diff --git a/.gitattributes b/.gitattributes
index cc123b3bcfb7436fd6b91fc7a670bf28eeefd7c8..f41f15522ccc853a2c915fccfbb96c12053c7a40 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3807,3 +3807,6 @@ dataset/furniture/table/61fda69b8c1f59a6a642cb193dec0731/mesh/table_gs.ply filte
 dataset/furniture/table/6779e113ecc4553986a0f6832b1dc5eb/6779e113ecc4553986a0f6832b1dc5eb.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/6779e113ecc4553986a0f6832b1dc5eb/mesh/wooden_grain_table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/6779e113ecc4553986a0f6832b1dc5eb/mesh/wooden_grain_table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/675799d16e505b15bc802f3c5314eb70.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/wooden_walnut_table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/wooden_walnut_table_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/675799d16e505b15bc802f3c5314eb70.urdf b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/675799d16e505b15bc802f3c5314eb70.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..26ccb66c227ce310035febb8b9501a203f96042e
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/675799d16e505b15bc802f3c5314eb70.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_walnut_table">
+   <link name="wooden_walnut_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_walnut_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_walnut_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="25.0000" />
+         <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>1.631715</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>elegant wooden walnut table with curved legs and rectangular top</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>30.0</max_mass>
+         <generate_time>20251009075702</generate_time>
+         <gs_model>mesh/wooden_walnut_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.221995830535889</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/675799d16e505b15bc802f3c5314eb70/675799d16e505b15bc802f3c5314eb70.usd b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/675799d16e505b15bc802f3c5314eb70.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7470e6faf0723bfbf27d6f08b2a810553cf2aaed
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/675799d16e505b15bc802f3c5314eb70.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c3aade2f8c28544c67b5581f58cfdd72d453b9cf3051b56d95a8c2a013db930
+size 804477
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/material.mtl b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/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/675799d16e505b15bc802f3c5314eb70/mesh/material_0.png b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e76f2a57c1862e282c57b6fd19fc9647b9e653a
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42a6ab762a664fc858c8891dd4ef386d3737a4f8ce6ce57b0866a4d5afebf92f
+size 1074563
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/wooden_walnut_table.glb b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/wooden_walnut_table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..dfb6ac426a987ccfdc4c65bac04a3c22ab3662fe
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/wooden_walnut_table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c86f85a4a1eef43f7170678b67fbc3f33354bcd57f9eed3fd40c72117a65c218
+size 1634744
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/wooden_walnut_table.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/wooden_walnut_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a582f71b0c94e76f32e64682ac25e1c7ae5a391e
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/wooden_walnut_table.obj
@@ -0,0 +1,51370 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/wooden_walnut_table_collision.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/wooden_walnut_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dc05357b6e3d27f02776d14397bd5e9a8ae05f4
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/wooden_walnut_table_collision.obj
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diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/wooden_walnut_table_gs.ply b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/wooden_walnut_table_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..951abe178506fca479921fa0ac276cace25b3189
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mesh/wooden_walnut_table_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fb415e1fba31f29f9f16042da10ecbf83fa5bf449d2ffd9f56abc5587c6264d
+size 17282410
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/675799d16e505b15bc802f3c5314eb70.xml b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/675799d16e505b15bc802f3c5314eb70.xml
new file mode 100644
index 0000000000000000000000000000000000000000..247a766d3908349432a1b38ae1d5bc3c5a388d87
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/675799d16e505b15bc802f3c5314eb70.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wooden_walnut_table">
+  <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_1" file="mesh/wooden_walnut_table_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wooden_walnut_table_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wooden_walnut_table_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wooden_walnut_table_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_8" file="mesh/wooden_walnut_table_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wooden_walnut_table_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_13" file="mesh/wooden_walnut_table_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wooden_walnut_table_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wooden_walnut_table_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wooden_walnut_table_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wooden_walnut_table">
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+      <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" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/material_0.png b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e76f2a57c1862e282c57b6fd19fc9647b9e653a
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:42a6ab762a664fc858c8891dd4ef386d3737a4f8ce6ce57b0866a4d5afebf92f
+size 1074563
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31b12a85a345c63b1a28803eb022a90a193b74f0
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b309b39e3d542d3fea88285a0bb6ce972ed180af
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision.obj
@@ -0,0 +1,4621 @@
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diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_0.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8e5276fe50b50d1fdaeb2ff2c39d6f6029b45ef
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_0.obj
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diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_1.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60146acde8168247f89ac52961f15e7bd4cb4501
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_1.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_10.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faefd7f6c338b96ac0111c5f21e55a17a961c968
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_10.obj
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diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_11.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cdb8c0e9c742ab4df9b4d96862e2a237f3b3473
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_11.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00071105 -0.67542188 0.29381760
+v -0.13793041 -0.68008435 0.29381758
+v 0.00071105 -0.67149236 0.22330432
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+
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_12.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6327c0da3fc03d9e438b88202d2785db0a3fbd6
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_12.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.41090652 -0.48802094 0.29381829
+v -0.40983768 -0.48802058 0.19683184
+v -0.41002471 -0.54702465 0.29381807
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+
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_13.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f2af6ac4b6e907cc098a8bc939b0ad57e770cd8
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_13.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.41674845 -0.06902977 0.28984566
+v 0.41261245 -0.06902968 0.26352104
+v 0.41261245 -0.04195970 0.26352114
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+v 0.40778711 -0.44777200 0.26351965
+v 0.40935133 0.63431505 0.26352362
+v 0.41417672 0.62149227 0.28984819
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+v 0.14589301 -0.48802083 0.26351950
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+v 0.35985185 0.72158008 0.26352394
+v 0.35985185 0.72419202 0.28984857
+v 0.22643911 0.72383585 0.28984857
+v 0.22643911 0.72134264 0.26352394
+v 0.33317989 0.72241125 0.26352394
+v 0.33317989 0.72490437 0.28984857
+v 0.25313755 0.72419202 0.28984857
+v 0.30648144 0.72478564 0.28984857
+v 0.29261521 0.72205498 0.26352394
+v 0.31931368 0.72229253 0.26352394
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 15
+f 1 15 14
+f 1 14 21
+f 1 21 25
+f 1 25 24
+f 1 24 30
+f 1 30 34
+f 1 34 39
+f 1 39 44
+f 1 44 48
+f 1 48 52
+f 1 52 54
+f 1 54 53
+f 1 53 49
+f 1 49 45
+f 1 45 41
+f 1 41 37
+f 1 37 33
+f 1 33 29
+f 1 29 23
+f 1 23 18
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+f 13 20 21
+f 13 21 14
+f 18 22 19
+f 18 23 22
+f 20 24 25
+f 20 25 21
+f 20 26 24
+f 22 23 27
+f 23 28 27
+f 23 29 32
+f 23 32 28
+f 24 26 30
+f 26 31 30
+f 29 33 36
+f 29 36 32
+f 30 31 34
+f 31 35 34
+f 33 37 36
+f 34 35 38
+f 34 38 39
+f 36 37 40
+f 37 41 42
+f 37 42 40
+f 38 43 44
+f 38 44 39
+f 41 45 42
+f 42 45 46
+f 43 47 44
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+f 46 49 50
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+f 48 51 52
+f 49 53 50
+f 50 53 54
+f 50 54 55
+f 51 56 54
+f 51 54 52
+f 54 56 55
+
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_14.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd298fa655f6a99cd32f88b68cd0e6dfb71b2354
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_14.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.44203308 -0.15019582 0.31147180
+v 0.44171514 -0.12631529 0.31147189
+v 0.44199776 -0.15381408 0.31147179
+v 0.41592539 -0.25838179 0.28984496
+v 0.41610202 -0.23136542 0.28984506
+v 0.41656132 -0.12317938 0.28984546
+v 0.41666732 -0.09604240 0.28984556
+v 0.41673795 -0.06902603 0.28984566
+v 0.41670264 -0.04200968 0.28984576
+v 0.41652596 0.03916002 0.28984605
+v 0.41649064 0.05532160 0.28984611
+v 0.41645533 0.06629699 0.28984615
+v 0.41440627 0.60722728 0.28984814
+v 0.44054928 -0.06492541 0.31147211
+v 0.41415896 0.62145908 0.28984819
+v 0.44051396 -0.25838187 0.31147140
+v 0.41316978 -0.44773754 0.28984427
+v 0.41391170 0.63436421 0.28984824
+v 0.42758375 0.60722720 0.31147458
+v 0.43733440 -0.46824110 0.31147063
+v 0.41271052 -0.47487447 0.28984417
+v 0.41366439 0.64606333 0.28984828
+v 0.42740712 0.61470498 0.31147461
+v 0.43715778 -0.47366854 0.31147061
+v 0.41249853 -0.48066370 0.28984414
+v 0.41242790 0.66041578 0.28984834
+v 0.42486349 0.64413347 0.31147472
+v 0.43546203 -0.48802100 0.31147056
+v 0.41221591 -0.48802092 0.28984412
+v 0.42210788 0.67476807 0.31147483
+v 0.40716397 0.68755271 0.28984844
+v 0.42044744 0.68887930 0.31147488
+v 0.08111815 -0.48802100 0.31147056
+v 0.08111815 -0.48802092 0.28984412
+v 0.39373917 0.70938286 0.28984852
+v 0.41048484 0.71300110 0.31147497
+v 0.41362908 0.70769432 0.31147495
+v 0.08111815 0.68791442 0.31147488
+v 0.08111815 0.66994381 0.28984837
+v 0.38780399 0.71517208 0.28984854
+v 0.38889918 0.73386636 0.31147505
+v 0.18505430 0.73121302 0.31147504
+v 0.18685605 0.71842853 0.28984855
+v 0.17526833 0.71348363 0.28984853
+v 0.35985922 0.72421776 0.28984857
+v 0.35985922 0.74291204 0.31147508
+v 0.19953895 0.73471069 0.31147505
+v 0.19975092 0.72337353 0.28984857
+v 0.33951008 0.72470020 0.28984857
+v 0.33315097 0.74411815 0.31147508
+v 0.22200781 0.73796713 0.31147506
+v 0.22645918 0.72385598 0.28984857
+v 0.24670237 0.73977625 0.31147507
+v 0.27164422 0.74146480 0.31147507
+v 0.29704534 0.74291204 0.31147508
+v 0.30647801 0.74339448 0.31147508
+v 0.33315097 0.72482086 0.28984857
+v 0.30647801 0.72482086 0.28984857
+v 0.25313214 0.72421776 0.28984857
+f 1 2 14
+f 1 14 19
+f 1 19 23
+f 1 23 27
+f 1 27 30
+f 1 30 32
+f 1 32 37
+f 1 37 36
+f 1 36 41
+f 1 41 46
+f 1 46 50
+f 1 50 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 51
+f 1 51 47
+f 1 47 42
+f 1 42 38
+f 1 38 33
+f 1 33 28
+f 1 28 24
+f 1 24 20
+f 1 20 16
+f 1 16 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 12
+f 1 12 13
+f 1 13 2
+f 2 13 15
+f 2 15 14
+f 3 16 4
+f 4 16 17
+f 4 17 21
+f 4 21 25
+f 4 25 29
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+f 4 26 22
+f 4 22 18
+f 4 18 15
+f 4 15 13
+f 4 13 12
+f 4 12 11
+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 14 15 18
+f 14 18 19
+f 16 20 17
+f 17 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 21 24 25
+f 22 26 23
+f 23 26 27
+f 24 28 29
+f 24 29 25
+f 26 30 27
+f 26 31 32
+f 26 32 30
+f 28 33 34
+f 28 34 29
+f 31 35 36
+f 31 36 37
+f 31 37 32
+f 33 38 39
+f 33 39 34
+f 35 40 36
+f 36 40 41
+f 38 42 43
+f 38 43 44
+f 38 44 39
+f 40 45 41
+f 41 45 46
+f 42 47 48
+f 42 48 43
+f 45 49 50
+f 45 50 46
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+f 48 51 53
+f 48 53 54
+f 48 54 55
+f 48 55 56
+f 48 56 50
+f 48 50 52
+f 49 57 50
+f 50 57 58
+f 50 58 59
+f 50 59 52
+
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_15.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad217ebf4b866ce9f6d3247e9baddc88013a5c17
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_15.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.14583830 -0.48802082 0.28984412
+v -0.40953873 -0.48802082 0.28984412
+v 0.14583830 -0.48802073 0.26351950
+v 0.14583830 0.67009804 0.28984837
+v -0.40992172 -0.46172957 0.28984421
+v -0.40937461 -0.23138476 0.26352044
+v -0.40581836 -0.44775487 0.26351965
+v -0.40527125 -0.47487516 0.26351955
+v -0.40499769 -0.48707336 0.26351950
+v -0.40494300 -0.48802073 0.26351950
+v 0.14583830 0.66737425 0.26352374
+v -0.20059530 0.71829877 0.26352393
+v -0.20059530 0.71900928 0.28984855
+v -0.41282142 -0.23138485 0.28984506
+v -0.41287616 -0.20426456 0.28984516
+v -0.41304028 -0.05587280 0.28984570
+v -0.41293085 0.03922582 0.28984605
+v -0.41287616 0.06622768 0.28984615
+v -0.40844450 0.21438266 0.26352208
+v -0.21443731 0.71853564 0.26352393
+v -0.32035890 0.72173316 0.28984856
+v -0.41232904 0.20147379 0.28984665
+v -0.40833507 0.22847575 0.26352213
+v -0.22723981 0.71865407 0.26352393
+v -0.33431035 0.72185160 0.28984856
+v -0.41221961 0.21461944 0.28984670
+v -0.41205549 0.22847566 0.28984675
+v -0.41008584 0.39084205 0.28984735
+v -0.40975755 0.41784393 0.28984744
+v -0.40937461 0.44496421 0.28984754
+v -0.40521655 0.43087121 0.26352287
+v -0.30733753 0.71924624 0.26352393
+v -0.33403679 0.71924624 0.26352393
+v -0.34623746 0.72125943 0.28984856
+v -0.40499769 0.44496430 0.26352292
+v -0.40888218 0.47196606 0.28984764
+v -0.36073602 0.71758826 0.26352393
+v -0.36018891 0.72031206 0.28984856
+v -0.40472413 0.45787306 0.26352297
+v -0.40680316 0.56599876 0.28984799
+v -0.38426200 0.70894288 0.26352389
+v -0.38672402 0.71142981 0.28984852
+v -0.37605526 0.71533803 0.28984854
+v -0.40439588 0.47196615 0.26352302
+v -0.40592774 0.58032877 0.28984804
+v -0.39843229 0.66133441 0.26352372
+v -0.39947180 0.63433256 0.26352362
+v -0.40078490 0.59821160 0.26352349
+v -0.39624383 0.68845470 0.26352382
+v -0.39810402 0.68845461 0.28984844
+v -0.39739278 0.67436156 0.26352377
+f 1 2 10
+f 1 10 3
+f 1 3 11
+f 1 11 4
+f 1 4 13
+f 1 13 21
+f 1 21 25
+f 1 25 34
+f 1 34 38
+f 1 38 43
+f 1 43 42
+f 1 42 50
+f 1 50 45
+f 1 45 40
+f 1 40 36
+f 1 36 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 22
+f 1 22 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 10 9
+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 19
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+f 3 23 31
+f 3 31 35
+f 3 35 39
+f 3 39 44
+f 3 44 48
+f 3 48 47
+f 3 47 46
+f 3 46 51
+f 3 51 49
+f 3 49 41
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+f 3 37 33
+f 3 33 32
+f 3 32 24
+f 3 24 20
+f 3 20 12
+f 3 12 11
+f 4 11 12
+f 4 12 13
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 12 20 21
+f 12 21 13
+f 18 22 19
+f 19 22 23
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+f 22 26 23
+f 23 26 27
+f 23 27 28
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+f 23 29 30
+f 23 30 31
+f 24 32 25
+f 25 33 34
+f 25 32 33
+f 30 35 31
+f 30 36 35
+f 33 37 34
+f 34 37 38
+f 35 36 39
+f 36 40 39
+f 37 41 42
+f 37 42 43
+f 37 43 38
+f 39 40 44
+f 40 45 46
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+f 40 47 48
+f 40 48 44
+f 41 49 42
+f 42 49 50
+f 45 50 46
+f 46 50 51
+f 49 51 50
+
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_16.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a88e61e13e626d0fe4eb6d38e6e4c4b108a7ab1
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_16.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.08111815 -0.48802095 0.31147056
+v -0.42074336 -0.48802095 0.31147056
+v 0.08111815 -0.48802087 0.28984412
+v 0.08111815 0.68782951 0.31147488
+v -0.42306383 -0.09607081 0.31147200
+v -0.41279455 -0.23130009 0.28984506
+v -0.41027660 -0.43462201 0.28984431
+v -0.40993098 -0.46173954 0.28984421
+v -0.40953601 -0.48802087 0.28984412
+v 0.08111815 0.66991052 0.28984837
+v -0.20059575 0.71900880 0.28984855
+v -0.20059575 0.72259255 0.31147500
+v -0.42321197 -0.06895324 0.31147210
+v -0.41289329 -0.20430201 0.28984516
+v -0.32037107 0.72175639 0.28984856
+v -0.33468878 0.73238831 0.31147504
+v -0.42326131 0.03915857 0.31147249
+v -0.41299203 -0.06895316 0.28984566
+v -0.33434321 0.72175639 0.28984856
+v -0.37384041 0.72498174 0.31147501
+v -0.34619236 0.72127854 0.28984856
+v -0.36016450 0.72032289 0.28984856
+v -0.42316252 0.06627613 0.31147259
+v -0.41294269 0.03915865 0.28984605
+v -0.41299203 -0.01495698 0.28984586
+v -0.38791128 0.72151741 0.31147500
+v -0.37606213 0.71530552 0.28984854
+v -0.41284390 0.06627621 0.28984615
+v -0.42143456 0.36373296 0.31147369
+v -0.41235019 0.20138612 0.28984665
+v -0.40415449 0.71554438 0.31147498
+v -0.38672638 0.71136333 0.28984852
+v -0.42099020 0.41784859 0.31147388
+v -0.41225144 0.21452679 0.28984670
+v -0.40943727 0.71100486 0.31147496
+v -0.39813119 0.68842689 0.28984844
+v -0.42074336 0.44496616 0.31147398
+v -0.42044709 0.47196424 0.31147408
+v -0.41852164 0.63431115 0.31147468
+v -0.41042474 0.36373304 0.28984725
+v -0.41748483 0.68842681 0.31147488
+v -0.40593190 0.58031508 0.28984804
+v -0.41817607 0.66142873 0.31147478
+v -0.40993098 0.40399125 0.28984739
+v -0.40682058 0.56597979 0.28984799
+v -0.40889421 0.47196432 0.28984764
+v -0.40938787 0.44496624 0.28984754
+f 1 2 9
+f 1 9 3
+f 1 3 10
+f 1 10 4
+f 1 4 12
+f 1 12 16
+f 1 16 20
+f 1 20 26
+f 1 26 31
+f 1 31 35
+f 1 35 41
+f 1 41 43
+f 1 43 39
+f 1 39 38
+f 1 38 37
+f 1 37 33
+f 1 33 29
+f 1 29 23
+f 1 23 17
+f 1 17 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
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+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 14
+f 3 14 18
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+f 3 25 24
+f 3 24 28
+f 3 28 30
+f 3 30 34
+f 3 34 40
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+f 3 21 19
+f 3 19 15
+f 3 15 11
+f 3 11 10
+f 4 10 11
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+f 5 13 6
+f 6 13 14
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 14
+f 15 19 16
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+f 16 21 22
+f 16 22 20
+f 17 23 28
+f 17 28 24
+f 17 24 25
+f 17 25 18
+f 20 22 26
+f 22 27 26
+f 23 29 30
+f 23 30 28
+f 26 27 31
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+f 29 33 34
+f 29 34 30
+f 31 32 35
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+f 33 37 34
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+f 35 36 41
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+f 39 43 44
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+f 41 42 45
+f 41 45 43
+f 43 45 46
+f 43 46 47
+f 43 47 44
+
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_2.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a024caa737790862eeca5d560f4a12e5679ab2b9
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_2.obj
@@ -0,0 +1,781 @@
+# https://github.com/mikedh/trimesh
+v -0.48295503 -0.48805361 0.33882215
+v -0.48295503 -0.50199494 0.33886307
+v -0.48295503 -0.48805365 0.34916797
+v -0.47548871 -0.48805360 0.33349772
+v -0.48295503 -0.52903076 0.33895308
+v -0.46745523 -0.55609909 0.32797641
+v -0.48295503 -0.50199498 0.34908600
+v -0.47908008 -0.48805368 0.35599145
+v -0.46745523 -0.48805357 0.32784561
+v -0.46745523 -0.50199490 0.32786193
+v -0.46745523 -0.52903071 0.32791098
+v -0.48286044 -0.58313490 0.33914947
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+
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_3.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba72dd474589bc74753eb4c0be68973498ddcb0
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_3.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.36072619 0.71817139 0.14389533
+v -0.36072619 0.71809766 0.15732980
+v -0.33403357 0.71793181 0.15732980
+v -0.36072619 0.71807938 0.11743145
+v -0.38328229 0.70980681 0.11743142
+v -0.37254218 0.71382320 0.15732978
+v -0.33403357 0.71726872 0.11743144
+v -0.28068541 0.71500236 0.15732979
+v -0.36072619 0.71739775 0.09096757
+v -0.38328229 0.70960425 0.09096754
+v -0.39630399 0.68848988 0.09096746
+v -0.38350490 0.70971454 0.15732977
+v -0.33403357 0.71603436 0.09096756
+v -0.25354758 0.71253349 0.15732978
+v -0.36072619 0.71690034 0.08070606
+v -0.38305970 0.70938318 0.08070604
+v -0.39597011 0.68848991 0.08070596
+v -0.39615561 0.68848978 0.11743134
+v -0.39921626 0.66142444 0.08070586
+v -0.39949449 0.66142441 0.09096736
+v -0.39947595 0.66142431 0.11743124
+v -0.38977460 0.69899154 0.15732973
+v -0.33403357 0.71527899 0.08070606
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+v -0.39782506 0.64486093 0.08070580
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+v -0.29784361 0.66019003 0.08070586
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+v -0.36977830 0.60465888 0.08070565
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+v -0.21542850 0.66311925 0.15732960
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+v -0.36282228 0.52994765 0.15732911
+v -0.33403357 0.61149432 0.08070568
+v -0.34879891 0.54142606 0.15732915
+v -0.31789555 0.61855086 0.08070570
+v -0.31118065 0.62862901 0.08070574
+f 1 2 3
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+f 1 4 5
+f 1 5 6
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+f 2 22 25
+f 2 25 28
+f 2 28 27
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+f 2 31 37
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+f 50 51 53
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+
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_4.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b91a197ba3408f56673fa136a10c49854917e0ef
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_4.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00072461 -0.48802052 0.19281659
+v 0.00072461 -0.63724156 0.16784309
+v 0.00072461 -0.48802089 0.29381829
+v 0.35986814 -0.48802042 0.16733765
+v 0.35913529 -0.58281133 0.12707046
+v 0.31512282 -0.61910584 0.12707033
+v 0.00072461 -0.65806479 0.17432291
+v 0.25808163 -0.67073148 0.12707014
+v 0.25673806 -0.67545233 0.12707012
+v 0.25832593 -0.69134429 0.12707006
+v 0.26203096 -0.69641570 0.12707004
+v 0.27163961 -0.70543675 0.12707001
+v 0.00072461 -0.67540621 0.29381760
+v 0.41389643 -0.48802089 0.29381829
+v 0.38653621 -0.48802043 0.16807215
+v 0.37208254 -0.58260102 0.12707046
+v 0.17999102 -0.71015780 0.17930100
+v 0.00072461 -0.66837128 0.19683117
+v 0.33315937 -0.71571984 0.12706997
+v 0.19977832 -0.72198339 0.19683098
+v 0.19977832 -0.71289216 0.17513882
+v 0.00072461 -0.67147968 0.22328943
+v 0.19977832 -0.72672798 0.29381741
+v 0.41666503 -0.61017892 0.29381784
+v 0.40896997 -0.48802053 0.19683184
+v 0.40314776 -0.48802046 0.17815926
+v 0.39879131 -0.59828267 0.12707040
+v 0.39427199 -0.59318789 0.12707042
+v 0.38645480 -0.58594301 0.12707045
+v 0.34289017 -0.71616387 0.12706997
+v 0.22640568 -0.72235732 0.19683098
+v 0.35986814 -0.71679484 0.12706997
+v 0.25311445 -0.72245079 0.19683098
+v 0.27978252 -0.72677471 0.29381741
+v 0.41646144 -0.63724202 0.29381774
+v 0.40648638 -0.66428119 0.12707016
+v 0.40648638 -0.65441881 0.12707020
+v 0.40620137 -0.63724141 0.12707026
+v 0.40632349 -0.48802050 0.18795257
+v 0.40229277 -0.61188432 0.12707035
+v 0.40062346 -0.60293342 0.12707039
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+v 0.33315937 -0.72558282 0.29381741
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+v 0.30649130 -0.72186655 0.19683098
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+v 0.38600692 -0.70576395 0.12707001
+v 0.39496414 -0.69814520 0.14389822
+v 0.39451629 -0.69739728 0.12707004
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+
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_5.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc9cd55ececfa1514412836c5a7417dacf035a9
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_5.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.36102929 0.60247555 0.08069813
+v -0.33405729 0.61149302 0.08069817
+v -0.36978134 0.60465990 0.08069814
+v -0.35277134 0.61949254 -0.30604314
+v -0.34329331 0.61949254 -0.30604314
+v -0.34131706 0.61889873 -0.27957789
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+v -0.38387736 0.60854692 0.08069816
+v -0.36612122 0.62398446 -0.30604313
+v -0.35949669 0.62414136 -0.33197193
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+v -0.35539290 0.61889873 -0.27957789
+v -0.36874278 0.62318901 -0.27957787
+v -0.34570316 0.62028793 -0.32280745
+v -0.32994343 0.62611279 -0.30604312
+v -0.32796718 0.62485811 -0.27957786
+v -0.31119917 0.62864299 0.08069823
+v -0.31508111 0.63838991 -0.27957782
+v -0.38859620 0.61711630 0.08069819
+v -0.38258672 0.63778520 -0.33250833
+v -0.37959208 0.64231080 -0.35897356
+v -0.36073688 0.63507444 -0.35897359
+v -0.34543092 0.64635473 -0.37327908
+v -0.33554959 0.64086578 -0.35763244
+v -0.33571090 0.62802839 -0.33197191
+v -0.31755145 0.64265797 -0.33250831
+v -0.31580707 0.63964458 -0.30604307
+v -0.30771045 0.63438950 0.08069825
+v -0.30990853 0.66143201 -0.27957773
+v -0.29782910 0.66018727 0.08069835
+v -0.30104557 0.65099060 0.08069831
+v -0.39631976 0.63438950 0.08069825
+v -0.39160092 0.66143220 -0.33250824
+v -0.38702325 0.66143230 -0.35897349
+v -0.37480265 0.64723964 -0.37265322
+v -0.36073688 0.64623151 -0.37332381
+v -0.36073688 0.66143236 -0.37600603
+v -0.34338406 0.66143236 -0.37448605
+v -0.33003418 0.66143231 -0.36254988
+v -0.31943696 0.64581694 -0.34793146
+v -0.31459711 0.66143220 -0.33250824
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+v -0.33644698 0.68687162 -0.35629112
+v -0.36073688 0.71690204 0.08069855
+v -0.33405729 0.71528900 0.08069855
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+f 62 63 64
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+f 63 68 64
+
diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_6.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f514b96632887a6c5dc30505133b3d2377bd5d00
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_6.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.35985886 0.72071960 0.15732981
+v 0.35985886 0.72049986 0.14389476
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diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_7.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c96e1e5ec4a8cf8fe0a473cce355bd1b05d23007
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_7.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_8.obj b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a34849b690956d554a6b7a3e29c716520de922
--- /dev/null
+++ b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/mjcf/mesh/wooden_walnut_table_collision_8.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/video.mp4 b/dataset/furniture/table/675799d16e505b15bc802f3c5314eb70/video.mp4
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