diff --git a/.gitattributes b/.gitattributes
index f601b44fbd469f610b0536c531beaecaa99f07bc..dd658e42eb981a352e7fc34a7981879dafa5b7fb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3792,6 +3792,6 @@ dataset/furniture/table/2b301955fe975ff7ab473e2d109c6e86/mesh/table_gs.ply filte
 dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/31326f5a0f095e99bd51f854101910d7.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/323146e9523f587889bb0ff48e23af40/323146e9523f587889bb0ff48e23af40.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/323146e9523f587889bb0ff48e23af40/mesh/wooden_patterned_table.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/323146e9523f587889bb0ff48e23af40/mesh/wooden_patterned_table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/4717bea0880b5f2a86ed4c1aa6c5dafc.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/wooden_striped_table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/wooden_striped_table_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/4717bea0880b5f2a86ed4c1aa6c5dafc.urdf b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/4717bea0880b5f2a86ed4c1aa6c5dafc.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9e377cf37697bf177f49c1dd03bb4f442601d4e4
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/4717bea0880b5f2a86ed4c1aa6c5dafc.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_striped_table">
+   <link name="wooden_striped_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_striped_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_striped_table_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="20.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.816963</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with striped texture and four sturdy legs</description>
+         <min_height>0.4</min_height>
+         <max_height>0.5</max_height>
+         <real_height>0.45</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251011172400</generate_time>
+         <gs_model>mesh/wooden_striped_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.349570155143738</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/4717bea0880b5f2a86ed4c1aa6c5dafc/4717bea0880b5f2a86ed4c1aa6c5dafc.usd b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/4717bea0880b5f2a86ed4c1aa6c5dafc.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a8aa2b6109bc5037bd56a431785078424aae0a30
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/4717bea0880b5f2a86ed4c1aa6c5dafc.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3acf9278a8c385d471e252427e344ee11c19be3199e0967a215a0a0fcb8e35e
+size 238264
diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/material.mtl b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/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/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/material_0.png b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f7e010e13547a521e35c451640fb7285fdf0623d7a0d019af0d249522da48c2
+size 1176289
diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/wooden_striped_table.glb b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/wooden_striped_table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5b339213b2cb87e479df49dba55f87da9a89739b
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/wooden_striped_table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4936d81944b676e6cc5ed368ab366bd3d619c4cd935da6939ca6210671e927b8
+size 1337652
diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/wooden_striped_table.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/wooden_striped_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4df11809a771e7d587ed738f094e1c32260e97a6
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/wooden_striped_table.obj
@@ -0,0 +1,14660 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/wooden_striped_table_collision.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/wooden_striped_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af936675a536d52c0497d497d9313e0aa28eec7e
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/wooden_striped_table_collision.obj
@@ -0,0 +1,5223 @@
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/wooden_striped_table_gs.ply b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mesh/wooden_striped_table_gs.ply
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/4717bea0880b5f2a86ed4c1aa6c5dafc.xml b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/4717bea0880b5f2a86ed4c1aa6c5dafc.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9f6addf9fa56e3bdf5fc3449bc8e14f92fe30589
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/wooden_striped_table_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wooden_striped_table_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wooden_striped_table_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wooden_striped_table_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wooden_striped_table_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wooden_striped_table_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wooden_striped_table_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wooden_striped_table_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wooden_striped_table_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wooden_striped_table_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wooden_striped_table_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wooden_striped_table_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wooden_striped_table_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wooden_striped_table">
+      <joint type="free" />
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+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/material_0.png b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table.obj
new file mode 100644
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2b992ed6fc1e656392b73b68b80e4cf3725717e
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision.obj
@@ -0,0 +1,5223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_0.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62da3e3c245c6f47d78eb038318f9c1628f63039
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_0.obj
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_1.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df5d4e0aaf6dc5b836eae5f86d779d573e3e947a
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_1.obj
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+
diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_10.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e82481379af4616387f53f3e7427a82eeaf7dd56
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_10.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.22045592 0.23524789 0.15689220
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+v -0.21445514 -0.24905709 0.14716436
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+
diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_11.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ba3c38df8ca6bbbbb89aabb052e4d2624afa28c
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_11.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_12.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a961408eb7d97d034bb88578dee21e96fd13fc
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_12.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_2.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c7d6d7e19e64206376fa88f81712b9d4cf4119
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_2.obj
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_3.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..461eca1a065a2c48ee1cc1a75828e20541541692
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_3.obj
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_4.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a3ccf4dc93a52d9f2942e69fa7cfd11dc8812d
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_4.obj
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_5.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceb75f4968ec4bed3209005056cdce086e9a4ab6
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_5.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_6.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c91e945a5b2e67c435f5141930f5cf0732a799a0
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_6.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_7.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b708658e2b0bba4279a7085ab03eb07887b1825b
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_7.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_8.obj b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..134e8e2f767fdcfa9a8390e2742551936588be00
--- /dev/null
+++ b/dataset/furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/mjcf/mesh/wooden_striped_table_collision_8.obj
@@ -0,0 +1,355 @@
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