diff --git a/.gitattributes b/.gitattributes
index 764f5a20729a8b271fdfcc76a8a76918f9e981d4..f0b8bf571da93443b3d93bc416dffe8ab801c509 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3816,3 +3816,6 @@ dataset/furniture/table/7443f75e8d955f739124a31844469c15/mesh/wooden_oak_table_g
 dataset/furniture/table/7edbf49a69f25d348bcac72d91413215/7edbf49a69f25d348bcac72d91413215.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/7edbf49a69f25d348bcac72d91413215/mesh/wooden_grain_table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/7edbf49a69f25d348bcac72d91413215/mesh/wooden_grain_table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/865d5d7b493b53d6aedb820f441b4d92.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/865d5d7b493b53d6aedb820f441b4d92.urdf b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/865d5d7b493b53d6aedb820f441b4d92.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..88b3f82de50ceee3e540e28afdfe243a81bc97bf
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/865d5d7b493b53d6aedb820f441b4d92.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="10.0000" />
+         <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>0.803592</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>simple wooden table with four legs and flat rectangular top</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>8.0</min_mass>
+         <max_mass>12.0</max_mass>
+         <generate_time>20251013213412</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.122993350028992</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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/865d5d7b493b53d6aedb820f441b4d92.usd b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/865d5d7b493b53d6aedb820f441b4d92.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5d6444c0c24050fc4311174b65b70ea42cd45d42
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/865d5d7b493b53d6aedb820f441b4d92.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53cced64fb86b77e2dd9f40bbd42084fdcc9edee05d41b2e9799f166e0bc948a
+size 322272
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/material.mtl b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/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/865d5d7b493b53d6aedb820f441b4d92/mesh/material_0.png b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a707c13aaf9acf48a3064d79ececffda602dd9b
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e06ce189550a0a44483c4853d3f64810b30656fe2fb5a91cf4d71afdf8e2487
+size 1044470
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table.glb b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c7efb48aedc68373e6c6551d2425ac749ac4609b
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b702cce7e4c8e0c88d23c10f519fd744ab40c50f9b1d258cf4685acf36e8ad8c
+size 1267180
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64a7a8ee4adfd32d797757481205de8c863babf7
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table.obj
@@ -0,0 +1,20324 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table_collision.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05bf224cf8b07a053327c65f759d777c0d9cf1e5
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table_collision.obj
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diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table_gs.ply b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..57879fa6acaaab9c09fa04cf51f314a5837e2cae
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mesh/table_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d33851106354d385cfb33a4327fdba067e3f85a7c66bf08357b8de7f6cc69fef
+size 36734570
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/865d5d7b493b53d6aedb820f441b4d92.xml b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/865d5d7b493b53d6aedb820f441b4d92.xml
new file mode 100644
index 0000000000000000000000000000000000000000..04869e810865f7149f45c8fb45fbc3661c75378c
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/865d5d7b493b53d6aedb820f441b4d92.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/table_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/table_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/table_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/table_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/table_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/table_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/table_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/table_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/table_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/table_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/table_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/table_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/table_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/table_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/table_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/table_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/table_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/table_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/table_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/table_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/table_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/table_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/table_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/table_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/table_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/table_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/table_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
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+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/material_0.png b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:8e06ce189550a0a44483c4853d3f64810b30656fe2fb5a91cf4d71afdf8e2487
+size 1044470
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9565a95735d94a0178ae080519151a193f995bde
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/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/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35378d44127318a5d57d540bf9fe04b16bd3d152
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision.obj
@@ -0,0 +1,7241 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_0.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9ca39e3d3b8a562fb0fbc992560ab7c7f41d18
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_0.obj
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diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_1.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab6ac307cb6e504d8ee09d5e49a51ac70ab4e0bb
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_1.obj
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diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_10.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..899171942ebb0948437c14c99b6e47a614e3d937
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_10.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.32857955 -0.02063996 0.22951618
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diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_11.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df1de4f873de087afab5ccf136892471a647560c
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_11.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.32933425 -0.26664569 0.28362610
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+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_12.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9065c69642cc05814077bd21257dec2d0530d9e4
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_12.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.09498614 -0.25858744 0.28362613
+v 0.09498614 -0.32712986 0.28362588
+v 0.09498614 -0.25858758 0.32102423
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+v 0.25787396 -0.32719234 0.28362588
+v 0.25787396 -0.32949018 0.32099835
+v 0.17856660 -0.32950407 0.32102397
+v 0.25787396 -0.32924028 0.32102397
+v 0.25771451 -0.32942770 0.32102397
+v 0.24460822 -0.32944854 0.32102397
+v 0.23140628 -0.32946242 0.32102397
+v 0.19178449 -0.32949711 0.32102397
+f 1 2 5
+f 1 5 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 5 9
+f 3 9 8
+f 3 8 13
+f 3 13 18
+f 3 18 17
+f 3 17 16
+f 3 16 15
+f 3 15 14
+f 3 14 10
+f 4 10 14
+f 4 14 12
+f 4 12 7
+f 4 7 11
+f 6 11 7
+f 7 12 13
+f 7 13 8
+f 12 14 15
+f 12 15 16
+f 12 16 17
+f 12 17 18
+f 12 18 13
+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_13.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dc1034c9dbc1895940e4f2258d88885f9f2cd26
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_13.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.25788474 -0.25859820 0.28362613
+v 0.25788474 -0.32718889 0.28362588
+v 0.25788474 -0.25859834 0.32102423
+v 0.31778406 -0.25859820 0.28362613
+v 0.25788474 -0.32738262 0.28365516
+v 0.28535970 -0.36196316 0.28362575
+v 0.25788474 -0.32924470 0.32102397
+v 0.33127353 -0.25859834 0.32102423
+v 0.32812492 -0.25859820 0.28364443
+v 0.32812492 -0.25871659 0.28362613
+v 0.25788474 -0.32949224 0.32099835
+v 0.27455518 -0.35419263 0.32102388
+v 0.27254956 -0.35150196 0.32102389
+v 0.29739348 -0.36622519 0.28362573
+v 0.28325703 -0.36443874 0.32102384
+v 0.28259926 -0.36385755 0.32102384
+v 0.25804648 -0.32963215 0.32102397
+v 0.36107763 -0.27441951 0.32102417
+v 0.35704481 -0.27843389 0.29007627
+v 0.35852208 -0.28166266 0.28362605
+v 0.31061339 -0.36645121 0.28362573
+v 0.29739348 -0.36828101 0.32102383
+v 0.36239316 -0.27660434 0.32102416
+v 0.36076493 -0.28423494 0.28362604
+v 0.31061339 -0.36843168 0.32102383
+v 0.33704241 -0.36658036 0.28362573
+v 0.36566038 -0.28517143 0.32102413
+v 0.36619953 -0.29838790 0.28362598
+v 0.36144426 -0.28600003 0.28362603
+v 0.33704241 -0.36853933 0.32102383
+v 0.35026233 -0.36651579 0.28362573
+v 0.36608092 -0.28669975 0.32102413
+v 0.36788167 -0.29838804 0.32102408
+v 0.36622109 -0.30003459 0.28362598
+v 0.34948595 -0.36837788 0.32102383
+v 0.35026233 -0.36836711 0.32102383
+v 0.36002089 -0.36270580 0.28362575
+v 0.36323423 -0.36416968 0.32102384
+v 0.36115312 -0.36497688 0.32102384
+v 0.36795716 -0.31161539 0.32102404
+v 0.36635049 -0.31161525 0.28362594
+v 0.36142270 -0.36214614 0.28362575
+v 0.36621031 -0.35128657 0.28362579
+v 0.36771993 -0.35128671 0.32102389
+v 0.36803263 -0.33805936 0.32102394
+v 0.36642598 -0.33805922 0.28362584
+v 0.36640442 -0.33970590 0.28362583
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 24
+f 1 24 29
+f 1 29 28
+f 1 28 34
+f 1 34 41
+f 1 41 46
+f 1 46 47
+f 1 47 43
+f 1 43 42
+f 1 42 37
+f 1 37 31
+f 1 31 26
+f 1 26 21
+f 1 21 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 7 17
+f 3 17 13
+f 3 13 12
+f 3 12 16
+f 3 16 15
+f 3 15 22
+f 3 22 25
+f 3 25 30
+f 3 30 35
+f 3 35 36
+f 3 36 39
+f 3 39 38
+f 3 38 44
+f 3 44 45
+f 3 45 40
+f 3 40 33
+f 3 33 32
+f 3 32 27
+f 3 27 23
+f 3 23 18
+f 3 18 8
+f 4 9 10
+f 5 6 12
+f 5 12 13
+f 5 13 11
+f 6 14 15
+f 6 15 16
+f 6 16 12
+f 7 11 17
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 13 17
+f 14 21 22
+f 14 22 15
+f 18 23 24
+f 18 24 20
+f 18 20 19
+f 21 25 22
+f 21 26 25
+f 23 27 28
+f 23 28 29
+f 23 29 24
+f 25 26 30
+f 26 31 30
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 30 31 35
+f 31 36 35
+f 31 37 38
+f 31 38 39
+f 31 39 36
+f 33 40 41
+f 33 41 34
+f 37 42 38
+f 38 42 43
+f 38 43 44
+f 40 45 46
+f 40 46 41
+f 43 47 45
+f 43 45 44
+f 45 47 46
+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_14.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77ec15c6e5d0b4b6a9ec07d78ccf45f4ea59111f
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_14.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.09498614 -0.19226061 0.23073029
+v 0.17820798 -0.28231734 0.22838876
+v 0.09498614 -0.28239725 0.22838876
+v 0.09498614 -0.19226080 0.28362637
+v 0.12550572 -0.19226061 0.23076815
+v 0.26198561 -0.28261031 0.22838876
+v 0.25781717 -0.28257036 0.22838876
+v 0.21804526 -0.28234399 0.22838876
+v 0.20482067 -0.28231734 0.22838876
+v 0.09498614 -0.31373002 0.22838865
+v 0.09498614 -0.32712621 0.28362588
+v 0.26198561 -0.19226080 0.28362637
+v 0.24449448 -0.19226061 0.23095738
+v 0.25770274 -0.19226061 0.23099524
+v 0.26198561 -0.19226061 0.23101146
+v 0.26198561 -0.32748556 0.22838860
+v 0.09500248 -0.32704610 0.22838860
+v 0.09498614 -0.32704611 0.23244921
+v 0.09498614 -0.32712620 0.28120357
+v 0.26198561 -0.32828470 0.28362587
+v 0.26198561 -0.32796496 0.23645034
+v 0.09498614 -0.32707279 0.24565836
+v 0.26198561 -0.32816475 0.25128698
+v 0.26198561 -0.32824469 0.26478268
+v 0.26198561 -0.32828468 0.27735382
+f 1 2 3
+f 1 3 10
+f 1 10 18
+f 1 18 22
+f 1 22 19
+f 1 19 11
+f 1 11 4
+f 1 4 12
+f 1 12 15
+f 1 15 14
+f 1 14 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 8
+f 2 8 7
+f 2 7 6
+f 2 6 16
+f 2 16 17
+f 2 17 10
+f 2 10 3
+f 4 11 20
+f 4 20 12
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 12
+f 6 12 20
+f 6 20 25
+f 6 25 24
+f 6 24 23
+f 6 23 21
+f 6 21 16
+f 10 17 18
+f 11 19 25
+f 11 25 20
+f 16 21 17
+f 17 22 18
+f 17 21 23
+f 17 23 24
+f 17 24 25
+f 17 25 22
+f 19 22 25
+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_15.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b70928a3b546b4d908f167d8f86a4691c892ded5
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_15.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.19182739 0.40122629 0.35129511
+v -0.19182739 0.39863479 0.33865990
+v -0.21826288 0.39862197 0.33867159
+v -0.23798352 0.40118779 0.35129511
+v -0.19182739 0.39989198 0.36450303
+v 0.08582663 0.39991762 0.36450303
+v 0.09495355 0.39991762 0.36450303
+v 0.09495355 0.40079008 0.35535683
+v 0.09495355 0.40117497 0.35129511
+v 0.09495355 0.39937887 0.34240606
+v 0.08582663 0.39857065 0.33843782
+v 0.08582663 0.39499121 0.33183385
+v -0.21826288 0.39427277 0.33207345
+v -0.23149689 0.39862197 0.33877679
+v -0.23798352 0.39987919 0.34495414
+v -0.23798352 0.39984066 0.36450303
+v -0.21826288 0.39986630 0.36450303
+v -0.20502883 0.39730036 0.37259142
+v 0.07259259 0.39732604 0.37262648
+v 0.09495355 0.39912219 0.36699852
+v 0.09495355 0.39857065 0.33844951
+v 0.09495355 0.39496555 0.33184554
+v 0.09495355 0.32962491 0.31843281
+v 0.08595702 0.32963776 0.31843281
+v -0.05961740 0.32979171 0.31843281
+v -0.08605287 0.32980453 0.31843281
+v -0.09935211 0.32980453 0.31843281
+v -0.23798352 0.32968907 0.31843281
+v -0.23149689 0.38744746 0.33074094
+v -0.23798352 0.38720371 0.33075263
+v -0.23149689 0.39405467 0.33217282
+v -0.23798352 0.39629984 0.33552740
+v -0.23798352 0.39862197 0.33887613
+v -0.23798352 0.39727472 0.37255635
+v -0.23149689 0.39727472 0.37256804
+v -0.21826288 0.38934608 0.37609207
+v -0.20502883 0.38934608 0.37610376
+v 0.01968904 0.38934608 0.37611545
+v 0.08582663 0.39732604 0.37262065
+v 0.09495355 0.39732604 0.37261479
+v 0.09495355 0.27016016 0.31843259
+v -0.23798352 0.27016016 0.31843259
+v -0.23798352 0.39382374 0.33227216
+v -0.23798352 0.38934608 0.37606286
+v -0.23149689 0.38934608 0.37607453
+v -0.23798352 0.37611884 0.37810245
+v -0.21826288 0.37611884 0.37812582
+v 0.01968904 0.37611884 0.37811411
+v 0.03292308 0.38934608 0.37610962
+v -0.20502883 0.37611884 0.37812582
+v -0.08605287 0.37611884 0.37811997
+v 0.09495355 0.38934608 0.37605701
+v 0.09495355 0.27015994 0.37787997
+v -0.23798352 0.27015994 0.37803192
+v -0.23798352 0.29678118 0.37806123
+v -0.23149689 0.28355394 0.37806118
+v -0.21842585 0.27015994 0.37806113
+v -0.20519182 0.27015994 0.37806699
+v -0.11248835 0.29678118 0.37809630
+v -0.11248835 0.30999557 0.37810221
+v -0.11248835 0.32322278 0.37810809
+v -0.09925432 0.34966440 0.37811987
+v 0.01968904 0.27015994 0.37797931
+v 0.03292308 0.37611884 0.37809659
+v -0.08605287 0.36289163 0.37811992
+v -0.09925432 0.33643717 0.37811397
+v -0.09925432 0.28355394 0.37809039
+v -0.08605287 0.27015994 0.37807282
+v 0.09495355 0.38527912 0.37664726
+v 0.09495355 0.37205190 0.37797386
+v -0.23162730 0.27015994 0.37804361
+v -0.23798352 0.27702373 0.37804364
+v -0.23798352 0.28355394 0.37804950
+v -0.09941730 0.27015994 0.37807868
+v 0.09495355 0.37611884 0.37797387
+v -0.09925432 0.27015994 0.37807868
+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 11 12
+f 2 12 3
+f 3 13 14
+f 3 14 4
+f 3 12 13
+f 4 14 15
+f 4 15 33
+f 4 33 32
+f 4 32 43
+f 4 43 30
+f 4 30 28
+f 4 28 42
+f 4 42 54
+f 4 54 72
+f 4 72 73
+f 4 73 55
+f 4 55 46
+f 4 46 44
+f 4 44 34
+f 4 34 16
+f 4 16 17
+f 4 17 5
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 19 20
+f 6 20 7
+f 7 20 40
+f 7 40 52
+f 7 52 69
+f 7 69 75
+f 7 75 70
+f 7 70 53
+f 7 53 41
+f 7 41 23
+f 7 23 22
+f 7 22 21
+f 7 21 10
+f 7 10 9
+f 7 9 8
+f 10 21 11
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 13 28 29
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 33
+f 13 33 14
+f 14 33 15
+f 16 34 17
+f 17 34 18
+f 18 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 19
+f 19 38 49
+f 19 49 39
+f 19 39 20
+f 19 37 38
+f 20 39 40
+f 23 41 42
+f 23 42 28
+f 23 28 27
+f 23 27 26
+f 23 26 25
+f 23 25 24
+f 28 30 29
+f 30 43 31
+f 31 43 32
+f 34 44 45
+f 34 45 35
+f 35 45 36
+f 36 45 46
+f 36 46 47
+f 36 47 37
+f 37 47 38
+f 38 48 49
+f 38 47 50
+f 38 50 51
+f 38 51 48
+f 39 49 40
+f 40 49 52
+f 41 53 63
+f 41 63 68
+f 41 68 76
+f 41 76 74
+f 41 74 58
+f 41 58 57
+f 41 57 71
+f 41 71 54
+f 41 54 42
+f 44 46 45
+f 46 55 47
+f 47 55 56
+f 47 56 57
+f 47 57 58
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+f 47 59 60
+f 47 60 61
+f 47 61 62
+f 47 62 50
+f 48 63 53
+f 48 53 64
+f 48 64 52
+f 48 52 49
+f 48 51 65
+f 48 65 62
+f 48 62 66
+f 48 66 67
+f 48 67 68
+f 48 68 63
+f 50 62 65
+f 50 65 51
+f 52 64 69
+f 53 70 64
+f 54 71 72
+f 55 73 56
+f 56 71 57
+f 56 73 72
+f 56 72 71
+f 58 74 67
+f 58 67 59
+f 59 67 60
+f 60 67 66
+f 60 66 62
+f 60 62 61
+f 64 70 75
+f 64 75 69
+f 67 74 76
+f 67 76 68
+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_16.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d08f667fb016e4340f18286078c1d7c914ca8f2d
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_16.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.17820798 -0.28232460 0.22838874
+v 0.16499972 -0.28233787 0.22838874
+v 0.20482067 -0.28232902 0.22838874
+v 0.26198561 -0.29336555 0.20603758
+v 0.09498614 -0.28240860 0.22838874
+v 0.21804526 -0.28235556 0.22838874
+v 0.25781717 -0.28257663 0.22838874
+v 0.26198561 -0.28262528 0.22838874
+v 0.26198561 -0.29535532 0.20262929
+v 0.09498614 -0.29358665 0.20603758
+v 0.09498614 -0.31373208 0.22838863
+v 0.26198561 -0.32749249 0.22838858
+v 0.26198561 -0.29952055 0.19553192
+v 0.09498614 -0.29965320 0.19565276
+v 0.09498614 -0.32705473 0.22838504
+v 0.09500248 -0.32705473 0.22838858
+v 0.26198561 -0.32749689 0.22350183
+v 0.26198561 -0.30343376 0.19440529
+v 0.09498614 -0.31160953 0.19220533
+v 0.09498614 -0.32703702 0.21924058
+v 0.09498614 -0.32684685 0.21517837
+v 0.09498614 -0.32640907 0.20603746
+v 0.26198561 -0.32676725 0.21029871
+v 0.26198561 -0.31160953 0.19208450
+v 0.09498614 -0.31880811 0.19482460
+v 0.09498614 -0.32505603 0.20294548
+v 0.25770274 -0.32651963 0.20603746
+v 0.26198561 -0.32650637 0.20603746
+v 0.26198561 -0.32200059 0.19598675
+v 0.09498614 -0.32200944 0.19599030
+f 1 2 5
+f 1 5 11
+f 1 11 16
+f 1 16 12
+f 1 12 8
+f 1 8 7
+f 1 7 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 6 7
+f 4 7 8
+f 4 8 12
+f 4 12 17
+f 4 17 23
+f 4 23 28
+f 4 28 29
+f 4 29 24
+f 4 24 18
+f 4 18 13
+f 4 13 9
+f 4 9 10
+f 4 10 5
+f 5 10 14
+f 5 14 19
+f 5 19 25
+f 5 25 30
+f 5 30 26
+f 5 26 22
+f 5 22 21
+f 5 21 20
+f 5 20 15
+f 5 15 11
+f 9 13 14
+f 9 14 10
+f 11 15 16
+f 12 16 15
+f 12 15 17
+f 13 18 19
+f 13 19 14
+f 15 20 17
+f 17 20 21
+f 17 21 22
+f 17 22 23
+f 18 24 19
+f 19 24 25
+f 22 26 27
+f 22 27 23
+f 23 27 28
+f 24 29 30
+f 24 30 25
+f 26 30 27
+f 27 29 28
+f 27 30 29
+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_17.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac85ff313fa5938be710834220310b8f3e7617b
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_17.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.23798352 -0.27130919 0.32082378
+v -0.23798352 -0.32940926 0.32082357
+v -0.23798352 -0.27130940 0.37795902
+v 0.09495355 -0.27130919 0.32082378
+v -0.11248835 -0.38803757 0.33078693
+v -0.15215787 -0.38771552 0.33079251
+v -0.23798352 -0.38721308 0.33084847
+v 0.03292308 -0.32940926 0.32082357
+v -0.07281884 -0.38820504 0.33077573
+v -0.23798352 -0.35128396 0.37794194
+v -0.16535932 -0.37773173 0.37794184
+v -0.08605287 -0.27194065 0.37797019
+v -0.08605287 -0.27130940 0.37797019
+v 0.09495355 -0.27130940 0.37776882
+v 0.09495355 -0.32930621 0.32082357
+v -0.07281884 -0.39482666 0.33256032
+v -0.09925432 -0.39472359 0.33259947
+v -0.11248835 -0.39465917 0.33263303
+v -0.23798352 -0.39056255 0.33197851
+v 0.07259259 -0.38797315 0.33082048
+v -0.01994788 -0.39472359 0.33250436
+v -0.03318192 -0.39472359 0.33250436
+v -0.05961740 -0.39482666 0.33254353
+v -0.23798352 -0.36451429 0.37793070
+v -0.17859335 -0.37773173 0.37793625
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+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_18.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2761461b9530bf62ad0858910ce3265fbb915363
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_18.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.09495355 -0.32930104 0.32080541
+v 0.09495355 -0.32703739 0.21925397
+v 0.09495355 -0.27130919 0.32080562
+v 0.04615711 -0.32938064 0.32080541
+v 0.08582663 -0.32642319 0.20603880
+v 0.09495355 -0.32641182 0.20603880
+v 0.03292308 -0.32939771 0.32080541
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+v 0.03292308 -0.32648574 0.20603880
+v 0.09495355 -0.27130886 0.23084420
+v -0.23798352 -0.27130919 0.32080562
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+v 0.09495355 -0.32201036 0.19599831
+v 0.03292308 -0.32709995 0.21925397
+v -0.16535932 -0.32940339 0.32080541
+v -0.23798352 -0.32728193 0.21925397
+v -0.17859335 -0.32726485 0.21925397
+v 0.00648760 -0.32650280 0.20603880
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+v 0.03292308 -0.29953127 0.19565825
+v 0.01968904 -0.29951989 0.19565825
+v 0.00648760 -0.27130886 0.23080642
+v -0.23798352 -0.27130886 0.23139852
+v -0.23798352 -0.32939201 0.32080541
+v 0.09495355 -0.31880882 0.19482672
+v -0.16545711 -0.32940339 0.32080541
+v -0.23798352 -0.32696344 0.21274088
+v -0.23798352 -0.32662223 0.20603880
+v -0.00674644 -0.32207291 0.19591013
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+v 0.09495355 -0.31160958 0.19220639
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+v -0.00674644 -0.31160958 0.19213081
+v -0.01994788 -0.29953127 0.19565825
+v -0.00674644 -0.29952559 0.19565825
+v -0.23798352 -0.30561022 0.19408349
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+v -0.23798352 -0.31692086 0.19422204
+v -0.23798352 -0.31160958 0.19239536
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+f 1 15 7
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+f 39 44 40
+f 43 44 46
+f 44 45 46
+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_19.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fc355d6e1e6978208fa247f0883d08abc6f64f5
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_19.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.09495355 0.27016016 0.31842676
+v 0.09495355 0.27016048 0.23108175
+v 0.09495355 0.32962113 0.31842698
+v -0.23798352 0.27016016 0.31842676
+v 0.09495355 0.29958170 0.19609448
+v 0.03308606 0.27016048 0.23067435
+v 0.09495355 0.32886845 0.21925492
+v -0.05961740 0.32977875 0.31842698
+v -0.23798352 0.32967950 0.31842698
+v -0.23798352 0.27016048 0.23103238
+v 0.09495355 0.30278066 0.19497104
+v 0.01985202 0.27016048 0.23062498
+v 0.07259259 0.29956420 0.19605745
+v 0.09495355 0.32804540 0.20604512
+v 0.08582663 0.32805708 0.20604513
+v -0.05961740 0.32902023 0.21925492
+v -0.07281884 0.32979041 0.31842698
+v -0.23798352 0.32900854 0.21925492
+v -0.09935211 0.32979041 0.31842698
+v -0.23798352 0.29922561 0.19598338
+v -0.20486583 0.27016048 0.23085953
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+v 0.05935856 0.30999000 0.19237850
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+v -0.04641595 0.27016048 0.23062498
+v -0.17859335 0.29928400 0.19597103
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+v -0.08605287 0.32979625 0.31842698
+v -0.23798352 0.32818550 0.20604513
+v -0.12568979 0.32903773 0.21925492
+v -0.16535932 0.27016048 0.23071138
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+v -0.23798352 0.30453777 0.19416859
+v -0.12568979 0.30999000 0.19231677
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+v 0.03292308 0.30999000 0.19235381
+v -0.16535932 0.29930734 0.19597103
+v -0.05961740 0.32196274 0.19578593
+v -0.23798352 0.32199195 0.19577358
+v -0.23798352 0.32504495 0.20083526
+v -0.08605287 0.32903189 0.21925492
+v -0.23798352 0.30999000 0.19231677
+v -0.23798352 0.31592092 0.19402048
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+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_2.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b3353bf720cff35497b35000f043b3a7faaca84
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_2.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
+v 0.28388141 -0.32484849 0.18004197
+v 0.28403423 -0.33806380 0.18004192
+v 0.28395274 -0.31161289 0.18004202
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+v 0.31135840 -0.32483633 -0.37103293
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+v 0.31182705 -0.36451268 -0.37087043
+v 0.29780838 -0.36633017 0.18004181
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+v 0.31444537 -0.38520294 -0.33535750
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+v 0.31061469 -0.36817605 0.18004181
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+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_20.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..184cb39280f033cacda470ae102666ad05251930
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_20.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.33726481 0.36881008 0.32114221
+v -0.32814611 0.36636795 0.30257367
+v -0.33726481 0.36641175 0.30257367
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+v -0.32404525 0.36868963 0.32114221
+v -0.31082566 0.36624748 0.30257367
+v -0.31492653 0.36628033 0.30257367
+v -0.35048439 0.36615986 0.30257366
+v -0.35048439 0.36855819 0.32114221
+v -0.31082566 0.36855819 0.32114221
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+v -0.29761882 0.36605034 0.30257366
+v -0.35157966 0.36836107 0.32114221
+v -0.35388479 0.36460472 0.30257366
+v -0.36374218 0.36308236 0.32114219
+v -0.36226484 0.36375041 0.32114220
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+v -0.28489593 0.36108921 0.30257365
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+v -0.36404783 0.28493112 0.32114191
+v -0.36527045 0.29676996 0.30257341
+v -0.36390773 0.29329828 0.30257340
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+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_21.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdf864b7690a7b97ebde2b4a8c89400f95e5d9e3
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_21.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.33223872 0.26114199 0.32102614
+v 0.32910354 0.26114213 0.28362804
+v 0.09498614 0.26114199 0.32102614
+v 0.33189037 -0.02466857 0.32102509
+v 0.09498614 0.26114213 0.28362804
+v 0.33186715 -0.03784496 0.32102504
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+v 0.09498614 -0.25858758 0.32102423
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+v 0.33126331 -0.25858758 0.32102423
+v 0.32812814 -0.25858744 0.28364443
+v 0.32856938 -0.03382577 0.28362696
+v 0.31777039 -0.25858744 0.28362613
+v 0.32805846 -0.24708990 0.28362617
+v 0.32810492 -0.23386262 0.28362622
+f 1 2 5
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+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_22.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87ae8c141d1360f9bfb4a78ad2692a2ff589ae19
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_22.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.32861759 -0.00739998 0.27206442
+v 0.32859473 0.01903850 0.28362715
+v 0.32859473 -0.02226908 0.28362700
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+v 0.27617859 -0.02673795 0.22951616
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+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_23.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aa5d22f17c1d183aabf3008b6fab3528f161099
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_23.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.26486901 0.30999958 0.19223184
+v 0.26486901 0.29960043 0.19595295
+v 0.26486901 0.31545798 0.19380347
+v 0.28422799 0.34967076 0.18005459
+v 0.28414708 0.34925299 0.18005459
+v 0.28341884 0.33594753 0.18005454
+v 0.28339862 0.32263300 0.18005450
+v 0.28385377 0.30999963 0.18005445
+v 0.28756576 0.29820182 0.18005441
+v 0.29224873 0.29163537 0.18005438
+v 0.29240045 0.29144466 0.18005438
+v 0.29840839 0.27559611 0.19486795
+v 0.26486901 0.27559598 0.23133930
+v 0.26486901 0.32293265 0.19602402
+v 0.28773769 0.35990643 0.18005463
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+v 0.26486901 0.32592069 0.20108357
+v 0.28785907 0.36024247 0.18005463
+v 0.32384614 0.28287104 0.18005435
+v 0.32360340 0.27559612 0.19393513
+v 0.33704544 0.28293461 0.18005435
+v 0.35026498 0.28381557 0.18005435
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+v 0.26486901 0.32923563 0.21925336
+v 0.28573505 0.36095963 0.27205938
+v 0.32749744 0.27559610 0.19979569
+v 0.36037939 0.28742123 0.18005437
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+v 0.33291876 0.27559606 0.20926587
+v 0.32933827 0.27559609 0.20266512
+v 0.35026498 0.27902886 0.28362810
+v 0.34164751 0.27559579 0.28184355
+v 0.26486901 0.32951694 0.28350661
+v 0.28544174 0.36099591 0.28362841
+v 0.29738683 0.36627307 0.18005466
+v 0.36598277 0.29677590 0.18005440
+v 0.36104694 0.28569527 0.27205910
+v 0.34002921 0.27559590 0.25411235
+v 0.33927061 0.27559593 0.24564595
+v 0.33770288 0.27559598 0.23244448
+v 0.36106718 0.28545001 0.28362813
+v 0.34095972 0.27559585 0.26809455
+v 0.34037309 0.27559588 0.25885758
+v 0.28688809 0.36165890 0.28362841
+v 0.31019170 0.36831657 0.18005466
+v 0.29738683 0.36624548 0.27205940
+v 0.36809668 0.30999963 0.18005445
+v 0.36589175 0.29677556 0.27205914
+v 0.36583106 0.29677552 0.28362817
+v 0.29738683 0.36621818 0.28362843
+v 0.31060637 0.36838013 0.18005466
+v 0.36818773 0.34967076 0.18005459
+v 0.36759096 0.34967061 0.21925343
+v 0.36646826 0.32157907 0.28362826
+v 0.36642780 0.30999925 0.28362822
+v 0.29903549 0.36629085 0.28362843
+v 0.32382590 0.36837105 0.18005466
+v 0.31060637 0.36671770 0.28362843
+v 0.33704544 0.36678129 0.28362843
+v 0.36255398 0.36226780 0.18005464
+v 0.36237193 0.36209513 0.20604188
+v 0.36228090 0.36199519 0.21925348
+v 0.36164368 0.36141370 0.28362841
+v 0.36226067 0.35993330 0.28362840
+v 0.36645816 0.34967038 0.28362836
+v 0.36649861 0.33644667 0.28362832
+v 0.36649861 0.33479369 0.28362831
+v 0.35026498 0.36827116 0.18005466
+v 0.35026498 0.36768973 0.21925350
+v 0.33869410 0.36677221 0.28362843
+v 0.36246295 0.36218602 0.19284039
+v 0.36214940 0.36187707 0.23244480
+v 0.35026498 0.36667229 0.28362843
+f 1 2 13
+f 1 13 20
+f 1 20 28
+f 1 28 41
+f 1 41 32
+f 1 32 31
+f 1 31 29
+f 1 29 21
+f 1 21 14
+f 1 14 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 2
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 3 14 4
+f 4 14 15
+f 4 15 22
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+f 4 53 59
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+f 12 19 24
+f 12 24 34
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+f 12 37 36
+f 12 36 48
+f 12 48 47
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+f 12 46 51
+f 12 51 50
+f 12 50 40
+f 12 40 27
+f 12 27 20
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+f 14 21 22
+f 14 22 15
+f 18 23 19
+f 19 23 25
+f 19 25 26
+f 19 26 24
+f 20 27 39
+f 20 39 49
+f 20 49 57
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+f 20 67 66
+f 20 66 64
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+f 21 29 22
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+f 24 26 34
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+f 28 42 41
+f 30 33 42
+f 30 42 43
+f 32 41 42
+f 32 42 33
+f 35 44 45
+f 35 45 39
+f 35 39 46
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 39 45 49
+f 39 40 50
+f 39 50 51
+f 39 51 46
+f 42 52 43
+f 43 52 54
+f 43 54 53
+f 44 55 56
+f 44 56 49
+f 44 49 45
+f 49 56 57
+f 52 58 54
+f 53 54 59
+f 54 58 59
+f 55 60 61
+f 55 61 62
+f 55 62 63
+f 55 63 57
+f 55 57 56
+f 58 64 59
+f 59 64 66
+f 59 66 67
+f 59 67 65
+f 60 68 69
+f 60 69 70
+f 60 70 71
+f 60 71 61
+f 61 71 72
+f 61 72 73
+f 61 73 74
+f 61 74 75
+f 61 75 62
+f 65 67 77
+f 65 77 76
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+f 68 76 79
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+f 69 76 70
+f 70 76 80
+f 70 80 71
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+f 71 76 77
+f 71 77 81
+f 77 78 81
+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_24.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bf3d2c0b4d3ce574b814d7d23d8186c68bf4e9b
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_24.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.33265309 -0.26052416 0.32113990
+v -0.32924091 -0.26052409 0.30257136
+v -0.35875369 -0.27666306 0.32113984
+v -0.23802884 -0.26052416 0.32113990
+v -0.35521420 -0.27926842 0.30257129
+v -0.23802884 -0.26052409 0.30257136
+v -0.36116003 -0.28588219 0.30257127
+v -0.36377010 -0.28411016 0.32113982
+v -0.23802884 -0.32976319 0.32113965
+v -0.23802884 -0.32737919 0.30257112
+v -0.36553983 -0.29839247 0.30257122
+v -0.36774249 -0.29839254 0.32113976
+v -0.28372400 -0.36427721 0.32113952
+v -0.28569747 -0.36158733 0.30257099
+v -0.36588360 -0.31162005 0.30257118
+v -0.36793348 -0.31137750 0.32113972
+v -0.28509907 -0.36472023 0.32113952
+v -0.29387142 -0.36435100 0.30257098
+v -0.36592181 -0.31571277 0.30257116
+v -0.36800984 -0.32470000 0.32113967
+v -0.36607459 -0.33805408 0.30257108
+v -0.29761461 -0.36801131 0.32113951
+v -0.29761461 -0.36555350 0.30257098
+v -0.36808626 -0.33805415 0.32113962
+v -0.36780614 -0.35128172 0.32113957
+v -0.36574356 -0.35128165 0.30257103
+v -0.29865863 -0.36803240 0.32113951
+v -0.31081769 -0.36585940 0.30257098
+v -0.30671799 -0.36577500 0.30257098
+v -0.36424118 -0.36212537 0.32113953
+v -0.36436850 -0.35450941 0.30257102
+v -0.31175986 -0.36816955 0.32113951
+v -0.33726206 -0.36604926 0.30257098
+v -0.36123642 -0.36181940 0.30257099
+v -0.36338815 -0.36409790 0.32113952
+v -0.33726206 -0.36828557 0.32113951
+v -0.34639092 -0.36598597 0.30257098
+v -0.35049063 -0.36593324 0.30257098
+v -0.35049063 -0.36815900 0.32113951
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 16
+f 1 16 20
+f 1 20 24
+f 1 24 25
+f 1 25 30
+f 1 30 35
+f 1 35 39
+f 1 39 36
+f 1 36 32
+f 1 32 27
+f 1 27 22
+f 1 22 17
+f 1 17 13
+f 1 13 9
+f 1 9 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 23
+f 2 23 29
+f 2 29 28
+f 2 28 33
+f 2 33 37
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+f 2 38 34
+f 2 34 31
+f 2 31 26
+f 2 26 21
+f 2 21 19
+f 2 19 15
+f 2 15 11
+f 2 11 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 18
+f 13 18 14
+f 15 19 16
+f 16 19 21
+f 16 21 20
+f 17 22 23
+f 17 23 18
+f 20 21 24
+f 21 25 24
+f 21 26 25
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 25 26 30
+f 26 31 30
+f 27 32 28
+f 28 32 33
+f 30 31 34
+f 30 34 35
+f 32 36 33
+f 33 36 37
+f 34 38 35
+f 35 38 39
+f 36 39 37
+f 37 39 38
+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_25.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5da869003a0f39d1cc8dd9e51e11c5a930011e2d
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_25.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.26485891 0.32951850 0.28362300
+v 0.26485891 0.23443095 0.28362265
+v 0.26485891 0.32925809 0.22938153
+v 0.09498614 0.32886716 0.22938153
+v 0.09498614 0.32891350 0.28362300
+v 0.26485891 0.23443114 0.23148395
+v 0.09498614 0.23443095 0.28362265
+v 0.26485891 0.28828556 0.22938138
+v 0.09498614 0.28828556 0.22938138
+v 0.25770884 0.23443114 0.23142022
+v 0.09498614 0.23443114 0.23084143
+v 0.23127014 0.28822040 0.22938138
+v 0.24448949 0.23443114 0.23133526
+v 0.24069827 0.23443114 0.23131403
+v 0.23127014 0.23443114 0.23127155
+v 0.22747893 0.23443114 0.23125561
+v 0.21805080 0.23443114 0.23121844
+v 0.09526881 0.23443114 0.23084143
+v 0.09906003 0.28827624 0.22938138
+v 0.20481481 0.28818318 0.22938138
+v 0.21805080 0.28820179 0.22938138
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 11
+f 2 11 18
+f 2 18 17
+f 2 17 16
+f 2 16 15
+f 2 15 14
+f 2 14 13
+f 2 13 10
+f 2 10 6
+f 3 8 12
+f 3 12 21
+f 3 21 20
+f 3 20 19
+f 3 19 9
+f 3 9 4
+f 4 9 11
+f 4 11 7
+f 4 7 5
+f 6 10 8
+f 8 10 13
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 12
+f 9 19 11
+f 11 19 20
+f 11 20 18
+f 12 18 21
+f 18 20 21
+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_26.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fc482ef7d96b8d26f7cd4464bec0c54bf9903b3
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_26.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.26932209 -0.33282891 0.30256931
+v -0.23801918 -0.32739022 0.27205368
+v -0.23801918 -0.32740329 0.27875805
+v -0.23801918 -0.32740985 0.28526774
+v -0.23801918 -0.32740334 0.29196129
+v -0.23801918 -0.32738378 0.30256933
+v -0.26932209 -0.26614245 0.30256955
+v -0.26932209 -0.33282239 0.30095810
+v -0.23801918 -0.32727902 0.21925145
+v -0.23801918 -0.26614245 0.30256955
+v -0.26932209 -0.26614219 0.23146010
+v -0.26932209 -0.33280932 0.29847099
+v -0.23801918 -0.32695908 0.21274173
+v -0.26932209 -0.33252853 0.28526772
+v -0.26932209 -0.33216939 0.27202122
+v -0.23801918 -0.26614219 0.23138440
+v -0.26373873 -0.26614219 0.23142766
+v -0.26932209 -0.29940042 0.19571060
+v -0.23801918 -0.32661955 0.20603739
+v -0.26932209 -0.33145115 0.25885039
+v -0.23801918 -0.29947877 0.19581874
+v -0.24472103 -0.29944613 0.19580792
+v -0.24472103 -0.26614219 0.23138440
+v -0.25794087 -0.26614219 0.23139521
+v -0.26932209 -0.31160951 0.19210967
+v -0.25794087 -0.32668485 0.20603739
+v -0.26932209 -0.32276745 0.19723522
+v -0.23801918 -0.32438665 0.20108482
+v -0.26932209 -0.33062846 0.24565797
+v -0.23801918 -0.31160951 0.19239082
+v -0.26932209 -0.31307199 0.19260708
+v -0.26932209 -0.32669790 0.20603739
+v -0.26932209 -0.32212762 0.19582947
+v -0.23801918 -0.32209498 0.19601330
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 7
+f 1 7 11
+f 1 11 18
+f 1 18 25
+f 1 25 31
+f 1 31 33
+f 1 33 27
+f 1 27 32
+f 1 32 29
+f 1 29 20
+f 1 20 15
+f 1 15 14
+f 1 14 12
+f 1 12 8
+f 1 8 9
+f 1 9 2
+f 2 9 13
+f 2 13 19
+f 2 19 28
+f 2 28 34
+f 2 34 30
+f 2 30 21
+f 2 21 16
+f 2 16 10
+f 2 10 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 7 10 16
+f 7 16 23
+f 7 23 24
+f 7 24 17
+f 7 17 11
+f 8 12 9
+f 9 12 14
+f 9 14 15
+f 9 15 13
+f 11 17 18
+f 13 15 19
+f 15 20 19
+f 16 21 22
+f 16 22 18
+f 16 18 23
+f 17 24 18
+f 18 22 21
+f 18 21 25
+f 18 24 23
+f 19 26 27
+f 19 27 28
+f 19 20 29
+f 19 29 26
+f 21 30 25
+f 25 30 31
+f 26 32 27
+f 26 29 32
+f 27 33 34
+f 27 34 28
+f 30 34 31
+f 31 34 33
+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_27.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..206812e64fae1a25372c931c4328041f5cc2e631
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_27.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.26485891 0.32925615 0.22937789
+v 0.26485891 0.28828861 0.22937774
+v 0.26485891 0.32924010 0.21924299
+v 0.09498614 0.32887024 0.21924299
+v 0.09498614 0.32887021 0.22937789
+v 0.21805080 0.28820418 0.22937774
+v 0.26485891 0.29519500 0.20603879
+v 0.26485891 0.32883008 0.20980632
+v 0.09498614 0.32805023 0.20603891
+v 0.26485891 0.32859693 0.20603892
+v 0.09498614 0.28828861 0.22937774
+v 0.20481481 0.28819212 0.22937774
+v 0.26485891 0.29959691 0.19594755
+v 0.16517340 0.29519098 0.20603879
+v 0.09498614 0.32191580 0.19581672
+v 0.26485891 0.32592769 0.20107509
+v 0.26485891 0.32293686 0.19601674
+v 0.09498614 0.29525129 0.20603879
+v 0.11227938 0.28826851 0.22937774
+v 0.26485891 0.30999256 0.19223110
+v 0.09498614 0.29958082 0.19608574
+v 0.09498614 0.29658191 0.20297324
+v 0.09498614 0.30999256 0.19246384
+v 0.16517340 0.32192384 0.19573308
+v 0.16517340 0.30999256 0.19236202
+v 0.26485891 0.31544767 0.19379844
+v 0.09498614 0.30278877 0.19496934
+f 1 2 7
+f 1 7 13
+f 1 13 20
+f 1 20 26
+f 1 26 17
+f 1 17 16
+f 1 16 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 15
+f 4 15 23
+f 4 23 27
+f 4 27 21
+f 4 21 22
+f 4 22 18
+f 4 18 11
+f 4 11 5
+f 4 8 10
+f 4 10 9
+f 6 12 7
+f 7 12 14
+f 7 14 13
+f 9 10 16
+f 9 16 17
+f 9 17 15
+f 11 18 19
+f 12 19 14
+f 13 14 21
+f 13 21 20
+f 14 19 18
+f 14 18 22
+f 14 22 21
+f 15 17 24
+f 15 24 20
+f 15 20 25
+f 15 25 23
+f 17 26 24
+f 20 21 25
+f 20 24 26
+f 21 27 25
+f 23 25 27
+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_28.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de2045fb9ab3be01a5bdb970e0c8947774450736
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_28.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.28250188 -0.02060633 0.22845299
+v -0.23801613 -0.02060634 0.23076030
+v -0.28250188 -0.03394935 0.22847472
+v -0.28250188 0.26451050 0.22853385
+v -0.23801613 -0.03385302 0.23078203
+v -0.23801613 -0.00740782 0.23076762
+v -0.28250188 -0.22759178 0.22880050
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diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_29.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fc406a79c490b54cd77617b21778a6ece5f9273
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_29.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_3.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8865ec8c78fb137433f193ab51dfefe58ad306d
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_3.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_30.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac839b60ffd9364bbd65a927f1c4b9fbe9535872
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_30.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_31.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24d91a7fc1b2931131ba97eafd764065ac8e6bbf
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_31.obj
@@ -0,0 +1,367 @@
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+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_32.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac8314788fa56e5b847d42a5f4d329890872e00f
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_32.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.09498614 0.33258030 0.32102640
+v 0.09498614 0.32891620 0.28362829
+v 0.09498614 0.26114896 0.32102614
+v 0.26168901 0.33256630 0.32102640
+v 0.26168901 0.32919593 0.28362829
+v 0.09498614 0.26114910 0.28362804
+v 0.26168901 0.26114896 0.32102614
+v 0.26168901 0.26114910 0.28362804
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 8
+f 2 8 6
+f 3 6 8
+f 3 8 7
+f 4 7 8
+f 4 8 5
+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_33.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c489e3fadf52a1752100bd36dc6905395127bed6
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_33.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.36840893 0.33644494 0.32102642
+v 0.36649724 0.33479979 0.28362831
+v 0.36649724 0.33644508 0.28362832
+v 0.36645547 0.34967054 0.28362836
+v 0.36820000 0.34967040 0.32102646
+v 0.36839848 0.32278706 0.32102637
+v 0.36647637 0.32321960 0.28362827
+v 0.36225603 0.35993242 0.28362840
+v 0.36360360 0.36311736 0.32102651
+v 0.36424084 0.36155645 0.32102651
+v 0.36829402 0.30968815 0.32102632
+v 0.36642411 0.31000467 0.28362822
+v 0.36165014 0.36140895 0.28362841
+v 0.35026360 0.36667172 0.28362843
+v 0.35026360 0.36856997 0.32102653
+v 0.36782393 0.29677907 0.32102627
+v 0.36582869 0.29677921 0.28362817
+v 0.33868906 0.36676663 0.28362843
+v 0.33704899 0.36887580 0.32102653
+v 0.34890559 0.36860161 0.32102653
+v 0.36350960 0.28299461 0.32102622
+v 0.36106515 0.28545211 0.28362813
+v 0.33704899 0.36677718 0.28362843
+v 0.33545069 0.36887580 0.32102653
+v 0.35593598 0.27609712 0.32102619
+v 0.32910976 0.26114215 0.28362804
+v 0.31060928 0.36671389 0.28362843
+v 0.31060928 0.36878090 0.32102653
+v 0.33223321 0.26114201 0.32102614
+v 0.26168901 0.26114215 0.28362804
+v 0.30915723 0.36874926 0.32102653
+v 0.29903471 0.36629203 0.28362843
+v 0.26168901 0.26114201 0.32102614
+v 0.26168901 0.32919954 0.28362829
+v 0.29738418 0.36830630 0.32102653
+v 0.29738418 0.36621820 0.28362843
+v 0.26168901 0.33256377 0.32102640
+v 0.27607364 0.35690539 0.32102649
+v 0.28544401 0.36099762 0.28362841
+v 0.29659026 0.36814811 0.32102653
+v 0.28688560 0.36165152 0.28362841
+v 0.28325029 0.36322281 0.32102651
+v 0.28405464 0.36354977 0.32102652
+f 1 2 3
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+f 1 4 5
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+f 1 10 9
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+f 1 20 19
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+f 1 24 28
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+f 36 41 42
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+f 36 43 40
+f 38 42 39
+f 39 42 41
+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_34.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34fc95c2cb3ddc222d385f27ac9c9d733bd6ceb2
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_34.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.26486643 0.27559596 0.23133411
+v 0.29840969 0.27559609 0.19486824
+v 0.26486643 0.23443516 0.23148940
+v 0.26486643 0.27559577 0.28362809
+v 0.31060381 0.27559611 0.19021399
+v 0.29960578 0.23443529 0.19564532
+v 0.26486643 0.23443497 0.28362794
+v 0.34170224 0.27559577 0.28362809
+v 0.31060381 0.23443531 0.19176831
+v 0.30744433 0.23443530 0.19287471
+v 0.32361040 0.27559610 0.19393556
+v 0.32843237 0.23443497 0.28362794
+v 0.34164207 0.27559577 0.28184502
+v 0.32843237 0.23443500 0.27537099
+v 0.32842485 0.23443506 0.25885710
+v 0.32841733 0.23443511 0.24565331
+v 0.32840982 0.23443516 0.23245866
+v 0.32839478 0.23443520 0.21924574
+v 0.32203818 0.23443529 0.19556302
+v 0.32749957 0.27559608 0.19979680
+v 0.34095749 0.27559583 0.26809259
+v 0.32761993 0.23443525 0.20604193
+v 0.32934262 0.27559607 0.20265884
+v 0.33291585 0.27559604 0.20926072
+v 0.32364802 0.23443528 0.19856222
+v 0.34037075 0.27559586 0.25885725
+v 0.33603019 0.27559600 0.21924589
+v 0.33770023 0.27559596 0.23245881
+v 0.33927245 0.27559591 0.24565346
+v 0.34003223 0.27559588 0.25411157
+f 1 2 3
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+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_35.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4566204bfe225e3e999e5a231bf9790ca8bdcfc3
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_35.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.23801613 -0.26052416 0.32113990
+v -0.33265874 -0.26052416 0.32113990
+v -0.23801613 -0.26052409 0.30257136
+v -0.23801613 0.25693861 0.32114180
+v -0.32924952 -0.26052409 0.30257136
+v -0.33251052 0.05868593 0.32114108
+v -0.23801613 0.25693868 0.30257326
+v -0.33214921 0.25693861 0.32114180
+v -0.33243640 0.17771857 0.32114151
+v -0.32886043 0.25693868 0.30257326
+v -0.33225111 0.24812509 0.32114177
+v -0.33241787 0.19093879 0.32114156
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 11
+f 1 11 12
+f 1 12 9
+f 1 9 6
+f 1 6 2
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+f 3 5 10
+f 3 10 7
+f 4 7 10
+f 4 10 8
+f 5 6 9
+f 5 9 10
+f 8 10 11
+f 9 12 10
+f 10 12 11
+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_4.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad680d2d6db9e02abb8059ef08c822486e3e6d53
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_4.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
+v 0.40371064 -0.36445098 0.35129663
+v 0.40235076 -0.19253384 0.36450038
+v 0.40238097 -0.25866796 0.36450014
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+v 0.40325736 0.37610931 0.35129935
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+v 0.39890572 -0.23218280 0.37338986
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+v 0.39890572 -0.25866799 0.37340093
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+v 0.40235076 -0.37769361 0.36449970
+v 0.39890572 -0.27191057 0.37340088
+v 0.39890572 -0.28515317 0.37339526
+v 0.39890572 -0.32480211 0.37337835
+v 0.40168592 -0.39093616 0.35129653
+v 0.39914744 -0.39093612 0.34058539
+v 0.40011453 -0.37769351 0.33888686
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+v 0.39618594 -0.23218265 0.33155667
+v 0.39621616 -0.21901889 0.33155672
+v 0.39651836 0.11811536 0.33149648
+v 0.39651836 0.11827302 0.33149648
+v 0.39984254 0.37610936 0.33864377
+v 0.39902658 0.38927313 0.34015803
+v 0.40150463 0.38927309 0.35129940
+v 0.40026560 0.38927304 0.36450252
+v 0.39775734 0.38927301 0.37231936
+v 0.38993044 0.36286664 0.37672217
+v 0.38993044 0.37610922 0.37670545
+v 0.38993044 -0.25866800 0.37680929
+v 0.38993044 -0.35128731 0.37678659
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+v 0.38993044 -0.37769365 0.37669709
+v 0.39878486 -0.37769364 0.37328316
+v 0.39802933 -0.38809855 0.37252881
+v 0.39944969 -0.39188209 0.36532100
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+v 0.39757605 -0.39850342 0.36147124
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+v 0.39467493 -0.32480196 0.33186923
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+v 0.36802119 -0.33804451 0.32102394
+v 0.36838382 0.32274494 0.32102637
+v 0.36838382 0.33638166 0.32102642
+v 0.39648815 0.12710141 0.33150212
+v 0.39428209 0.37610938 0.33204500
+v 0.39603482 0.23059855 0.33160307
+v 0.39035353 0.38950964 0.33348663
+v 0.39763648 0.39699794 0.34267241
+v 0.39815019 0.39747090 0.35129943
+v 0.39748535 0.39691906 0.36450255
+v 0.39676009 0.39613076 0.37133041
+v 0.38993044 0.38927300 0.37503486
+v 0.37669421 0.37610921 0.37810790
+v 0.37669421 0.38927300 0.37653787
+v 0.37669421 -0.36445108 0.37794315
+v 0.37669421 -0.37769366 0.37793193
+v 0.37669421 -0.39093625 0.37604332
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+v 0.12550804 -0.37769366 0.37779223
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+v 0.09498614 -0.39093625 0.37556279
+v 0.37669421 -0.39897636 0.37263494
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+v 0.09906580 -0.37769366 0.37777546
+v 0.09498614 -0.37769366 0.37776989
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+v 0.33704596 -0.39369496 0.33294734
+v 0.35025197 0.36854223 0.32102653
+v 0.20483476 0.39494855 0.33178806
+v 0.37669421 0.39888981 0.33902939
+v 0.33704596 0.36885755 0.32102653
+v 0.37669421 0.40188511 0.35129945
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+v 0.09498614 0.39486958 0.37367153
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+v 0.23127700 0.39754962 0.37280550
+v 0.09498614 -0.39866106 0.37221590
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diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_5.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9f92618b8d099f67081fe0ce1d91dbfc68853fe
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_5.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_6.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95407486e273ac6787a174a85286d15a95d5e054
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_6.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_7.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f87adb8eff887d24dbce25cfd8a727c0d6ff0a1
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_7.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+v -0.29902581 -0.00740769 0.19561038
+v -0.29903971 -0.03385289 0.19561029
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+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_8.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d24c51c35e67534a3a1d12a95c1c1de80c4148
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_8.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.32996313 -0.26613593 0.30255873
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+
diff --git a/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_9.obj b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e9f17de99b1214a0e414e9a34ebf0dd9286ed6f
--- /dev/null
+++ b/dataset/furniture/table/865d5d7b493b53d6aedb820f441b4d92/mjcf/mesh/table_collision_9.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.36642293 -0.33806175 0.28362584
+v 0.36640213 -0.33970292 0.28362583
+v 0.36726561 -0.35128047 0.23244218
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