diff --git a/.gitattributes b/.gitattributes
index bf4f75dfc188845d7b9ded9133a739b4fd5f8273..119f92110a4bc5a752d009391fdc4a31661f15bb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3831,6 +3831,6 @@ dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table_gs.ply filte
 dataset/furniture/table/8e73f2ff0aaa5b4393f3f37d91169bde/8e73f2ff0aaa5b4393f3f37d91169bde.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/8e73f2ff0aaa5b4393f3f37d91169bde/mesh/wooden_patterned_table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/8e73f2ff0aaa5b4393f3f37d91169bde/mesh/wooden_patterned_table_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/b4b40966ebda5393bd4d7fc634062519/b4b40966ebda5393bd4d7fc634062519.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/b4b40966ebda5393bd4d7fc634062519/mesh/wooden_pine_table.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/b4b40966ebda5393bd4d7fc634062519/mesh/wooden_pine_table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/9aa94e8e837e5638b87533237d64e8f6.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/wooden_mahogany_table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/wooden_mahogany_table_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/9aa94e8e837e5638b87533237d64e8f6.urdf b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/9aa94e8e837e5638b87533237d64e8f6.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..57f306721f32a4fc4ddf3ffce36db76f6829ebb1
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/9aa94e8e837e5638b87533237d64e8f6.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_mahogany_table">
+   <link name="wooden_mahogany_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_mahogany_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_mahogany_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="30.0000" />
+         <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>1.399793</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>elegant wooden table with curved legs and decorative carvings</description>
+         <min_height>0.75</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>25.0</min_mass>
+         <max_mass>35.0</max_mass>
+         <generate_time>20251014041102</generate_time>
+         <gs_model>mesh/wooden_mahogany_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.632080435752869</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>15</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/9aa94e8e837e5638b87533237d64e8f6/9aa94e8e837e5638b87533237d64e8f6.usd b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/9aa94e8e837e5638b87533237d64e8f6.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1cf4152dc724419980ed74fc266077c5fecbfca3
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/9aa94e8e837e5638b87533237d64e8f6.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:979456b7bba22925889b77a0776336c92a98aafdcf0741cdb07d73fa9b21b907
+size 243096
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/material.mtl b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/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/9aa94e8e837e5638b87533237d64e8f6/mesh/material_0.png b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc52924f84fca9dad4684f1a10164832dd0cd19b
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f154f0bbb8d98de639ff1ec1f37f721a77cf7e91c095632c3f0add7669b67189
+size 1249988
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/wooden_mahogany_table.glb b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/wooden_mahogany_table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ca04b794603940b1c5bcf9011106f7f37f1024c9
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/wooden_mahogany_table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e07b3fcd6a3888e68567ee4f5add98d6dc1bdf7d47224017b7aa17bdc6c4fd11
+size 1427884
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/wooden_mahogany_table.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/wooden_mahogany_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..357dbf28eeb7a394a185d88e92b7458bffa985ec
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/wooden_mahogany_table.obj
@@ -0,0 +1,16368 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/wooden_mahogany_table_collision.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/wooden_mahogany_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccd558d8587bb8577c19c6592d4b11e491234ca5
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mesh/wooden_mahogany_table_collision.obj
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table.obj
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c206ef1e467a207d3dd1204028b798051921133
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision.obj
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_0.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c6f6804c15e8add15e2811f17a9e1557d66b23f
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_0.obj
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_1.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70995b0e8ce3696d28f96ef670a2b006cfb6fac2
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_1.obj
@@ -0,0 +1,886 @@
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+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_10.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..697c2ae8ab327710a1f555282eb62769b69e4299
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_10.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.24303305 -0.52130007 0.34438919
+v -0.23513646 -0.52129971 0.24896020
+v -0.27912571 -0.57097562 0.34438900
+v -0.13299553 -0.52130007 0.34438919
+v -0.25321855 -0.55540903 0.24896007
+v -0.13299553 -0.52129971 0.24896020
+v -0.25519268 -0.56105607 0.24896005
+v -0.25736711 -0.56891867 0.24896002
+v -0.27879669 -0.57637266 0.34438898
+v -0.13299553 -0.57794062 0.34438898
+v -0.13299553 -0.57517926 0.24896000
+v -0.25683781 -0.57625868 0.24895999
+v -0.27782392 -0.58357628 0.34438896
+v -0.25587935 -0.58555294 0.24895996
+v -0.19944435 -0.63295640 0.34438878
+v -0.20191918 -0.63452436 0.34438877
+v -0.19563910 -0.61068611 0.24895987
+v -0.26308929 -0.60586893 0.34438887
+v -0.24573678 -0.59716513 0.24895992
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+v -0.23420660 -0.60974308 0.24895987
+v -0.22045906 -0.63722859 0.34438876
+v -0.23588033 -0.63410396 0.34438877
+v -0.22679637 -0.61287904 0.24895986
+f 1 2 3
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+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_11.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33db5a94378c5114e540d7531173f098fa2dea38
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_11.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.14814398 -0.56001856 -0.15987748
+v -0.14814398 -0.55464012 -0.15979741
+v 0.19735179 -0.54548990 -0.15515514
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+v 0.19735179 -0.56944800 -0.14783169
+v 0.19735179 -0.57043938 -0.14747153
+v -0.14814398 -0.56992089 -0.14747152
+v -0.05683246 -0.52129825 -0.15083296
+v 0.19687833 -0.52129824 -0.15187345
+v 0.19735179 -0.52129824 -0.15187345
+v -0.14814398 -0.52129825 -0.15039274
+v 0.19735179 -0.57928770 -0.12454048
+v -0.14814398 -0.57002916 -0.14727142
+v 0.19735179 -0.52129971 0.24896020
+v -0.14814398 -0.52129971 0.24896020
+v 0.19735179 -0.57941880 -0.11829746
+v -0.14814398 -0.57710557 -0.12454047
+v -0.14814398 -0.57705429 -0.12486062
+v 0.19735179 -0.57750574 0.24895999
+v -0.14814398 -0.57523815 0.24896000
+v 0.19735179 -0.57949859 -0.10180949
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+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_12.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..195135ad96c75956c8bacdc7d988977c0da2a7bf
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_12.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.21757723 -0.56891333 -0.24589785
+v 0.22291135 -0.59212476 -0.24589793
+v 0.21993392 -0.56259739 -0.24589783
+v 0.22526804 -0.55018758 -0.26096725
+v 0.21830316 -0.56891327 -0.26096732
+v 0.22407917 -0.59212437 -0.35190122
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+v 0.22483667 -0.54963751 -0.24589778
+v 0.24417420 -0.53946001 -0.24589774
+v 0.24417420 -0.54035921 -0.26096721
+v 0.22614129 -0.55116081 -0.28370070
+v 0.21970246 -0.56891319 -0.28370077
+v 0.22527856 -0.59212428 -0.37463467
+v 0.23018133 -0.61535680 -0.38932409
+v 0.23159114 -0.62825319 -0.38739293
+v 0.23949237 -0.60780358 -0.24589799
+v 0.24417420 -0.63876927 -0.37463485
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+v 0.24417420 -0.54217884 -0.28370067
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+v 0.28633168 -0.55437710 -0.24589780
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+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_13.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae6e3f4eb99ac31341f846f533361262f13f0f8a
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_13.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.26723792 0.53521429 -0.18013450
+v 0.26736518 0.53525740 -0.18013450
+v 0.24416989 0.53550524 -0.18013450
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+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_14.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b0d58fc81ba30315cb1147f61939bf810664fbf
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_14.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.09863919 0.53168722 -0.14662817
+v 0.09863919 0.52533946 -0.14662819
+v 0.09863919 0.54587693 -0.14654424
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+v 0.26722656 0.53521894 -0.18013450
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+v 0.33180641 0.52533801 0.24827700
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+v 0.09863919 0.56240291 -0.14109260
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+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_15.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a1b7d724b08d68d8d92b1440f34630e2bea3483
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_15.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.21681321 0.63953903 0.34623039
+v -0.21710675 0.61960430 0.24827735
+v -0.23882876 0.63667679 0.34623038
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+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_16.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7b7d7b2cbeb807e44048f9a1b426070d5077893
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_16.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
+v -0.37859282 -0.05794526 -0.19739978
+v -0.35707925 -0.15084521 -0.19081577
+v -0.37859282 -0.08117026 -0.19674647
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+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_17.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70a3754af2552b31ab5750947bf7a616fbd29517
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_17.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.27318599 0.42917314 -0.16596679
+v -0.26190393 0.42842778 -0.16563651
+v -0.27318599 0.40647218 -0.16582532
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+v -0.26504171 0.45492354 -0.16464550
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+v -0.17109774 -0.16688024 -0.15237950
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+v -0.27318599 -0.16694801 -0.15247387
+v -0.27318599 0.46407161 -0.14775298
+v -0.25268040 0.48914440 -0.15945494
+v -0.23136537 0.51774087 -0.16049293
+v -0.23315412 0.52533041 -0.14746964
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+v -0.17109774 -0.08109085 -0.15228481
+v -0.17109774 -0.16694973 0.31608002
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+v -0.27318599 0.46569655 0.23600821
+v -0.27318599 0.46569646 0.26191317
+v -0.27318599 0.46562859 0.28465666
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+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_18.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14ed280821324b1bae5cd2fba2ce2f080f7b1d8a
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_18.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.19808786 0.52532860 0.34622997
+v 0.19808786 0.52532896 0.24827700
+v 0.19808786 0.57760809 0.34623016
+v 0.04926523 0.52532860 0.34622997
+v 0.19808786 0.57291225 0.24827717
+v 0.04926523 0.52532896 0.24827700
+v 0.19808786 0.57776208 0.34622056
+v 0.19802959 0.57775693 0.34623016
+v 0.04926523 0.57648407 0.34623016
+v 0.04926523 0.57155214 0.24827717
+f 1 2 5
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+f 2 10 5
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+f 4 10 6
+f 5 10 9
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+f 7 9 8
+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_19.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc0416bd870730e266746718be94a0e68946cf25
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_19.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.17499047 -0.57943130 0.34438897
+v 0.17499047 -0.57540227 0.24897868
+v 0.17499047 -0.52130007 0.34438919
+v -0.12485571 -0.57797459 0.34438898
+v -0.13299551 -0.57516896 0.24896000
+v 0.17496032 -0.57539658 0.24896000
+v 0.17499047 -0.55661316 0.24896007
+v 0.17499047 -0.52129971 0.24896020
+v -0.13299551 -0.52130007 0.34438919
+v -0.13299551 -0.57793476 0.34438898
+v -0.13299551 -0.52129971 0.24896020
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+f 4 10 5
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+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_2.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b905cf7ea285aaea0287431a9e9a8e10ec28149
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_2.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.38875248 -0.16694982 0.34079808
+v -0.38592770 -0.16694963 0.28885892
+v -0.38158192 -0.23479525 0.34079783
+v 0.33626740 -0.16694982 0.34079808
+v -0.38578285 -0.16826769 0.28885891
+v 0.33184916 -0.16694963 0.28885892
+v -0.38513095 -0.17409491 0.28885889
+v -0.37890207 -0.25768790 0.34079774
+v 0.35118785 -0.48207039 0.34079692
+v 0.34829072 -0.48692633 0.31442568
+v 0.34097529 -0.47634704 0.28885778
+v -0.38455156 -0.17836126 0.28885887
+v -0.38194413 -0.19733441 0.28885881
+v -0.38129223 -0.20160074 0.28885879
+v -0.37832259 -0.22057391 0.28885872
+v -0.37759835 -0.22484024 0.28885870
+v -0.37412167 -0.24377869 0.28885863
+v -0.37694645 -0.26757335 0.34079771
+v 0.35118785 -0.48390875 0.34079691
+v 0.34829072 -0.48824437 0.31442568
+v 0.33764354 -0.49885812 0.28885770
+v -0.36941378 -0.26465956 0.28885856
+v -0.37404924 -0.28030304 0.34079766
+v 0.35111542 -0.49334329 0.34079688
+v 0.34662482 -0.49958673 0.34079685
+v 0.33279076 -0.51855990 0.34079679
+v 0.32916931 -0.50974946 0.28885766
+v -0.36644414 -0.27624462 0.28885852
+v -0.36217079 -0.29022299 0.28885846
+v -0.36079465 -0.29448935 0.28885845
+v -0.35463811 -0.31346250 0.28885838
+v -0.35333440 -0.31703513 0.28885837
+v -0.34739522 -0.33309466 0.28885831
+v -0.35224796 -0.33649406 0.34079745
+v 0.32974874 -0.52130005 0.34079678
+v 0.32677911 -0.51280183 0.28885765
+v -0.34239754 -0.34467971 0.28885826
+v -0.33500973 -0.35987212 0.28885821
+v -0.33327143 -0.37496063 0.34079731
+v 0.31555253 -0.52129986 0.28885762
+v -0.24135833 -0.52130005 0.34079678
+v -0.33319899 -0.36337537 0.28885820
+v -0.32943267 -0.38234868 0.34079729
+v -0.23527423 -0.52129986 0.28885762
+v -0.30821079 -0.41852597 0.34079715
+v -0.32508690 -0.37898400 0.28885814
+v -0.31849579 -0.39060375 0.28885810
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 23
+f 1 23 34
+f 1 34 39
+f 1 39 43
+f 1 43 45
+f 1 45 41
+f 1 41 35
+f 1 35 26
+f 1 26 25
+f 1 25 24
+f 1 24 19
+f 1 19 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 21
+f 2 21 27
+f 2 27 36
+f 2 36 40
+f 2 40 44
+f 2 44 47
+f 2 47 46
+f 2 46 42
+f 2 42 38
+f 2 38 37
+f 2 37 33
+f 2 33 32
+f 2 32 31
+f 2 31 30
+f 2 30 29
+f 2 29 28
+f 2 28 22
+f 2 22 17
+f 2 17 16
+f 2 16 15
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 6
+f 6 9 10
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 9 19 20
+f 9 20 10
+f 10 20 11
+f 11 20 21
+f 17 22 18
+f 18 22 23
+f 19 24 20
+f 20 24 21
+f 21 24 25
+f 21 25 26
+f 21 26 27
+f 22 28 23
+f 23 28 29
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 26 35 36
+f 26 36 27
+f 33 37 34
+f 34 37 38
+f 34 38 39
+f 35 40 36
+f 35 41 44
+f 35 44 40
+f 38 42 39
+f 39 42 43
+f 41 45 44
+f 42 46 43
+f 43 46 47
+f 43 47 45
+f 44 45 47
+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_20.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52ea163c17ff6c02e9d4666015be718c9e67dcf7
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_20.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.17500587 -0.52129971 0.24896020
+v 0.17500587 -0.55661723 0.24896007
+v 0.17500587 -0.52130007 0.34438919
+v 0.31169428 -0.52129971 0.24896020
+v 0.18487621 -0.57638845 0.24895999
+v 0.17500587 -0.57539376 0.24897868
+v 0.17500587 -0.57942424 0.34438897
+v 0.33254534 -0.52130007 0.34438919
+v 0.30199363 -0.58076725 0.24895998
+v 0.22792001 -0.60778861 0.24895988
+v 0.22161228 -0.61511091 0.34438884
+v 0.31194104 -0.59083784 0.34438893
+v 0.29425159 -0.59123740 0.24895994
+v 0.23506057 -0.60977804 0.24895987
+v 0.24417519 -0.62406335 0.34438881
+v 0.28956319 -0.61566465 0.34438884
+v 0.28183658 -0.60672211 0.24895988
+v 0.28677175 -0.60061028 0.24895990
+v 0.24417519 -0.61194182 0.24895986
+v 0.26721618 -0.62605274 0.34438880
+v 0.28598521 -0.61743876 0.34438883
+v 0.26854252 -0.62556054 0.34438880
+v 0.26721618 -0.61086506 0.24895987
+v 0.25404550 -0.61156237 0.24895986
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 18
+f 1 18 17
+f 1 17 23
+f 1 23 24
+f 1 24 19
+f 1 19 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 11
+f 3 11 15
+f 3 15 20
+f 3 20 22
+f 3 22 21
+f 3 21 16
+f 3 16 12
+f 3 12 8
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 19 15
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 17 22 20
+f 17 20 23
+f 19 24 20
+f 20 24 23
+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_21.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f46cf307750e69d34161f68a265f228cdeb9456c
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_21.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.26481669 0.59231773 -0.12453827
+v -0.25672177 0.60902430 -0.12453821
+v -0.25180537 0.60394905 -0.17732147
+v -0.25579566 0.59365727 -0.17732151
+v -0.25602432 0.57827995 -0.17732157
+v -0.25602432 0.57219752 -0.17732159
+v -0.26065488 0.56909562 -0.10179199
+v -0.26156956 0.56909434 0.24827716
+v -0.26474808 0.59231764 -0.10179190
+v -0.23831386 0.62159199 -0.12403825
+v -0.24166386 0.61083714 -0.17732145
+v -0.26107792 0.59231636 0.24827725
+v -0.25713336 0.60025172 0.24827727
+v -0.25428643 0.60577023 0.24827730
+v -0.24947293 0.56058649 -0.17732163
+v -0.23621009 0.52533033 -0.12449686
+v -0.25839105 0.56715213 -0.12408012
+v -0.23972016 0.52532896 0.24827700
+v -0.25476663 0.55442194 0.24827711
+v -0.22937287 0.62751323 -0.11166520
+v -0.22937287 0.62751325 -0.11612283
+v -0.21712759 0.61999099 -0.17732141
+v -0.24020039 0.61359483 0.24827732
+v -0.24164101 0.55263099 -0.17732166
+v -0.23315735 0.52533041 -0.14749320
+v -0.14802361 0.52532896 0.24827700
+v -0.21712759 0.62820808 -0.10820741
+v -0.22633155 0.61727046 0.24827734
+v -0.21712759 0.61960679 0.24827735
+v -0.21562981 0.62806715 -0.12403822
+v -0.22231841 0.62658684 -0.13124542
+v -0.19407769 0.61375752 -0.17732144
+v -0.20694036 0.62727167 -0.13641125
+v -0.20529393 0.62727167 -0.13641125
+v -0.23793656 0.54952937 -0.17732167
+v -0.21904842 0.52533047 -0.16382391
+v -0.14802361 0.58543837 0.24827722
+v -0.14802361 0.52533042 -0.14890963
+v -0.20309871 0.62819799 -0.10804077
+v -0.20351033 0.61513555 0.24827733
+v -0.20348746 0.62802687 -0.12453814
+v -0.19021317 0.61114931 -0.17732145
+v -0.19195106 0.62027278 -0.12453817
+v -0.22490237 0.54208742 -0.17732170
+v -0.21845389 0.53964038 -0.17732171
+v -0.20352175 0.52533047 -0.16436550
+v -0.14802361 0.58571037 0.21653229
+v -0.19448931 0.61178218 0.24827732
+v -0.19924562 0.52533047 -0.16411554
+v -0.19334595 0.54596450 -0.17732168
+v -0.18161519 0.55902563 -0.17732164
+v -0.17528103 0.56682000 -0.17732161
+v -0.14802361 0.54845175 -0.15507524
+v -0.18159232 0.60523806 -0.17732147
+v -0.14802361 0.58746385 -0.12445497
+v -0.14802361 0.58746385 -0.12453829
+v -0.14802361 0.58448313 -0.14853446
+v -0.14802361 0.58588164 0.19378591
+v -0.19916559 0.54421228 -0.17732169
+v -0.17417199 0.56976053 -0.17732160
+v -0.14802361 0.55020397 -0.15549183
+v -0.15443779 0.58177429 -0.15965770
+v -0.17430919 0.59125047 -0.17732152
+v -0.14802361 0.58382859 -0.14982594
+v -0.14802361 0.56909583 -0.15894953
+v -0.14802361 0.56177473 -0.15824135
+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 2
+f 2 10 11
+f 2 11 3
+f 2 9 12
+f 2 12 13
+f 2 13 14
+f 2 14 10
+f 3 11 22
+f 3 22 32
+f 3 32 42
+f 3 42 54
+f 3 54 63
+f 3 63 60
+f 3 60 52
+f 3 52 51
+f 3 51 50
+f 3 50 59
+f 3 59 45
+f 3 45 44
+f 3 44 35
+f 3 35 24
+f 3 24 15
+f 3 15 6
+f 3 6 5
+f 3 5 4
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 16
+f 7 16 18
+f 7 18 19
+f 7 19 8
+f 8 19 18
+f 8 18 26
+f 8 26 37
+f 8 37 48
+f 8 48 40
+f 8 40 29
+f 8 29 28
+f 8 28 23
+f 8 23 14
+f 8 14 13
+f 8 13 12
+f 8 12 9
+f 10 20 21
+f 10 21 11
+f 10 14 20
+f 11 21 22
+f 14 23 20
+f 15 24 25
+f 15 25 16
+f 16 25 36
+f 16 36 46
+f 16 46 49
+f 16 49 38
+f 16 38 26
+f 16 26 18
+f 20 27 21
+f 20 23 28
+f 20 28 29
+f 20 29 27
+f 21 27 30
+f 21 30 31
+f 21 31 22
+f 22 31 33
+f 22 33 34
+f 22 34 32
+f 24 35 25
+f 25 35 36
+f 26 38 53
+f 26 53 61
+f 26 61 66
+f 26 66 65
+f 26 65 64
+f 26 64 57
+f 26 57 56
+f 26 56 55
+f 26 55 58
+f 26 58 47
+f 26 47 37
+f 27 39 30
+f 27 29 39
+f 29 40 39
+f 30 39 41
+f 30 41 34
+f 30 34 33
+f 30 33 31
+f 32 34 41
+f 32 41 43
+f 32 43 42
+f 35 44 36
+f 36 44 45
+f 36 45 46
+f 37 47 39
+f 37 39 48
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 39 43 41
+f 39 40 48
+f 39 47 43
+f 42 43 54
+f 43 55 56
+f 43 56 57
+f 43 57 54
+f 43 47 58
+f 43 58 55
+f 45 59 49
+f 45 49 46
+f 49 59 50
+f 52 60 53
+f 53 60 61
+f 54 62 63
+f 54 57 64
+f 54 64 62
+f 60 63 65
+f 60 65 66
+f 60 66 61
+f 62 65 63
+f 62 64 65
+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_22.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b901549601e7630c9774cb79d7737889340bb8c
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_22.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.26724353 0.62769897 0.34623035
+v 0.27547028 0.60783849 0.24827730
+v 0.26724353 0.60992278 0.24827731
+v 0.25804275 0.60971235 0.24827731
+v 0.24416665 0.60930151 0.24827731
+v 0.26268809 0.62727808 0.34623034
+v 0.29076992 0.61620535 0.34623030
+v 0.28123948 0.60615504 0.24827730
+v 0.24295287 0.62390117 0.34623033
+v 0.24416665 0.62418173 0.34623033
+v 0.23068019 0.60552376 0.24827729
+v 0.31264798 0.59221604 0.34623022
+v 0.29276292 0.59350907 0.24827725
+v 0.22560028 0.61591473 0.34623030
+v 0.22254335 0.61430142 0.34623030
+v 0.19808786 0.57291674 0.24827717
+v 0.35117436 0.52533861 0.34622997
+v 0.30278788 0.58189517 0.24827721
+v 0.19808786 0.57775631 0.34622056
+v 0.19808786 0.57760601 0.34623016
+v 0.19808786 0.52533897 0.24827700
+v 0.33181377 0.52533897 0.24827700
+v 0.19808786 0.52533861 0.34622997
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 9
+f 1 9 14
+f 1 14 15
+f 1 15 20
+f 1 20 23
+f 1 23 17
+f 1 17 12
+f 1 12 7
+f 1 7 8
+f 1 8 2
+f 2 8 13
+f 2 13 18
+f 2 18 22
+f 2 22 21
+f 2 21 16
+f 2 16 11
+f 2 11 5
+f 2 5 4
+f 2 4 3
+f 5 9 10
+f 5 10 6
+f 5 11 9
+f 7 12 8
+f 8 12 13
+f 9 11 14
+f 11 15 14
+f 11 16 15
+f 12 17 18
+f 12 18 13
+f 15 16 19
+f 15 19 20
+f 16 21 23
+f 16 23 20
+f 16 20 19
+f 17 22 18
+f 17 23 21
+f 17 21 22
+
diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_23.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e082283a9fb9b6c5cdeeb67397eec907a8af652
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_23.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.26296480 -0.59212379 -0.12452725
+v -0.26006505 -0.56891224 -0.10179396
+v -0.25591775 -0.57282084 -0.21459790
+v -0.25591775 -0.58898364 -0.21459796
+v -0.25568171 -0.58943667 -0.21459797
+v -0.24973613 -0.60059471 -0.21459801
+v -0.25479381 -0.60698004 -0.12452731
+v -0.25588403 -0.58556100 0.24895996
+v -0.25682812 -0.57624684 0.24895999
+v -0.25736763 -0.56891352 0.24896002
+v -0.25361368 -0.55488868 -0.01086105
+v -0.25360244 -0.55499396 -0.03359427
+v -0.25331023 -0.55545750 -0.05632748
+v -0.23304575 -0.52130922 -0.03472853
+v -0.23212412 -0.52130913 -0.06118254
+v -0.25827800 -0.56721584 -0.12234913
+v -0.25519843 -0.56105342 0.24896005
+v -0.25364740 -0.55479471 0.21647108
+v -0.24909549 -0.56166281 -0.21459786
+v -0.23820458 -0.61153143 -0.21459805
+v -0.24221702 -0.61859111 -0.12452735
+v -0.23110135 -0.62850593 -0.10710313
+v -0.25446786 -0.60653758 -0.10737530
+v -0.24574617 -0.59717207 0.24895992
+v -0.23528238 -0.52131015 0.21647121
+v -0.23486652 -0.52130981 0.12435859
+v -0.23468669 -0.52130972 0.10162538
+v -0.23385497 -0.52130939 0.01073790
+v -0.23364143 -0.52130931 -0.01199531
+v -0.22857249 -0.52130889 -0.12452699
+v -0.24881450 -0.56120977 -0.21459786
+v -0.25322032 -0.55540592 0.24896007
+v -0.25340014 -0.55516357 0.23920431
+v -0.23513625 -0.52131026 0.24896020
+v -0.23521494 -0.52131023 0.23920444
+v -0.23736164 -0.61186860 -0.21459805
+v -0.22893216 -0.62711502 -0.13659731
+v -0.23068549 -0.62823189 -0.12452739
+v -0.21720955 -0.62863227 -0.12620629
+v -0.21713087 -0.62892736 -0.10533348
+v -0.21713087 -0.61669595 0.24895984
+v -0.22680792 -0.61287127 0.24895986
+v -0.23421464 -0.60974196 0.24895987
+v -0.22786442 -0.52130886 -0.13242236
+v -0.23728297 -0.55081035 -0.21459782
+v -0.22488600 -0.52130880 -0.14871223
+v -0.14815522 -0.52131026 0.24896020
+v -0.21713087 -0.61984462 -0.21459808
+v -0.20321661 -0.62804225 -0.11976295
+v -0.20321661 -0.62804229 -0.10878203
+v -0.19563007 -0.61069022 0.24895987
+v -0.21713087 -0.54343492 -0.21459780
+v -0.22473989 -0.52130880 -0.14912060
+v -0.21356801 -0.52130875 -0.16255180
+v -0.14815522 -0.52130880 -0.15039113
+v -0.14815522 -0.57523537 0.24896000
+v -0.21622050 -0.61960230 -0.21459808
+v -0.19407905 -0.61336476 -0.21459805
+v -0.19357328 -0.61303814 -0.21459805
+v -0.18173828 -0.60506212 -0.21459802
+v -0.19494447 -0.62155187 -0.12620626
+v -0.17940050 -0.60870801 -0.12452732
+v -0.19664161 -0.54992533 -0.21459782
+v -0.19978861 -0.52130875 -0.16255180
+v -0.19917045 -0.52130875 -0.16250643
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_24.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a365479325dcc32d7fd6e501722c46c06cfc655
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_24.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_3.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40cecbe7daf34c7a4bf4844825a3a98f8c8c5668
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_3.obj
@@ -0,0 +1,1384 @@
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_4.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..931286a4963d5815f747c121423dd34df823fb46
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_4.obj
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_5.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22d00bbffcd06874710e24ffc41aae300f9a6243
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_5.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_6.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fb9f322d8dc3c7028c4f806cf2ea3d44d8d4767
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_6.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_7.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7a3c7043df846333e2690dab90cc7d30945bc8d
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_7.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_8.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5913302ad2dd6a9e47330794edda9fa4e56e247d
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_8.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_9.obj b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f3de7bf97271acf73cbd095af7877b8d4494e47
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/mjcf/mesh/wooden_mahogany_table_collision_9.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/textures/material_0.png b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc52924f84fca9dad4684f1a10164832dd0cd19b
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/video.mp4 b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f698aa12c58cacb7118f0fa816ef5894630d458b
--- /dev/null
+++ b/dataset/furniture/table/9aa94e8e837e5638b87533237d64e8f6/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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