diff --git a/.gitattributes b/.gitattributes
index 4d2c00b4f895ef66b6b5d59ef04c3748982665fc..8d9a1b220e70ccbdfc84f10e53b947a0fba8316b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3831,3 +3831,6 @@ dataset/furniture/table/c079096d2c9c58bbbde80d48e82c0767/mesh/table_gs.ply filte
 dataset/furniture/table/c26e870e9c735cf4b4c0f1db9e24a366/c26e870e9c735cf4b4c0f1db9e24a366.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/c26e870e9c735cf4b4c0f1db9e24a366/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/c26e870e9c735cf4b4c0f1db9e24a366/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/c5785771301a5cb5ac51f8c6fa73443f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/wooden_striped_table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/wooden_striped_table_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/c5785771301a5cb5ac51f8c6fa73443f.urdf b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/c5785771301a5cb5ac51f8c6fa73443f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0c586c8b13cb186bb5c3a06f52a62643cab4ddc3
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/c5785771301a5cb5ac51f8c6fa73443f.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>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="20.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.400169</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with striped texture and four sturdy legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251005234119</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>5.369905591011047</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>13</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/c5785771301a5cb5ac51f8c6fa73443f/c5785771301a5cb5ac51f8c6fa73443f.usd b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/c5785771301a5cb5ac51f8c6fa73443f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2c56eeb4893f7e531802c7e3c59c48f153ec1e91
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/c5785771301a5cb5ac51f8c6fa73443f.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd8237ea3a45347909e941edbf071258d54f5c3aa74991358e60826e2cd98e5f
+size 942411
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/material.mtl b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/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/c5785771301a5cb5ac51f8c6fa73443f/mesh/material_0.png b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..24f7b86accbb732d62119c9768edf577d4cc3262
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5786df07e82185bd376b0e1153ce3e10921720cac399933ead3b92256fb6ebd
+size 1557110
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/wooden_striped_table.glb b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/wooden_striped_table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0b482e4baa01a845744551731b3aae7132753488
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/wooden_striped_table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e5cd054e098e054ee2fa3a7c9c0a7c7f69597c8394e5fe9b73310860385b0c1
+size 2213560
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/wooden_striped_table.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/wooden_striped_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c68824584bd67e12b7c24d52cdce60fbaba0b6f6
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/wooden_striped_table.obj
@@ -0,0 +1,60212 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/wooden_striped_table_collision.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/wooden_striped_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77e0ffc3a7be00ae9370ac5f68d9aee9559ec047
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/wooden_striped_table_collision.obj
@@ -0,0 +1,6371 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/wooden_striped_table_gs.ply b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/wooden_striped_table_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..28c8f182a55a5ceb9dcc1bf7e7926c959946bb7d
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mesh/wooden_striped_table_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47e2159e179271e237b2c1b1d3b81d25f504f60afcdb237829ad2fe97d9038e3
+size 22645866
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/c5785771301a5cb5ac51f8c6fa73443f.xml b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/c5785771301a5cb5ac51f8c6fa73443f.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6b787cf743cde936a98f1e7a4ae11c3d0c397be5
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/c5785771301a5cb5ac51f8c6fa73443f.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wooden_striped_table">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/wooden_striped_table.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <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" />
+    <mesh name="collision_mesh_0_13" file="mesh/wooden_striped_table_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wooden_striped_table_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wooden_striped_table_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wooden_striped_table_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wooden_striped_table_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/wooden_striped_table_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/wooden_striped_table_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/wooden_striped_table_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/wooden_striped_table_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/wooden_striped_table_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/wooden_striped_table_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/wooden_striped_table_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/wooden_striped_table_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/wooden_striped_table_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/wooden_striped_table_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/wooden_striped_table_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/wooden_striped_table_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wooden_striped_table">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/material_0.png b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..24f7b86accbb732d62119c9768edf577d4cc3262
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5786df07e82185bd376b0e1153ce3e10921720cac399933ead3b92256fb6ebd
+size 1557110
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ffc1d5e43425f864557b2e7b40d1f72e70b991
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table.obj
@@ -0,0 +1,60212 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2937a7427b878cf315d0fd67a0ba9ac8c32e0e37
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision.obj
@@ -0,0 +1,6371 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_0.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..833d74db337aaf3962d14bc79d333ac9c63f0bf0
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_0.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_1.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a6def67833b3eeaae4d3f526f266a79905401be
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_1.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_10.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f50bce8b4739ef56987075d851cb96ab173a7d66
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_10.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.50736490 0.30638852 0.36443736
+v 0.50736490 0.30638856 0.35506642
+v 0.49413152 0.30638850 0.37095463
+v 0.50734801 0.12700208 0.36444957
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+v 0.50733107 -0.19649693 0.35479460
+v 0.50733107 -0.15023146 0.35471764
+v 0.49735957 -0.38141483 0.28249995
+v 0.47114633 0.30638848 0.37486243
+v 0.47124775 -0.42753697 0.37466688
+v 0.49413152 -0.33514970 0.37073373
+v 0.50728036 -0.33514968 0.36437075
+v 0.50729729 -0.28895605 0.36438379
+v 0.49320195 0.21946155 0.25980101
+v 0.49315123 0.24259430 0.25980109
+v 0.49293154 0.30638891 0.25980133
+v 0.50729729 -0.28895601 0.35475570
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+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_11.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..398007d415f2ecd73354b694cb9f6a6218835629
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_11.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.33470563 -0.38291813 0.37459556
+v 0.14942668 -0.38291813 0.37472196
+v 0.33470563 -0.38291766 0.24672204
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+v -0.01189933 -0.21963243 0.24697540
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+v -0.01189933 -0.14986509 0.24696304
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+v 0.00601447 0.30638848 0.37549542
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+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_12.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75cdbc0d0a31fa35d64743597744322233f25cf8
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_12.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.27094322 -0.03133979 0.24659587
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+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_13.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d6bb8da0e75ac5b23a68af80e8231e17fccbca1
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_13.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_14.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a2202f7b5a10e31020a2a6ce058a75b91dcfe1
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_14.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.31028670 0.65862292 0.37532610
+v 0.37922213 0.59503947 0.37512044
+v 0.39593088 0.59503947 0.37509474
+v 0.39593088 0.65862292 0.37512067
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+v 0.28730825 0.65862292 0.37532610
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+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_15.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d110d8432c615c4b737abe121e04401d7cdf35b4
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_15.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.26424909 -0.61254092 0.37475595
+v -0.25659136 -0.60484556 0.37474327
+v -0.27094324 -0.60484556 0.37474327
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+v -0.26424909 -0.65876129 0.37473037
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diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_16.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb70490b480714b0ce36b2d8bb4541bd01edd65d
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_16.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_17.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c417058a79f18eb751d9de807cf4613bc13da11
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_17.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_18.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..672d7d806f828955147bf2a7ad86d146f8b4ba11
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_18.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_19.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebce32ba4d018f264a9d11150209e38271f359bf
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_19.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_2.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff04875d5c5e5510eaf517c02720d93b9b283259
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_2.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.27032232 -0.47954758 0.24319517
+v 0.27087905 -0.49826791 0.24319510
+v 0.28015297 -0.46667548 0.24319522
+v 0.30127935 -0.48946402 -0.33039192
+v 0.29585856 -0.50102831 -0.33039196
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+v 0.29325073 -0.54320055 -0.33039212
+v 0.27310597 -0.50834812 0.24319506
+v 0.29616624 -0.56024574 -0.33039218
+v 0.29204938 -0.45575773 0.24319526
+v 0.31278018 -0.47956015 -0.33039188
+v 0.31546126 -0.48124991 -0.35306304
+v 0.30311069 -0.49622322 -0.35500808
+v 0.29678156 -0.50340871 -0.34868694
+v 0.29578531 -0.52008657 -0.35239464
+v 0.29596114 -0.54320047 -0.35251626
+v 0.29701598 -0.55843829 -0.34886948
+v 0.29423235 -0.56305444 0.24319486
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+v 0.30170421 -0.57460402 0.24319482
+v 0.29604904 -0.56618426 0.24319485
+v 0.32228852 -0.43971175 0.24319531
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+v 0.33326192 -0.47675351 -0.35306302
+v 0.31943162 -0.48385074 -0.36600934
+v 0.31449432 -0.49698728 -0.36880535
+v 0.29915500 -0.52008652 -0.36376062
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+v 0.30832636 -0.56806292 -0.35646713
+v 0.31767353 -0.58011218 -0.34893036
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+v 0.31319041 -0.58318540 0.24319479
+v 0.33326192 -0.43959417 0.24319532
+v 0.35623431 -0.47322699 -0.33039186
+v 0.35623431 -0.47634205 -0.35306302
+v 0.35623431 -0.48255763 -0.36746812
+v 0.33326192 -0.48285151 -0.36710340
+v 0.33326192 -0.49698726 -0.37342467
+v 0.33326192 -0.52008647 -0.37713235
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+v 0.31053861 -0.54320040 -0.37093284
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+v 0.33326192 -0.58128768 -0.35269874
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+v 0.35623431 -0.52008647 -0.37737545
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+v 0.35623431 -0.58125830 -0.35275954
+v 0.35623431 -0.57768755 -0.36412550
+v 0.35623431 -0.58460865 -0.33039227
+v 0.35623431 -0.58965086 0.24319476
+v 0.35793380 -0.44435507 0.24319530
+v 0.39341792 -0.48276350 -0.33039189
+v 0.39256815 -0.48360098 -0.34686345
+v 0.38831946 -0.48737735 -0.36199785
+v 0.38008570 -0.49584113 -0.36989936
+v 0.37922131 -0.52008648 -0.37506579
+v 0.35623431 -0.54320037 -0.37761869
+v 0.35623431 -0.56613796 -0.37117602
+v 0.37374194 -0.58008279 -0.34905189
+v 0.38052525 -0.57460183 -0.35519071
+v 0.37922131 -0.56293462 -0.36953494
+v 0.37676000 -0.58117023 -0.33039225
+v 0.38092079 -0.58211274 0.24319479
+v 0.37258454 -0.45708021 0.24319525
+v 0.40030376 -0.49698742 -0.33039195
+v 0.37957296 -0.46345747 0.24319523
+v 0.39297836 -0.47647649 0.24319518
+v 0.39561551 -0.47962106 0.24319517
+v 0.41331362 -0.50332272 0.24319508
+v 0.39611363 -0.49584119 -0.35391406
+v 0.39322744 -0.50279149 -0.36710348
+v 0.37922131 -0.54320038 -0.37488354
+v 0.39450204 -0.52008651 -0.36850148
+v 0.38824619 -0.57645339 -0.33039224
+v 0.39293443 -0.55808558 -0.36679977
+v 0.39570342 -0.56233224 -0.35306334
+v 0.38634160 -0.57973227 0.24319480
+v 0.38913988 -0.57701252 -0.12610846
+v 0.40446455 -0.52008665 -0.33039203
+v 0.40144653 -0.52008656 -0.35306318
+v 0.41697630 -0.51215389 0.24319505
+v 0.41999436 -0.52008875 0.24319502
+v 0.39428231 -0.54320041 -0.36825846
+v 0.39730037 -0.56490378 -0.33039220
+v 0.40108025 -0.54320046 -0.35306327
+v 0.40417154 -0.54320055 -0.33039212
+v 0.39051706 -0.57777798 0.24319481
+v 0.39013615 -0.57755709 0.12357848
+v 0.39022405 -0.57760128 0.14624967
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+v 0.41765022 -0.53084483 0.24319498
+v 0.41617051 -0.53729557 0.24319496
+v 0.41354803 -0.54255608 0.24319494
+v 0.39333001 -0.57359013 0.24319482
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+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_20.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27a48e7e721b5e70e2b32a9e0a848758875b3bd8
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_20.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01189933 -0.56255367 0.37462964
+v -0.21456388 -0.56255367 0.37467986
+v -0.01189933 -0.56255320 0.24710351
+v -0.01189933 -0.22009366 0.37489438
+v -0.03446480 -0.24276486 0.37489430
+v -0.21846635 -0.56255367 0.37467986
+v -0.03446480 -0.56255320 0.24716624
+v -0.21846635 -0.21967719 0.24694169
+v -0.21846635 -0.03133979 0.24682947
+v -0.01189933 -0.19653799 0.24696687
+v -0.01189933 -0.03134026 0.37498287
+v -0.03446480 -0.21967766 0.37490693
+v -0.05743466 -0.24276486 0.37489430
+v -0.21846635 -0.56255350 0.33043147
+v -0.05743466 -0.21967766 0.37490693
+v -0.05743466 -0.03477213 0.37497032
+v -0.21846635 -0.17360727 0.37470637
+v -0.05743466 -0.56255320 0.24724152
+v -0.21846635 -0.24276439 0.24699178
+v -0.21846635 -0.03134023 0.36865988
+v -0.01189933 -0.03133979 0.24715565
+v -0.01189933 -0.10366925 0.24702994
+v -0.01189933 -0.12675645 0.24699220
+v -0.01189933 -0.14989564 0.24696704
+v -0.03446480 -0.03134026 0.37498287
+v -0.03446480 -0.03477213 0.37498286
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+v -0.21846635 -0.51258304 0.26357610
+v -0.05743466 -0.03134026 0.37497033
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+v -0.21846635 -0.45054911 0.24796958
+v -0.21846635 -0.47228436 0.24832078
+v -0.21846635 -0.47160841 0.24830824
+f 1 2 6
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+f 1 42 47
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+f 1 49 44
+f 1 44 40
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+f 49 52 50
+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_21.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f55704be00e3156b59130ea69b410ca2346949
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_21.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01189933 -0.38291766 0.24715527
+v -0.01189933 -0.53595790 0.24720509
+v -0.01189933 -0.38291810 0.36858114
+v 0.03451955 -0.38291766 0.24705452
+v 0.25800123 -0.47385786 0.24609710
+v 0.17237596 -0.53595789 0.24633614
+v -0.01189933 -0.53595837 0.37463802
+v -0.01189933 -0.40453705 0.37467630
+v -0.01187292 -0.38291813 0.37468896
+v 0.19536084 -0.38291766 0.24671451
+v 0.21982520 -0.38291766 0.24666413
+v 0.24133060 -0.38291766 0.24662636
+v 0.25800123 -0.38291766 0.24660118
+v 0.25800123 -0.49352914 0.24696598
+v 0.25800123 -0.49815853 0.24720523
+v 0.25800123 -0.50383669 0.24789786
+v 0.18809550 -0.53595790 0.24736881
+v 0.10344776 -0.38291813 0.37473933
+v -0.01189933 -0.45119073 0.37467613
+v 0.13359228 -0.53595837 0.37463802
+v 0.12640621 -0.52007754 0.37465067
+v 0.25800123 -0.38291813 0.37462596
+v 0.25800123 -0.51105801 0.25278407
+v 0.25387981 -0.50809154 0.24854010
+v 0.19168854 -0.53595790 0.24830074
+v 0.25800123 -0.53595837 0.37462540
+v 0.17237596 -0.38291813 0.37470154
+v 0.21834572 -0.38291813 0.37466375
+v 0.25800123 -0.53595802 0.28150960
+v 0.19958795 -0.53595791 0.25141131
+f 1 2 7
+f 1 7 19
+f 1 19 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 27
+f 1 27 28
+f 1 28 22
+f 1 22 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 2 25 30
+f 2 30 29
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+f 2 26 20
+f 2 20 7
+f 3 8 9
+f 4 10 5
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+f 5 12 13
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+f 5 23 16
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+f 5 15 14
+f 5 14 6
+f 6 14 15
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+f 7 20 21
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+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_22.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..542ddd9acf91dd8b81f5ab8199a0aacdaa26e408
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_22.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.01189933 -0.53598927 0.24719678
+v 0.05747800 -0.65875452 0.24534243
+v 0.03451955 -0.65875452 0.24562181
+v -0.01189933 -0.68143834 0.24662485
+v -0.01189933 -0.53598974 0.37463299
+v 0.17237596 -0.53598926 0.24633334
+v 0.08046288 -0.65875452 0.24527895
+v 0.05747800 -0.68186541 0.24600266
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+f 21 37 22
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+f 31 43 32
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+f 34 48 45
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+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_23.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe1bb88e81ff21a844ebe22e79533bee9ab69973
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_23.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.33470565 -0.43986904 0.24325607
+v 0.33470565 -0.42753649 0.24624113
+v 0.36292031 -0.42753650 0.24723185
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+v 0.33470565 -0.58966024 0.24325552
+v 0.33470565 -0.42753697 0.37462231
+v 0.37921987 -0.42753651 0.25007533
+v 0.37259638 -0.45708062 0.24325601
+v 0.35793828 -0.44435197 0.24325606
+v 0.35624639 -0.58964222 0.24325552
+v 0.33470565 -0.61146287 0.26933568
+v 0.35466974 -0.42753697 0.37463518
+v 0.33470565 -0.44930351 0.37463510
+v 0.40824804 -0.42753655 0.26017548
+v 0.39561301 -0.47962131 0.24325593
+v 0.39298523 -0.47648868 0.24325594
+v 0.37957982 -0.46345396 0.24325599
+v 0.38092614 -0.58209865 0.24325555
+v 0.34529605 -0.61146287 0.27081533
+v 0.33470565 -0.61146326 0.37464736
+v 0.40824804 -0.42753697 0.37466091
+v 0.35624639 -0.45076179 0.37464795
+v 0.37921987 -0.45076179 0.37466082
+v 0.40220050 -0.45076179 0.37467369
+v 0.40824804 -0.44467655 0.37467372
+v 0.33470565 -0.61108520 0.37464737
+v 0.40824804 -0.60644022 0.37469886
+v 0.40824804 -0.49902937 0.24325586
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+v 0.40824804 -0.61146300 0.30500141
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+v 0.40824804 -0.61146326 0.37468597
+v 0.40824804 -0.54475888 0.24325569
+v 0.39051578 -0.57777777 0.24325557
+v 0.39333079 -0.57358289 0.24325558
+v 0.39929192 -0.56377086 0.24325562
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+f 29 34 30
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+f 30 35 36
+f 30 36 33
+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_24.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ba188c8a89d8679947b7fd6ef5a4e2c6ed09f29
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_24.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.21072737 -0.60483593 0.37473093
+v -0.21072737 -0.56255367 0.37468103
+v -0.21072737 -0.60483570 0.31279773
+v -0.01189933 -0.60483593 0.37464334
+v -0.01189933 -0.58942706 0.37464339
+v -0.01189933 -0.56255367 0.37463098
+v -0.21072737 -0.56255349 0.32706418
+v -0.20194983 -0.60483559 0.28250067
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+v -0.01189933 -0.56255320 0.24711043
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+v -0.18916303 -0.56255325 0.26055076
+v -0.19453464 -0.60483550 0.25832306
+v -0.01189933 -0.58942659 0.24702271
+v -0.03445627 -0.60483546 0.24696011
+v -0.01189933 -0.56588495 0.24709790
+v -0.05744139 -0.60483546 0.24688501
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+v -0.03445627 -0.56255320 0.24716048
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+v -0.13011405 -0.56255320 0.24756093
+v -0.08042650 -0.56255320 0.24733569
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+f 30 31 35
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+f 33 36 34
+f 34 36 37
+f 34 37 35
+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_25.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82abd90a703c8e0a200ec04c6a0a352041d42a55
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_25.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.27093737 -0.60483573 0.32088868
+v -0.27093737 -0.56255348 0.32432647
+v -0.21072737 -0.60483570 0.31280687
+v -0.27093737 -0.60483593 0.37473917
+v -0.21072737 -0.56255349 0.32706690
+v -0.27093737 -0.56255367 0.37468477
+v -0.21072737 -0.60483593 0.37472704
+v -0.23363251 -0.60483593 0.37473917
+v -0.27093737 -0.58942706 0.37472104
+v -0.21072737 -0.56255367 0.37467868
+v -0.27093737 -0.56631584 0.37469081
+v -0.21830741 -0.56255367 0.37468477
+v -0.21072737 -0.58180749 0.37470288
+v -0.21830741 -0.60483593 0.37473312
+v -0.24128917 -0.58942706 0.37472104
+v -0.24128917 -0.56631584 0.37469081
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
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+f 1 11 6
+f 1 6 2
+f 2 5 3
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+f 8 14 12
+f 8 12 15
+f 9 15 16
+f 9 16 11
+f 10 12 13
+f 12 16 15
+f 12 14 13
+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_26.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf04609e7d74b8f0d94a599adb56bcdad8fcc32d
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_26.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.27095666 -0.59061944 0.37472449
+v -0.33321908 -0.58941615 0.37471162
+v -0.33442832 -0.59061944 0.37471162
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+v -0.27095666 -0.41750387 0.37462219
+v -0.33321908 -0.42765525 0.37466075
+v -0.35619461 -0.42765525 0.37466075
+v -0.38037941 -0.59061944 0.37469875
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+v -0.31307853 -0.58326384 0.24325555
+v -0.30996137 -0.58123019 0.24325556
+v -0.30159074 -0.57473941 0.24325558
+v -0.29387848 -0.56318144 0.24325562
+v -0.27328110 -0.55769071 0.29079347
+v -0.27095666 -0.51617001 0.26178705
+v -0.27095666 -0.41750340 0.24795333
+v -0.32314209 -0.41750387 0.37464792
+v -0.35619461 -0.41750387 0.37464792
+v -0.37917019 -0.41750387 0.37463506
+v -0.40820538 -0.42765525 0.37462215
+v -0.40820538 -0.45077122 0.37463493
+v -0.40820538 -0.59061944 0.37468589
+v -0.34302735 -0.59061898 0.25010179
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+v -0.29193027 -0.55718212 0.24325564
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+v -0.27435598 -0.41750340 0.24797906
+v -0.27095666 -0.42094367 0.24800478
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+v -0.40820538 -0.49746024 0.24325586
+v -0.36627165 -0.41750342 0.25187835
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+f 36 47 43
+f 38 49 50
+f 38 50 51
+f 38 51 40
+f 38 40 39
+f 38 52 53
+f 38 53 54
+f 38 54 55
+f 38 55 49
+f 45 56 57
+f 45 57 58
+f 45 58 59
+f 45 59 46
+f 48 60 61
+f 48 61 62
+f 48 62 63
+f 49 55 54
+f 56 61 64
+f 56 64 57
+f 60 64 61
+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_27.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09b5431a667f5f61b37a899969d223ba856e4eb1
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_27.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.40939533 -0.49746024 0.24325586
+v -0.40820538 -0.49746024 0.24325586
+v -0.41814109 -0.49849401 0.24325586
+v -0.47110897 -0.41750339 0.24469709
+v -0.45820320 -0.41750339 0.24531461
+v -0.44813204 -0.41750339 0.24593215
+v -0.43178214 -0.41750340 0.24782335
+v -0.42723514 -0.41750341 0.24963735
+v -0.40820538 -0.41750344 0.25793548
+v -0.40820538 -0.54642067 0.24325568
+v -0.42206896 -0.50412047 0.24325584
+v -0.47110897 -0.42765477 0.24467131
+v -0.47728132 -0.41750339 0.24552045
+v -0.42417799 -0.52008474 0.24325578
+v -0.40820538 -0.41750387 0.37461078
+v -0.40820538 -0.59061925 0.32268584
+v -0.42846380 -0.59061901 0.25971023
+v -0.43458774 -0.59061897 0.24706365
+v -0.44725166 -0.59061896 0.24526252
+v -0.44813204 -0.59061896 0.24517246
+v -0.46989967 -0.59061896 0.24451632
+v -0.47110897 -0.59061896 0.24449061
+v -0.42080159 -0.54323460 0.24325569
+v -0.47110897 -0.47386976 0.24456822
+v -0.48527245 -0.42765478 0.24656251
+v -0.48523374 -0.41750340 0.24658827
+v -0.47110897 -0.56629974 0.24449070
+v -0.47110897 -0.52008475 0.24451658
+v -0.47110897 -0.41750387 0.37468799
+v -0.40820538 -0.42765525 0.37462361
+v -0.40820538 -0.59061944 0.37467448
+v -0.48490482 -0.59061896 0.24629174
+v -0.48548528 -0.49698574 0.24647218
+v -0.48557236 -0.54320073 0.24642056
+v -0.48553365 -0.52008476 0.24644637
+v -0.48535953 -0.45077075 0.24653669
+v -0.49259604 -0.47386981 0.25980071
+v -0.49245093 -0.45077079 0.25980079
+v -0.48915195 -0.41750342 0.25401154
+v -0.40820538 -0.45077122 0.37463639
+v -0.49408594 -0.41750385 0.37044243
+v -0.47110897 -0.59061944 0.37463588
+v -0.44933169 -0.59061944 0.37466161
+v -0.42635476 -0.59061944 0.37467448
+v -0.40820538 -0.58941615 0.37467448
+v -0.48566910 -0.59061897 0.24639466
+v -0.48566910 -0.58941568 0.24639466
+v -0.48542726 -0.47386977 0.24651087
+v -0.49308947 -0.59061901 0.25980028
+v -0.48606575 -0.59061897 0.24708938
+v -0.49687218 -0.47386990 0.28249511
+v -0.49332165 -0.59061902 0.26098390
+v -0.49743329 -0.59061910 0.28249468
+v -0.49672708 -0.45077088 0.28249519
+v -0.49218003 -0.41750344 0.25980092
+v -0.50135146 -0.41750384 0.36686590
+v -0.50699171 -0.52008519 0.36403515
+v -0.49408594 -0.52008521 0.37036488
+v -0.49408594 -0.59061942 0.37028742
+v -0.50704008 -0.41750380 0.35639354
+v -0.50693364 -0.59061937 0.35612273
+v -0.49644648 -0.41750353 0.28249532
+v -0.50704008 -0.41750383 0.36406126
+v -0.50699171 -0.52008516 0.35639316
+v -0.50693364 -0.59061940 0.36395768
+f 1 2 10
+f 1 10 23
+f 1 23 14
+f 1 14 11
+f 1 11 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 15
+f 2 15 30
+f 2 30 40
+f 2 40 45
+f 2 45 31
+f 2 31 16
+f 2 16 10
+f 3 11 4
+f 4 12 13
+f 4 13 26
+f 4 26 39
+f 4 39 55
+f 4 55 62
+f 4 62 60
+f 4 60 63
+f 4 63 56
+f 4 56 41
+f 4 41 29
+f 4 29 15
+f 4 15 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 4 11 14
+f 4 14 12
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 12 24 25
+f 12 25 13
+f 12 14 24
+f 13 25 26
+f 14 23 22
+f 14 22 27
+f 14 27 28
+f 14 28 24
+f 15 29 30
+f 16 31 44
+f 16 44 43
+f 16 43 42
+f 16 42 59
+f 16 59 65
+f 16 65 61
+f 16 61 53
+f 16 53 52
+f 16 52 49
+f 16 49 50
+f 16 50 46
+f 16 46 32
+f 16 32 22
+f 16 22 21
+f 16 21 20
+f 16 20 19
+f 16 19 18
+f 16 18 17
+f 22 32 27
+f 24 33 25
+f 24 28 34
+f 24 34 35
+f 24 35 33
+f 25 36 37
+f 25 37 26
+f 25 33 36
+f 26 37 38
+f 26 38 39
+f 27 32 28
+f 28 32 34
+f 29 40 30
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 31
+f 29 31 45
+f 29 45 40
+f 32 46 47
+f 32 47 34
+f 33 48 36
+f 33 35 49
+f 33 49 48
+f 34 47 35
+f 35 47 50
+f 35 50 49
+f 36 48 49
+f 36 49 37
+f 37 51 54
+f 37 54 38
+f 37 49 52
+f 37 52 53
+f 37 53 51
+f 38 54 55
+f 38 55 39
+f 41 56 57
+f 41 57 58
+f 41 58 42
+f 42 58 59
+f 46 50 47
+f 51 60 54
+f 51 53 60
+f 53 61 60
+f 54 60 62
+f 54 62 55
+f 56 63 57
+f 57 63 60
+f 57 60 64
+f 57 64 61
+f 57 61 65
+f 57 65 59
+f 57 59 58
+f 60 61 64
+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_28.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fc4190af8e9e4c99961c0a82dab461b18602f6a
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_28.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.40825523 -0.49902937 0.24325586
+v 0.40825523 -0.42753655 0.26017727
+v 0.43892676 -0.42753651 0.24935546
+v 0.45049032 -0.42753649 0.24629293
+v 0.47103163 -0.42753649 0.24396384
+v 0.47114785 -0.42753649 0.24395097
+v 0.41333002 -0.50331425 0.24325584
+v 0.40825523 -0.54475888 0.24325569
+v 0.40825523 -0.42753697 0.37464910
+v 0.48599454 -0.42753649 0.24611276
+v 0.48604295 -0.45076131 0.24608693
+v 0.47114785 -0.47387815 0.24389933
+v 0.42000282 -0.52007573 0.24325578
+v 0.41698119 -0.51215410 0.24325581
+v 0.41356245 -0.54254443 0.24325570
+v 0.47114785 -0.61146278 0.24400176
+v 0.44810788 -0.61146278 0.24531429
+v 0.42885465 -0.61146279 0.24745034
+v 0.41909245 -0.61146283 0.25980341
+v 0.41571246 -0.61146286 0.26761415
+v 0.41077325 -0.61146292 0.28250219
+v 0.40872980 -0.61146297 0.29726154
+v 0.40825523 -0.61146300 0.30499508
+v 0.42519382 -0.42753697 0.37467484
+v 0.40825523 -0.44467655 0.37467478
+v 0.49334524 -0.42753654 0.25980409
+v 0.48608170 -0.49699494 0.24606103
+v 0.49338396 -0.45076136 0.25980400
+v 0.48614946 -0.54319258 0.24604799
+v 0.47114785 -0.52007574 0.24387343
+v 0.47114785 -0.56630937 0.24384752
+v 0.47114785 -0.58942621 0.24388603
+v 0.41766879 -0.53084198 0.24325574
+v 0.41617733 -0.53730533 0.24325572
+v 0.48544251 -0.61146278 0.24600914
+v 0.40825523 -0.61146326 0.37468702
+v 0.47114785 -0.42753697 0.37468770
+v 0.42519382 -0.45076179 0.37468761
+v 0.40825523 -0.58334141 0.37468713
+v 0.49336460 -0.42753654 0.25990703
+v 0.48616886 -0.56630937 0.24603504
+v 0.49730627 -0.47387829 0.28250270
+v 0.49353893 -0.56630942 0.25980358
+v 0.49356798 -0.58942626 0.25980349
+v 0.48615916 -0.58942621 0.24604782
+v 0.48613981 -0.61146278 0.24611208
+v 0.42519382 -0.61146326 0.37469989
+v 0.49412971 -0.42753695 0.37063435
+v 0.44817568 -0.58942669 0.37471284
+v 0.47114785 -0.54319306 0.37470014
+v 0.42519382 -0.58942669 0.37469997
+v 0.49716100 -0.42753663 0.28250287
+v 0.49355828 -0.61146283 0.25980341
+v 0.50719439 -0.42753689 0.35509007
+v 0.49740313 -0.61146292 0.28250219
+v 0.48648846 -0.61146279 0.24675548
+v 0.44925069 -0.61146326 0.37469989
+v 0.50719439 -0.42753693 0.36425192
+v 0.49412971 -0.42764498 0.37063435
+v 0.47114785 -0.56630985 0.37470006
+v 0.50716534 -0.52007614 0.35492245
+v 0.50715564 -0.54319298 0.35460067
+v 0.50712659 -0.56630977 0.35445905
+v 0.50702007 -0.61146318 0.35387980
+v 0.47114785 -0.61146326 0.37467416
+v 0.47114785 -0.58942669 0.37468710
+v 0.49412971 -0.54319304 0.37060818
+v 0.50715564 -0.54319302 0.36422576
+v 0.50716534 -0.52007618 0.36422585
+v 0.50712659 -0.56630981 0.36417421
+v 0.50702007 -0.61146322 0.36404536
+v 0.47222285 -0.61146326 0.37448114
+v 0.49412971 -0.56630983 0.37055663
+v 0.49412971 -0.61146324 0.37041492
+v 0.49473015 -0.61146324 0.37011896
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 13
+f 1 13 33
+f 1 33 34
+f 1 34 15
+f 1 15 8
+f 1 8 23
+f 1 23 36
+f 1 36 39
+f 1 39 25
+f 1 25 9
+f 1 9 2
+f 2 9 24
+f 2 24 37
+f 2 37 48
+f 2 48 58
+f 2 58 54
+f 2 54 52
+f 2 52 40
+f 2 40 26
+f 2 26 10
+f 2 10 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
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+f 8 22 23
+f 9 25 24
+f 10 26 11
+f 11 27 12
+f 11 26 28
+f 11 28 29
+f 11 29 41
+f 11 41 27
+f 12 27 30
+f 12 30 13
+f 13 30 31
+f 13 31 32
+f 13 32 33
+f 15 34 32
+f 15 32 16
+f 16 32 35
+f 16 35 46
+f 16 46 56
+f 16 56 53
+f 16 53 55
+f 16 55 64
+f 16 64 71
+f 16 71 75
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+f 16 72 65
+f 16 65 57
+f 16 57 47
+f 16 47 36
+f 16 36 23
+f 16 23 22
+f 16 22 21
+f 16 21 20
+f 16 20 19
+f 16 19 18
+f 16 18 17
+f 24 25 38
+f 24 38 37
+f 25 39 51
+f 25 51 38
+f 26 40 28
+f 27 41 31
+f 27 31 30
+f 28 40 42
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 41
+f 31 41 45
+f 31 45 32
+f 32 45 35
+f 32 34 33
+f 35 45 46
+f 36 47 51
+f 36 51 39
+f 37 38 49
+f 37 49 50
+f 37 50 48
+f 38 51 49
+f 40 52 42
+f 41 44 53
+f 41 53 45
+f 42 52 54
+f 42 54 55
+f 42 55 44
+f 42 44 43
+f 44 55 53
+f 45 53 56
+f 45 56 46
+f 47 57 49
+f 47 49 51
+f 48 50 60
+f 48 60 59
+f 48 59 58
+f 49 57 60
+f 49 60 50
+f 54 58 69
+f 54 69 61
+f 54 61 62
+f 54 62 55
+f 55 62 63
+f 55 63 64
+f 57 65 66
+f 57 66 60
+f 58 59 67
+f 58 67 68
+f 58 68 69
+f 59 60 67
+f 60 66 67
+f 61 69 68
+f 61 68 62
+f 62 68 70
+f 62 70 63
+f 63 70 71
+f 63 71 64
+f 65 72 67
+f 65 67 66
+f 67 72 73
+f 67 73 68
+f 68 73 70
+f 70 73 74
+f 70 74 75
+f 70 75 71
+f 72 74 73
+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_29.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c59f3334b63fcd26fe311a65252fb5336cd8d58b
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_29.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.33325654 -0.43959690 0.24325608
+v 0.33469813 -0.43987867 0.24325607
+v 0.32227194 -0.43972696 0.24325607
+v 0.33325654 -0.38293932 0.24642089
+v 0.33469813 -0.38293932 0.24642089
+v 0.33469813 -0.58967235 0.24325552
+v 0.25800873 -0.38293932 0.24660099
+v 0.26580982 -0.38293932 0.24657526
+v 0.28729847 -0.38293932 0.24652379
+v 0.31027375 -0.38293932 0.24647234
+v 0.29204369 -0.45576620 0.24325602
+v 0.33469813 -0.38293979 0.37458724
+v 0.33469813 -0.60432457 0.28339188
+v 0.33433773 -0.60432457 0.28201540
+v 0.33254325 -0.60432457 0.28192535
+v 0.33325654 -0.58969400 0.24325552
+v 0.25800873 -0.38293979 0.37462580
+v 0.28015061 -0.46669024 0.24325598
+v 0.27032980 -0.47956498 0.24325593
+v 0.25800873 -0.47388625 0.24608608
+v 0.26431566 -0.38293979 0.37462580
+v 0.33469813 -0.40309724 0.37461286
+v 0.33469813 -0.60432491 0.37463786
+v 0.30950791 -0.60432457 0.28182243
+v 0.25800873 -0.60432464 0.30104161
+v 0.31916353 -0.58525071 0.24325554
+v 0.25800873 -0.60432491 0.37467646
+v 0.27087790 -0.49824856 0.24325586
+v 0.25800873 -0.49354517 0.24697365
+v 0.33469813 -0.44930764 0.37463843
+v 0.28729847 -0.60432491 0.37466359
+v 0.29422859 -0.56303415 0.24325562
+v 0.29604559 -0.56617699 0.24325561
+v 0.30169180 -0.57460844 0.24325558
+v 0.31317944 -0.58316990 0.24325555
+v 0.25800873 -0.50384066 0.24789983
+v 0.27310034 -0.50832729 0.24325582
+v 0.25800873 -0.49816188 0.24720519
+f 1 2 6
+f 1 6 16
+f 1 16 26
+f 1 26 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 37
+f 1 37 28
+f 1 28 19
+f 1 19 18
+f 1 18 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 22
+f 2 22 30
+f 2 30 23
+f 2 23 13
+f 2 13 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 11 7
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 17
+f 4 17 21
+f 4 21 12
+f 4 12 5
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 7 11 18
+f 7 18 19
+f 7 19 20
+f 7 20 29
+f 7 29 38
+f 7 38 36
+f 7 36 25
+f 7 25 27
+f 7 27 17
+f 12 21 22
+f 13 23 31
+f 13 31 27
+f 13 27 25
+f 13 25 24
+f 13 24 15
+f 13 15 14
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 17 27 21
+f 19 28 20
+f 20 28 29
+f 21 27 30
+f 21 30 22
+f 23 30 31
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 25 36 32
+f 27 31 30
+f 28 37 38
+f 28 38 29
+f 32 36 37
+f 36 38 37
+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_3.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18fc701cf585a8a63f8ab66ab1e9e30117132f5e
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_3.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.33321976 0.45121143 0.24325937
+v -0.31453294 0.45378089 0.24325938
+v -0.35766212 0.45209931 0.24325937
+v -0.35619211 0.47261672 -0.33040456
+v -0.33321976 0.47320865 -0.33040456
+v -0.29413939 0.45783013 0.24325939
+v -0.36446412 0.45566427 0.24325938
+v -0.39244454 0.48352683 -0.33040452
+v -0.37917688 0.47720408 -0.33040455
+v -0.35619211 0.47597997 -0.35308120
+v -0.33321976 0.47667952 -0.35308120
+v -0.31611508 0.48134759 -0.35308118
+v -0.31369826 0.47955831 -0.33040454
+v -0.28629092 0.47659661 0.24325946
+v -0.30221210 0.49010519 -0.33040450
+v -0.29549730 0.50166101 -0.33040446
+v -0.37771933 0.46396455 0.24325941
+v -0.39928390 0.49684498 -0.33040447
+v -0.39187147 0.48410535 -0.34523854
+v -0.39448762 0.47959654 0.24325947
+v -0.40070410 0.49108512 0.24325951
+v -0.37966275 0.48086328 -0.35289876
+v -0.37232507 0.48333864 -0.36645611
+v -0.35619211 0.48232967 -0.36748966
+v -0.33321976 0.48274671 -0.36700329
+v -0.31967804 0.48389019 -0.36578736
+v -0.30345788 0.49641457 -0.35533055
+v -0.28556837 0.47887013 0.24325947
+v -0.29656868 0.50382697 -0.34931176
+v -0.29237038 0.51994322 -0.33040439
+v -0.28148219 0.49673526 0.24325953
+v -0.40430444 0.51994322 -0.33040439
+v -0.40122733 0.51994331 -0.35308104
+v -0.39559640 0.49613208 -0.35289871
+v -0.40350715 0.49684288 0.24325954
+v -0.40873946 0.51982003 0.24325962
+v -0.38764825 0.48793941 -0.36037657
+v -0.39307991 0.50334277 -0.36694241
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diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_4.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e03fc6297a906a76fe9ef2d084e5617b81e6e76
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_4.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_5.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b2e67c42badcc49340d1cdcf1616879cdc04c91
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_5.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_6.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e21e383bcf7142d73cb6c3eb26c03dcd46216247
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_6.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_7.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c5bf66aaa7f84e6aba2b3ecfc983399541c5bd0
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_7.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_8.obj b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdd3f4ef6b001405cbcd58bca75870d3051fbfcd
--- /dev/null
+++ b/dataset/furniture/table/c5785771301a5cb5ac51f8c6fa73443f/mjcf/mesh/wooden_striped_table_collision_8.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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