diff --git a/.gitattributes b/.gitattributes
index 44e1f7e7700938a104cf8faa29232431db5ababc..3d8c34629bfcd100e64f5a8127caf0e572c7d3c7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3789,9 +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
-dataset/furniture/table/1522dad65f0859758dad5636ba348bf8/1522dad65f0859758dad5636ba348bf8.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/1522dad65f0859758dad5636ba348bf8/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/1522dad65f0859758dad5636ba348bf8/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/126f60baf12759ea957fb6c38ba7458d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/wooden_patterned_table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/wooden_patterned_table_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/126f60baf12759ea957fb6c38ba7458d.urdf b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/126f60baf12759ea957fb6c38ba7458d.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f72a4836affbc8e3f9e6e2f1ccc1424b4c02878c
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/126f60baf12759ea957fb6c38ba7458d.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_patterned_table">
+   <link name="wooden_patterned_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_patterned_table.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_patterned_table_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="20.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.327314</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with four cylindrical legs and smooth patterned surface</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251005001048</generate_time>
+         <gs_model>mesh/wooden_patterned_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.08107602596283</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>10</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/126f60baf12759ea957fb6c38ba7458d.usd b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/126f60baf12759ea957fb6c38ba7458d.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fabe6f86a1778c6239ec446fa013c7c38307ceb6
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/126f60baf12759ea957fb6c38ba7458d.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b98cd3a1c6af46021601d4f46faa7389d57071a12978eaec0fd4ceafb47accb5
+size 246413
diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/material.mtl b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/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/126f60baf12759ea957fb6c38ba7458d/mesh/material_0.png b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..40aee2359a56a940f4b45e8a33386e19f7da55d6
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eff23b13947deb68a2f5bcf1ae2367448f9126007ef1f0f8f9b021d22d9ea4e7
+size 1116795
diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/wooden_patterned_table.glb b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/wooden_patterned_table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f514130d126ddc98615dde194763dfc210e82acf
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/wooden_patterned_table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e881a06e88bcc145d440dacbe9f377ce87635ee317c2696d378032ffd1f53e8
+size 1292956
diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/wooden_patterned_table.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/wooden_patterned_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a9ca8e98db5011cc112a81c965cf6b09e20a79
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/wooden_patterned_table.obj
@@ -0,0 +1,16150 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/wooden_patterned_table_collision.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/wooden_patterned_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5fc43bd6f9b7da0537ba8008144860d9a3983e9
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/wooden_patterned_table_collision.obj
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/wooden_patterned_table_gs.ply b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/wooden_patterned_table_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f170b789d51f86826a689d64ebba27ee16a53896
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mesh/wooden_patterned_table_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26609488c38786f0c13ad0b74949fe3065fc85b3a37ac8fc56ff308b7e1c46f0
+size 19241066
diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/126f60baf12759ea957fb6c38ba7458d.xml b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/126f60baf12759ea957fb6c38ba7458d.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7379fccafc49ad08e18f12228239ce7460d5f339
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/126f60baf12759ea957fb6c38ba7458d.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wooden_patterned_table">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/wooden_patterned_table.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wooden_patterned_table_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wooden_patterned_table_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wooden_patterned_table_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wooden_patterned_table_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wooden_patterned_table_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wooden_patterned_table_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wooden_patterned_table_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wooden_patterned_table_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wooden_patterned_table_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wooden_patterned_table_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wooden_patterned_table_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wooden_patterned_table_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wooden_patterned_table_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wooden_patterned_table_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wooden_patterned_table_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wooden_patterned_table_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wooden_patterned_table_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wooden_patterned_table_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_19" file="mesh/wooden_patterned_table_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/wooden_patterned_table_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wooden_patterned_table">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/material_0.png b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..40aee2359a56a940f4b45e8a33386e19f7da55d6
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:eff23b13947deb68a2f5bcf1ae2367448f9126007ef1f0f8f9b021d22d9ea4e7
+size 1116795
diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0c6befb66c58009d192ebee20def461d8d1998f
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f3fd5f22fd2d5cb931208fa8a10c16da0ddfe4c
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision.obj
@@ -0,0 +1,6959 @@
+# https://github.com/mikedh/trimesh
+
+o wooden_patterned_table_collision.obj
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_0.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9e41b1c1fabdf971c09095d0b45753d234c818d
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_0.obj
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_1.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b277aa45bd91b138a9c2d133538a784b0b70fe13
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_1.obj
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_10.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..252eb460a86e20512f332c1fa7167a3fd75c3f4a
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_10.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_11.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfebc56eb79f4afff13deb45da0b9815cad8b52e
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_11.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_12.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adf214d001d5ee1ce0ba8a4e105af420c09ea418
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_12.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_13.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6ec8e5c1029b64091a6aa27579124de25bdd184
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_13.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_14.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a645668ed494bd0bb2b98c2fc7bfa15eae8ab8d
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_14.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00612311 0.65311846 0.32777962
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_15.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc64022ba073a2fb587a59fd029af726ce41d1ad
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_15.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_16.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e846ed2481ef6451b77f9a1c9955e286aed38d85
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_16.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_17.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..936b2fd86e7b1e00fe58ed30c1656cb6c14cd2fc
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_17.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_18.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d90a115fb4a1ac31ff2cd995ecea4b74adacdefe
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_18.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_19.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93086e7b2a5c46d81365b129fdedde1bdc77c195
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_19.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_2.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de6d533599ef775315211fc42fb969421f733cde
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_2.obj
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_20.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be157a33598abba91823a85765cec02942691575
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_20.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_3.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..398b545432104b64fd9b7ef31773b632246db4ab
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_3.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_4.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87dbc9fa356f2fa0bfa9365700efcfdd2bcee746
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_4.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+v -0.03479127 0.05399594 0.32205063
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+
diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_5.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f674557604ad4851a8c0c62859dfb4f183417ca4
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_5.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+v -0.07635310 0.65318613 0.32783182
+v -0.03485122 0.65321635 0.32783182
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+v -0.29656810 0.65066697 0.32783181
+v -0.27471805 0.65125141 0.32783181
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+
diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_6.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3086590599df993bc7911c63973b15b1e411346b
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_6.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.45551196 -0.56107042 0.31461264
+v -0.45551196 -0.56509826 0.27231347
+v -0.45551196 -0.62701879 0.31461240
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+
diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_7.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c9cdbe32b5fc6d68806ab4b4207b6f1089542a
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_7.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
+v 0.12041519 0.66680493 0.35919111
+v -0.05694293 0.66108371 0.37478460
+v -0.01265478 0.66108371 0.37476514
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diff --git a/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_8.obj b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2107afd10db0d8a83276b462cfcd61afe065fe94
--- /dev/null
+++ b/dataset/furniture/table/126f60baf12759ea957fb6c38ba7458d/mjcf/mesh/wooden_patterned_table_collision_8.obj
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