+f 4 39 40
+f 4 40 32
+f 4 32 31
+f 4 31 23
+f 4 23 22
+f 4 22 21
+f 4 21 19
+f 4 19 14
+f 4 14 9
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 13
+f 7 13 12
+f 9 14 10
+f 10 14 15
+f 11 16 13
+f 12 17 18
+f 12 13 17
+f 13 16 17
+f 14 19 15
+f 15 19 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 32
+f 15 32 40
+f 15 40 38
+f 15 38 30
+f 15 30 20
+f 16 25 17
+f 17 26 28
+f 17 28 18
+f 17 25 27
+f 17 27 26
+f 20 30 37
+f 20 37 29
+f 23 31 24
+f 24 31 32
+f 25 33 27
+f 26 34 28
+f 26 27 33
+f 26 33 35
+f 26 35 36
+f 26 36 34
+f 29 37 34
+f 29 34 36
+f 30 38 39
+f 30 39 34
+f 30 34 37
+f 38 40 39
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_62.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..083194a10ce5fc858a4ad81db6d2562a76ff959d
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_62.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.18358505 -0.13187579 -0.25626350
+v -0.15939515 -0.10974013 -0.24164445
+v -0.15942029 -0.10974008 -0.25626342
+v -0.18288097 -0.13187574 -0.27087248
+v -0.18332522 -0.13187584 -0.24164453
+v -0.15932809 -0.10974019 -0.22704545
+v -0.15341053 -0.10974003 -0.27044330
+v -0.17905887 -0.13187570 -0.28137018
+v -0.18317434 -0.13187586 -0.23605639
+v -0.18286422 -0.13187590 -0.22704553
+v -0.18230263 -0.13187591 -0.22202618
+v -0.15719073 -0.10974024 -0.21242648
+v -0.13948834 -0.10974001 -0.27489387
+v -0.16868219 -0.13187568 -0.28693836
+v -0.18015689 -0.13187595 -0.21242656
+v -0.15708176 -0.10974024 -0.21207722
+v -0.12477827 -0.10974001 -0.27494375
+v -0.15364523 -0.13187569 -0.28372519
+v -0.17944444 -0.13187596 -0.21057050
+v -0.17501884 -0.13187600 -0.19907490
+v -0.15188505 -0.10974028 -0.20169925
+v -0.10924677 -0.10974003 -0.27064287
+v -0.14162570 -0.13187571 -0.27868589
+v -0.15061100 -0.10974028 -0.20047185
+v -0.16716508 -0.13187602 -0.19220948
+v -0.10379859 -0.10974003 -0.26822801
+v -0.10908752 -0.11210397 -0.26995434
+v -0.11327005 -0.12308517 -0.26715034
+v -0.12514707 -0.13187574 -0.26924591
+v -0.14258961 -0.10974031 -0.19352660
+v -0.15912693 -0.13187604 -0.18733982
+v -0.09810735 -0.10974008 -0.25656278
+v -0.09795648 -0.13187590 -0.22548884
+v -0.13519685 -0.10974032 -0.19022362
+v -0.14838144 -0.13187605 -0.18499480
+v -0.09801515 -0.10974008 -0.25626342
+v -0.09795648 -0.13187600 -0.19899508
+v -0.09795648 -0.10974013 -0.24132512
+v -0.13451794 -0.10974032 -0.19019367
+v -0.13172679 -0.13187604 -0.18766912
+v -0.11579297 -0.10974032 -0.19013380
+v -0.12375568 -0.10974032 -0.18984441
+v -0.12466093 -0.10974032 -0.18984441
+v -0.09795648 -0.10974030 -0.19604126
+v -0.11684069 -0.11938244 -0.19021368
+v -0.11596898 -0.11114005 -0.19012384
+v -0.10738601 -0.10974031 -0.19286799
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 23
+f 1 23 29
+f 1 29 33
+f 1 33 37
+f 1 37 40
+f 1 40 35
+f 1 35 31
+f 1 31 25
+f 1 25 20
+f 1 20 19
+f 1 19 15
+f 1 15 11
+f 1 11 10
+f 1 10 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 16
+f 2 16 21
+f 2 21 24
+f 2 24 30
+f 2 30 34
+f 2 34 39
+f 2 39 43
+f 2 43 42
+f 2 42 41
+f 2 41 47
+f 2 47 44
+f 2 44 38
+f 2 38 36
+f 2 36 32
+f 2 32 26
+f 2 26 22
+f 2 22 17
+f 2 17 13
+f 2 13 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 10 11
+f 6 11 12
+f 6 9 10
+f 7 13 14
+f 7 14 8
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 18
+f 15 19 16
+f 16 19 20
+f 16 20 21
+f 17 22 18
+f 18 22 23
+f 20 24 21
+f 20 25 24
+f 22 26 27
+f 22 27 23
+f 23 27 26
+f 23 26 28
+f 23 28 29
+f 24 25 30
+f 25 31 30
+f 26 32 33
+f 26 33 28
+f 28 33 29
+f 30 31 34
+f 31 35 34
+f 32 36 33
+f 33 36 38
+f 33 38 44
+f 33 44 37
+f 34 35 39
+f 35 40 41
+f 35 41 42
+f 35 42 43
+f 35 43 39
+f 37 44 45
+f 37 45 40
+f 40 45 46
+f 40 46 41
+f 41 46 47
+f 44 47 45
+f 45 47 46
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_63.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f0028f57a944d302b5197416772d8fcb3a2eac1
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_63.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.08334605 0.24342414 0.00702446
+v 0.12410032 0.25777726 0.00702452
+v 0.08334605 0.22759209 0.00702441
+v 0.08334605 0.25753805 0.26978544
+v 0.16325103 0.25833466 0.01154797
+v 0.16325103 0.25832118 0.00702452
+v 0.08334605 0.25772232 0.28046503
+v 0.08354943 0.22759209 0.00702441
+v 0.12023610 0.21242892 0.26079192
+v 0.11190533 0.21242892 0.26202317
+v 0.08334605 0.21280198 0.26959792
+v 0.08414392 0.25773132 0.28046503
+v 0.16325103 0.25834809 0.02616215
+v 0.16325103 0.23600258 0.00702444
+v 0.08334605 0.21272553 0.28046486
+v 0.09508734 0.22759659 0.00702441
+v 0.12608719 0.21242890 0.26614511
+v 0.10947259 0.22760558 0.00702441
+v 0.11168630 0.21242892 0.26215698
+v 0.09877948 0.25778076 0.28046503
+v 0.16325103 0.25832556 0.03601200
+v 0.11342286 0.25780323 0.28046503
+v 0.16325103 0.23587218 0.02139774
+v 0.12963852 0.21242885 0.28041132
+v 0.12410032 0.22936771 0.00702441
+v 0.10948823 0.21242885 0.28046486
+v 0.10897196 0.21242889 0.26887523
+v 0.10895632 0.21242889 0.26895553
+v 0.12410032 0.25779425 0.28046503
+v 0.16325103 0.25771341 0.25993559
+v 0.16325103 0.23574627 0.03601192
+v 0.16325103 0.23508944 0.18210024
+v 0.16325103 0.23545318 0.28041140
+v 0.12958377 0.21242885 0.28046486
+v 0.16325103 0.23565631 0.05038521
+v 0.16325103 0.25753351 0.28046503
+v 0.16325103 0.25759648 0.27454977
+v 0.16325103 0.24397604 0.28046498
+v 0.16061491 0.23638367 0.28046495
+v 0.12960724 0.21244683 0.28046486
+f 1 2 6
+f 1 6 14
+f 1 14 25
+f 1 25 18
+f 1 18 16
+f 1 16 8
+f 1 8 3
+f 1 3 11
+f 1 11 15
+f 1 15 7
+f 1 7 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 5 7 12
+f 5 12 13
+f 5 13 21
+f 5 21 30
+f 5 30 37
+f 5 37 36
+f 5 36 38
+f 5 38 33
+f 5 33 32
+f 5 32 35
+f 5 35 31
+f 5 31 23
+f 5 23 14
+f 5 14 6
+f 7 15 26
+f 7 26 34
+f 7 34 40
+f 7 40 39
+f 7 39 38
+f 7 38 36
+f 7 36 29
+f 7 29 22
+f 7 22 20
+f 7 20 12
+f 8 16 9
+f 9 17 24
+f 9 24 34
+f 9 34 26
+f 9 26 28
+f 9 28 27
+f 9 27 19
+f 9 19 10
+f 9 16 18
+f 9 18 17
+f 10 19 11
+f 11 19 15
+f 12 20 13
+f 13 20 22
+f 13 22 21
+f 14 23 24
+f 14 24 17
+f 14 17 25
+f 15 19 27
+f 15 27 28
+f 15 28 26
+f 17 18 25
+f 21 22 29
+f 21 29 30
+f 23 31 24
+f 24 32 33
+f 24 33 34
+f 24 31 35
+f 24 35 32
+f 29 36 37
+f 29 37 30
+f 33 38 39
+f 33 39 40
+f 33 40 34
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_64.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65562ea43419de6f88f29b879eac8b1f8de0b636
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_64.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.19424416 0.21242898 0.28046489
+v 0.19437333 0.22569213 0.28046494
+v 0.16330535 0.21242898 0.28046489
+v 0.19406249 0.21242972 0.07978798
+v 0.19376376 0.23637556 0.28046498
+v 0.19419167 0.22569287 0.07978803
+v 0.16561042 0.21242982 0.05058772
+v 0.16326498 0.24397625 0.28046501
+v 0.16326498 0.23546180 0.28039844
+v 0.15313236 0.23941835 -0.15461212
+v 0.15313236 0.21300355 -0.35149772
+v 0.15313236 0.21299909 -0.39260421
+v 0.15313236 0.21299911 -0.39872365
+v 0.19404231 0.21242977 0.06522110
+v 0.19413515 0.22569303 0.03595439
+v 0.19351751 0.24032588 0.28046499
+v 0.16577593 0.21242988 0.03648646
+v 0.16326498 0.25753013 0.28046506
+v 0.15313236 0.25789630 -0.15461205
+v 0.15313236 0.22569463 -0.39905618
+v 0.15339475 0.21299911 -0.39872365
+v 0.16619981 0.21242998 0.00702015
+v 0.19401808 0.21242982 0.05198454
+v 0.19405038 0.22569324 -0.02251263
+v 0.19128510 0.24904799 0.28046502
+v 0.19166457 0.24032817 -0.34391487
+v 0.19015478 0.24791501 -0.34391484
+v 0.16802852 0.25769626 0.28046506
+v 0.16802852 0.25798247 0.25512268
+v 0.16326498 0.25759475 0.27454515
+v 0.15313236 0.25888881 -0.24134810
+v 0.15313236 0.25872723 -0.22698076
+v 0.15313236 0.24032838 -0.39885660
+v 0.15339475 0.24032838 -0.39885660
+v 0.16803256 0.22569462 -0.39832450
+v 0.16803256 0.21299911 -0.39812502
+v 0.19382431 0.21242998 0.00702015
+v 0.19397368 0.21242988 0.03595434
+v 0.19341255 0.22569389 -0.19778065
+v 0.18266228 0.25421294 0.03595449
+v 0.18266228 0.25419389 0.19665563
+v 0.18266228 0.25417051 0.28046504
+v 0.18265825 0.25394204 -0.34391482
+v 0.19278683 0.22569432 -0.31464815
+v 0.19269802 0.22569437 -0.32928154
+v 0.19256884 0.22569442 -0.34391492
+v 0.19229837 0.22569453 -0.37311517
+v 0.19150713 0.24032823 -0.35848174
+v 0.19007403 0.24778586 -0.35848171
+v 0.18265825 0.25379443 -0.35848169
+v 0.16326498 0.25771019 0.25991176
+v 0.16802852 0.25862935 0.03595451
+v 0.15313236 0.25944765 -0.35821561
+v 0.15313236 0.25902731 -0.25598149
+v 0.15313236 0.25014420 -0.39672805
+v 0.15339475 0.25013959 -0.39672805
+v 0.16803256 0.24962271 -0.39646200
+v 0.16803256 0.24032837 -0.39812492
+v 0.17811673 0.24032837 -0.39632898
+v 0.17848409 0.22569462 -0.39646209
+v 0.17692584 0.21299911 -0.39666166
+v 0.19390101 0.21242993 0.02138747
+v 0.17832262 0.21299911 -0.39639561
+v 0.17929551 0.21299910 -0.39559740
+v 0.18564152 0.21299908 -0.38981060
+v 0.19079664 0.21299905 -0.38249390
+v 0.19095408 0.21299905 -0.38116360
+v 0.19167264 0.21299902 -0.37311522
+v 0.19168879 0.21299901 -0.37118629
+v 0.19191486 0.21299891 -0.34191951
+v 0.19298060 0.21299838 -0.19778070
+v 0.16803256 0.25956768 -0.37311505
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+f 51 80 54
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+f 56 84 57
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+f 57 84 85
+f 58 85 59
+f 59 85 86
+f 59 86 87
+f 59 87 60
+f 60 87 64
+f 60 64 63
+f 60 63 61
+f 64 87 65
+f 65 87 75
+f 65 75 66
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+f 84 88 85
+f 85 88 90
+f 85 90 86
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_65.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5648c1a44db63289b4c58f820036103f3e35c75
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_65.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01803704 -0.06249362 -0.22253383
+v 0.01803704 -0.06720671 -0.22252525
+v 0.01803704 -0.06249371 -0.19995575
+v 0.04784045 -0.06249359 -0.23022865
+v 0.01803704 -0.10753397 -0.22208336
+v 0.01803704 -0.10974029 -0.20002459
+v 0.06291847 -0.06249376 -0.18639003
+v 0.06580032 -0.09547600 -0.23022877
+v 0.01803704 -0.10974020 -0.22205763
+v 0.11180044 -0.06249359 -0.23022865
+v 0.06955767 -0.07904740 -0.18639009
+v 0.06448707 -0.06720685 -0.18639005
+v 0.08537743 -0.10974034 -0.18639020
+v 0.08433169 -0.10795500 -0.18639020
+v 0.08476944 -0.06249376 -0.18639003
+v 0.06633534 -0.09639179 -0.23022877
+v 0.07573479 -0.10974017 -0.23022882
+v 0.11181260 -0.06249361 -0.22703569
+v 0.14223615 -0.10974017 -0.23022882
+v 0.11045071 -0.10974034 -0.18639020
+v 0.08761481 -0.06518101 -0.18639004
+v 0.10738647 -0.06249370 -0.20276676
+v 0.11136268 -0.06249366 -0.21242283
+v 0.14224831 -0.10974019 -0.22703586
+v 0.13710476 -0.10974028 -0.20267679
+v 0.10568412 -0.09933823 -0.18639016
+v 0.09075201 -0.07046763 -0.18639006
+v 0.11706559 -0.07402898 -0.20480959
+v 0.11070607 -0.06249367 -0.20998950
+v 0.14170112 -0.10974024 -0.21242300
+v 0.13304342 -0.10151663 -0.20370675
+f 1 2 5
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+f 1 9 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 22
+f 1 22 29
+f 1 29 23
+f 1 23 18
+f 1 18 10
+f 1 10 4
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+f 4 8 9
+f 4 9 5
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+f 4 17 16
+f 4 16 8
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+f 7 21 15
+f 8 16 9
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+f 15 21 22
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+f 23 29 28
+f 23 28 30
+f 23 30 24
+f 25 30 31
+f 25 31 28
+f 25 27 26
+f 28 31 30
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_66.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8534d94395471c3f4110c48fb15288194a956836
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_66.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.07989010 -0.19900302 -0.28216268
+v 0.07989010 -0.20962475 -0.28072695
+v 0.07989010 -0.19848504 -0.28212824
+v 0.09987006 -0.19950815 -0.30026513
+v 0.10012794 -0.20883174 -0.30026517
+v 0.07989010 -0.21513709 -0.27089466
+v 0.10945641 -0.21465099 -0.30026519
+v 0.07989010 -0.18409680 -0.28099103
+v 0.09988127 -0.19945059 -0.30026513
+v 0.07989010 -0.17508016 -0.27956670
+v 0.08019283 -0.21520744 -0.27087169
+v 0.07989010 -0.21738172 -0.25626110
+v 0.12411062 -0.21757979 -0.30026520
+v 0.10201157 -0.19256981 -0.30026511
+v 0.07989010 -0.17497785 -0.27942886
+v 0.12019760 -0.15242340 -0.30026496
+v 0.11822426 -0.15593413 -0.30026497
+v 0.10947883 -0.21775256 -0.27087170
+v 0.07989010 -0.21740095 -0.24193763
+v 0.13856302 -0.21678045 -0.30026520
+v 0.12411062 -0.21757979 -0.30009293
+v 0.07989010 -0.17020737 -0.27089450
+v 0.19215685 -0.15242340 -0.30026496
+v 0.07989010 -0.15242367 -0.22463898
+v 0.10947883 -0.21756082 -0.24165047
+v 0.09483583 -0.21752890 -0.22703987
+v 0.08019283 -0.21742019 -0.22703987
+v 0.07989010 -0.21741379 -0.22733850
+v 0.15320602 -0.21593634 -0.30026519
+v 0.16801719 -0.21492639 -0.18293236
+v 0.12411062 -0.21748392 -0.28548230
+v 0.15338541 -0.21555947 -0.18293236
+v 0.19257169 -0.15507724 -0.30026497
+v 0.19293048 -0.15242383 -0.18320780
+v 0.19344623 -0.15507767 -0.18293214
+v 0.07989010 -0.15242377 -0.19958730
+v 0.12411062 -0.21738167 -0.27087170
+v 0.12411062 -0.21727300 -0.25626110
+v 0.10947883 -0.21743298 -0.22703987
+v 0.10947883 -0.21704934 -0.21242927
+v 0.09483583 -0.21713247 -0.21242927
+v 0.07989010 -0.21704296 -0.21242927
+v 0.07989010 -0.21741380 -0.22703987
+v 0.16784901 -0.21501550 -0.30026519
+v 0.16801719 -0.21499635 -0.28548229
+v 0.16828628 -0.21489442 -0.18293236
+v 0.13901150 -0.21602629 -0.18293236
+v 0.12411062 -0.21713877 -0.24165047
+v 0.19308746 -0.16989393 -0.30026502
+v 0.19293048 -0.15242383 -0.18293213
+v 0.19391715 -0.16945313 -0.18293219
+v 0.19351351 -0.16972148 -0.24165029
+v 0.07989010 -0.17477358 -0.18293221
+v 0.10999458 -0.15242383 -0.18293213
+v 0.13874241 -0.21603269 -0.18293236
+v 0.07989010 -0.21149234 -0.19920848
+v 0.12411062 -0.21567457 -0.18293236
+v 0.16801719 -0.21500269 -0.30026519
+v 0.16801719 -0.21500269 -0.30009292
+v 0.18266020 -0.21312307 -0.18293235
+v 0.19353594 -0.18453798 -0.30026508
+v 0.19423108 -0.18436575 -0.18293225
+v 0.19399563 -0.19900301 -0.28548223
+v 0.19391715 -0.19900296 -0.30026513
+v 0.07989010 -0.17483752 -0.18293221
+v 0.07989010 -0.20388900 -0.18294380
+v 0.08019283 -0.20388900 -0.18293232
+v 0.18249202 -0.21287324 -0.30026518
+v 0.18266020 -0.21291165 -0.28548228
+v 0.18266020 -0.21312307 -0.18320802
+v 0.18283960 -0.21304633 -0.18293235
+v 0.19443290 -0.19900339 -0.18293230
+v 0.19418624 -0.19900317 -0.24165040
+v 0.19207837 -0.20880620 -0.28548227
+v 0.19202230 -0.20874861 -0.30026517
+v 0.18266020 -0.21284765 -0.30026518
+v 0.19210079 -0.20883824 -0.27087167
+v 0.19222413 -0.20900483 -0.18320801
+v 0.19222413 -0.20900483 -0.18293234
+v 0.19226897 -0.20881937 -0.18293234
+v 0.19191018 -0.20879976 -0.30026517
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+f 74 76 81
+f 74 81 75
+f 77 80 78
+f 78 80 79
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_67.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151eae9e139c24f491fac1a0d43baaa092f9edd4
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_67.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.08334604 0.16223261 -0.19538544
+v 0.08334604 0.19722267 -0.19914453
+v 0.06799964 0.19722267 -0.19926020
+v 0.06799964 0.16223262 -0.19895188
+v 0.08334604 0.16223285 -0.26102717
+v 0.08334604 0.19722277 -0.22597958
+v 0.06799964 0.19722277 -0.22529198
+v 0.06799964 0.16223272 -0.22696288
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 7
+f 5 7 6
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_68.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d9ee044c6af0114e9ea21593f2307db35eb23c
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_68.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.07989010 -0.10974015 -0.24050144
+v 0.08001183 -0.10974009 -0.25626070
+v 0.07989010 -0.15241950 -0.22463898
+v 0.07989010 -0.10974031 -0.19496963
+v 0.08364152 -0.10974005 -0.26704635
+v 0.07989010 -0.15241960 -0.19958730
+v 0.08410629 -0.11113971 -0.26685109
+v 0.08671790 -0.11974661 -0.26473764
+v 0.12019288 -0.15241923 -0.30026496
+v 0.08737079 -0.10974036 -0.18293197
+v 0.09332437 -0.10974003 -0.27164089
+v 0.12614645 -0.14180686 -0.30026492
+v 0.10998992 -0.15241966 -0.18293213
+v 0.19215580 -0.15241923 -0.30026496
+v 0.10918210 -0.10974036 -0.18293197
+v 0.09482935 -0.10974003 -0.27211183
+v 0.12629031 -0.14173582 -0.30026492
+v 0.19294150 -0.15241966 -0.18293213
+v 0.19112666 -0.14570920 -0.30026494
+v 0.19216687 -0.15241923 -0.30009269
+v 0.18266109 -0.13990207 -0.18293208
+v 0.13710191 -0.10974029 -0.20267696
+v 0.10807549 -0.10974002 -0.27398409
+v 0.13873968 -0.13572771 -0.30026490
+v 0.19154717 -0.14514140 -0.18320777
+v 0.19154717 -0.14514140 -0.18293210
+v 0.18266109 -0.14023589 -0.30026492
+v 0.14214805 -0.10974009 -0.25677757
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+v 0.12417668 -0.10974002 -0.27362802
+v 0.16802062 -0.13658423 -0.30026490
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+f 25 29 35
+f 25 35 34
+f 26 34 36
+f 26 36 30
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 32 33 40
+f 33 41 42
+f 33 42 40
+f 37 42 38
+f 38 42 41
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_69.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c716c8ea5ae787081e6f21760d2a6e5e7ab23b2
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_69.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.04782903 -0.06249359 -0.23023293
+v 0.05289341 -0.06249350 -0.25647732
+v 0.06579463 -0.09547600 -0.23023305
+v 0.11179914 -0.06249359 -0.23023293
+v 0.05559195 -0.06249346 -0.26646537
+v 0.05601706 -0.06407991 -0.26619938
+v 0.07108081 -0.09220585 -0.26576187
+v 0.06633064 -0.09639179 -0.23023305
+v 0.14223161 -0.10974017 -0.23023310
+v 0.14223161 -0.10974013 -0.24165417
+v 0.14219465 -0.10974008 -0.25626297
+v 0.11177142 -0.06249357 -0.23780551
+v 0.06015728 -0.06249345 -0.26875215
+v 0.06818820 -0.08184999 -0.26766675
+v 0.08364010 -0.10974004 -0.26704904
+v 0.08000816 -0.10974008 -0.25626297
+v 0.07573856 -0.10974017 -0.23023310
+v 0.14214844 -0.10974008 -0.25678211
+v 0.11153114 -0.06249350 -0.25626280
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+v 0.13352607 -0.10089662 -0.26623385
+v 0.11714077 -0.07391312 -0.26415290
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+v 0.09483163 -0.09649340 -0.27357041
+v 0.09483163 -0.10974002 -0.27211172
+v 0.13664970 -0.10974003 -0.26937444
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+v 0.08019299 -0.06720652 -0.27364752
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+v 0.09483163 -0.06249344 -0.27284519
+v 0.09011843 -0.06249343 -0.27366467
+v 0.12270419 -0.10974001 -0.27405955
+v 0.10946103 -0.10974001 -0.27401236
+v 0.09483163 -0.06720653 -0.27351880
+f 1 2 3
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+f 1 9 4
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+f 35 37 36
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+f 39 43 40
+f 39 41 43
+f 40 43 41
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_7.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50dd7e03061b67f62f6d1838305e961e9f6ed5a8
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_7.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00658596 0.02529571 0.22596529
+v 0.00658596 0.01769448 0.22596526
+v 0.00658596 0.02529551 0.28046417
+v 0.01572571 0.02529571 0.22596529
+v 0.00658596 0.00561166 0.26938935
+v 0.08712908 -0.10972863 0.22596480
+v 0.00658596 0.00563806 0.28046410
+v 0.07013552 0.02529551 0.28046417
+v 0.06590442 0.02529559 0.25757847
+v 0.04817802 0.00212186 0.22596521
+v 0.00658596 0.00561166 0.26978945
+v 0.07458787 -0.10084526 0.26978906
+v 0.07429750 -0.10137409 0.28046371
+v 0.10958437 -0.10972863 0.22596480
+v 0.08036761 -0.10972879 0.26978903
+v 0.07013552 0.02529555 0.26978952
+v 0.14784408 -0.10972883 0.28046368
+v 0.05990344 -0.01277655 0.22596515
+v 0.05549257 -0.00546615 0.22596518
+v 0.06743923 0.02529558 0.26179286
+v 0.07353700 0.01462741 0.26117935
+v 0.14630926 -0.10972877 0.26528124
+v 0.13922978 -0.10972874 0.25621232
+v 0.07988366 -0.10972883 0.28046368
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+v 0.14753987 -0.10972879 0.26978903
+v 0.08999130 -0.06985851 0.22596494
+f 1 2 5
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_70.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38f6954dddc2e09f898ebda8ed37de1a50213272
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_70.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v -0.21422311 0.24033314 -0.32932998
+v -0.21421433 0.22568903 -0.32933003
+v -0.21419676 0.22568898 -0.31472259
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+v -0.21417918 0.22623251 -0.30065358
+v -0.21414405 0.24033303 -0.30065353
+v -0.21398592 0.24078601 -0.30065353
+v -0.20970788 0.25261338 -0.31472249
+v -0.20973422 0.25263815 -0.32932993
+v -0.21421433 0.24033319 -0.34394741
+v -0.21421433 0.22568908 -0.34394746
+v -0.21410891 0.19640096 -0.37316245
+v -0.21410012 0.19640091 -0.35854502
+v -0.21402107 0.19694428 -0.30065369
+v -0.20968151 0.25258860 -0.30065348
+v -0.19796297 0.25799166 -0.31472247
+v -0.19796297 0.25802468 -0.32932991
+v -0.19796297 0.25801648 -0.34394734
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+v -0.21416162 0.24033325 -0.35854486
+v -0.21413527 0.22568919 -0.37316234
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+v -0.20979572 0.18357679 -0.30065374
+v -0.21401228 0.19640069 -0.30065369
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+v -0.20669479 0.22568928 -0.39627500
+v -0.19796297 0.21104517 -0.39960534
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+v -0.19796297 0.18625394 -0.39718250
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+v -0.18332798 0.18499378 -0.39819954
+v -0.18332798 0.17559609 -0.37316253
+v -0.18332798 0.17447569 -0.30065377
+v -0.15405798 0.25830459 -0.30065346
+v -0.13941419 0.25713503 -0.30065347
+v -0.14130286 0.25303365 -0.37316224
+v -0.15405798 0.25640234 -0.38776967
+v -0.16869297 0.25162534 -0.39819930
+v -0.18332798 0.25142766 -0.39794004
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+v -0.18332798 0.21104518 -0.40192857
+v -0.18332798 0.19640107 -0.40165942
+v -0.16869297 0.17866004 -0.38776995
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+v -0.16869297 0.18521616 -0.39803999
+v -0.16869297 0.19640107 -0.40174915
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+v -0.12813488 0.25179792 -0.30065349
+v -0.14291043 0.25165825 -0.38776969
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+v -0.16869297 0.22568930 -0.40235728
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+v -0.14193535 0.22568924 -0.38776978
+v -0.12869709 0.22546652 -0.30065358
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_71.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16154562356a4c9fd997885b48d4c20f28c9cca0
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_71.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.08335287 0.24033204 -0.28583238
+v 0.08335287 0.22818035 -0.28190240
+v 0.08335287 0.24757483 -0.28408303
+v 0.11382459 0.24033241 -0.38748575
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+v 0.08335287 0.25578662 -0.27428190
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+v 0.08335287 0.25678748 -0.27087908
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+v 0.13874296 0.25036864 -0.39695132
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_72.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96fc5dcb5b59c8fd4e371d06761ed4d75fa67f60
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_72.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.08334605 0.24322040 -0.15465592
+v 0.12410485 0.25815047 -0.15395950
+v 0.12410485 0.25814743 -0.15465586
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+v 0.15837779 0.25822013 -0.15465586
+v 0.08334605 0.22759303 0.00702440
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+v 0.15837779 0.23753761 -0.06629831
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_73.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7d3fbfd396d685fcb32e23933f28cf39f7a9d16
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_73.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_74.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cbe587dbd67ed6378e59914abe798b13c52d43a
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_74.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.21250967 -0.15611560 -0.28443987
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_8.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33b6e4265c9baaced794a01d22433b872c6e3f8c
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_8.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00000014 0.24439228 -0.18308408
+v 0.08334604 0.24513598 -0.18308408
+v 0.00000014 0.22633358 -0.18308415
+v 0.00000014 0.25750558 0.26975657
+v 0.08334604 0.22691998 -0.18308415
+v 0.08334604 0.25753420 0.26975657
+v 0.00005725 0.22633358 -0.18308415
+v 0.06554448 0.20934587 0.26975639
+v 0.00000014 0.21019445 0.26975639
+v 0.00000014 0.25764382 0.27674429
+v 0.05102258 0.22661961 -0.18308415
+v 0.08334604 0.21280219 0.26962029
+v 0.08018059 0.21177244 0.26975640
+v 0.00000014 0.25771532 0.28046503
+v 0.02558479 0.25772009 0.28046503
+v 0.08334604 0.25772486 0.28046503
+v 0.06554448 0.20902641 0.28046485
+v 0.00000014 0.21018966 0.27742473
+v 0.08334604 0.21272587 0.28046486
+v 0.08018059 0.21163416 0.28046486
+v 0.00000014 0.21019441 0.28046485
+f 1 2 5
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+f 1 7 3
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+f 14 16 15
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+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_9.obj b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76252e610ce73ae2d144f2a24361c7cd37fca621
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mjcf/mesh/table_collision_9.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.05298461 0.15935683 0.31631450
+v -0.00625109 0.05841222 0.29900271
+v -0.00625109 0.07834269 0.31631420
+v 0.17609776 0.15935683 0.31631450
+v 0.08299523 0.15935689 0.29899123
+v -0.00203782 0.05660850 0.29897726
+v -0.00625109 0.04307416 0.29897721
+v 0.07797858 0.15279439 0.29897761
+v -0.00625109 0.02869547 0.31631402
+v 0.08686929 0.02869547 0.31631402
+v 0.07008762 0.02869553 0.29897716
+v 0.14867580 0.15935689 0.29898444
+v 0.08819040 0.15935689 0.29897764
+v -0.00625109 0.02869553 0.29897716
+v 0.14749752 0.15828233 0.29897763
+v 0.14680126 0.15935689 0.29897764
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 12
+f 1 12 16
+f 1 16 13
+f 1 13 5
+f 1 5 2
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+f 6 16 15
+f 6 15 11
+f 6 11 14
+f 6 14 7
+f 9 14 11
+f 9 11 10
+f 11 15 12
+f 12 15 16
+
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/textures/material_0.png b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d8dea74bb8a99e76c814de495f56bdf364a18cc
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85c435cd5d6699c001c186049d2feefd7a16f86d43ffb8929e8084d214043cca
+size 1075442
diff --git a/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/video.mp4 b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1185af7684d1366a52f87c8bb5a8f02688fb4423
--- /dev/null
+++ b/dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:064b689b23716bfc802f030c089358d9bdae0228fa9cbfaa6718c0e3b96ec3aa
+size 227836