diff --git a/.gitattributes b/.gitattributes
index e3bae798e37df92d19c166746a5196b5f906c9d0..4da5079073126d433ca77dde5d5d2d4ac236f546 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3825,3 +3825,6 @@ dataset/furniture/table/86d11bf2fc675dc1973f8337a88f365c/mesh/wooden_grain_desk_
 dataset/furniture/table/87d78067051e57c3858d066d9a17a165/87d78067051e57c3858d066d9a17a165.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/87d78067051e57c3858d066d9a17a165/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/8c58e88be44d50529a88030e3378df3f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/8c58e88be44d50529a88030e3378df3f.urdf b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/8c58e88be44d50529a88030e3378df3f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e081116bf76ea012853790bca874700935503d91
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/8c58e88be44d50529a88030e3378df3f.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="table">
+   <link name="table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/table.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/table_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="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>1.381371</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden rectangular table with four tapered 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>20251006043440</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.150823712348938</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>15</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/8c58e88be44d50529a88030e3378df3f.usd b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/8c58e88be44d50529a88030e3378df3f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d683f51e9da328b81a2d3152283b1e2026ff21ee
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/8c58e88be44d50529a88030e3378df3f.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5426d4e3327695f7df6e150f711df119aa2f2ca105ffbedff6e9195995b04bc
+size 225921
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/material.mtl b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/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/8c58e88be44d50529a88030e3378df3f/mesh/material_0.png b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..048748df6e69bd58d66edd122dc452a8f8442db9
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e9ccec13528ed0921ffffc9f98139a8b3424b9951c9f2b48fee32410c533b5b
+size 1356871
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table.glb b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7f48a1571bcefff8ce295b22c7922b53d85b5f68
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2574d82051fd694e6ed7b2fda9906fe6464fc17c44930ea51ce0c6fd478ba287
+size 1515120
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b4d97bb8c274af010795d7801ba269a77de57d6
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table.obj
@@ -0,0 +1,14449 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table_collision.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b44d727859a1f5fdd8c4bbc3adbf5c27170f48b
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table_collision.obj
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diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table_gs.ply b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..cac65f7ccd989a5bb12fc3a293403f3586cc2499
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mesh/table_gs.ply
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+version https://git-lfs.github.com/spec/v1
+oid sha256:4916c319fd3f9ba57059f3c1291112203b461c4dca7cad27281a1cb53dd0def6
+size 45379178
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/8c58e88be44d50529a88030e3378df3f.xml b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/8c58e88be44d50529a88030e3378df3f.xml
new file mode 100644
index 0000000000000000000000000000000000000000..297087eb96c1a9a0511ba782ac5f1592282f8c82
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/8c58e88be44d50529a88030e3378df3f.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="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" />
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+    <mesh name="collision_mesh_0_2" file="mesh/table_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/table_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/table_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/table_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_8" file="mesh/table_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_19" file="mesh/table_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/table_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_54" file="mesh/table_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_63" file="mesh/table_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="table">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/material_0.png b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..048748df6e69bd58d66edd122dc452a8f8442db9
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e9ccec13528ed0921ffffc9f98139a8b3424b9951c9f2b48fee32410c533b5b
+size 1356871
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..128460c7b461faaf2d771dc56ad48c43a78d97b1
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table.obj
@@ -0,0 +1,14449 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.054069 0.097732 0.370967
+v -0.003836 0.150241 0.370999
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+v -0.095854 0.402847 0.370691
+v 0.046268 0.363113 0.370617
+v 0.044988 0.217658 0.370850
+v 0.128185 0.270706 0.370345
+v 0.174297 0.316180 0.370273
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diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a094c8d21478c35a9605b15bb125da962057ff
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision.obj
@@ -0,0 +1,9288 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_0.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6633ecb9587c2d517f753bf354bf1add5cbe3f54
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_0.obj
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diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_1.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32f147ca375791d735feaea8ae110db481ed5f4b
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_1.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_10.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..841bc24cbcaa894008d84f1d7224056e7f7e5cf6
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_10.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 23 41 24
+f 24 41 40
+f 24 40 42
+f 24 42 43
+f 24 43 44
+f 24 44 25
+f 27 33 28
+f 27 31 34
+f 28 33 29
+f 30 46 47
+f 30 47 31
+f 31 47 48
+f 31 48 34
+f 34 48 35
+f 35 48 36
+f 36 48 49
+f 36 49 37
+f 37 49 38
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 39
+f 39 53 42
+f 39 42 40
+f 42 53 54
+f 42 54 43
+f 43 54 53
+f 43 53 56
+f 43 56 57
+f 43 57 55
+f 45 58 59
+f 45 59 60
+f 45 60 61
+f 45 61 49
+f 45 49 62
+f 45 62 63
+f 46 63 62
+f 46 62 64
+f 46 64 65
+f 46 65 66
+f 46 66 48
+f 46 48 47
+f 48 66 65
+f 48 65 49
+f 49 65 64
+f 49 64 62
+f 49 61 60
+f 49 60 50
+f 50 60 51
+f 51 60 59
+f 51 59 67
+f 51 67 52
+f 52 67 53
+f 53 67 56
+f 55 57 68
+f 56 67 57
+f 57 67 69
+f 57 69 70
+f 57 70 68
+f 58 71 59
+f 59 69 67
+f 59 71 69
+f 69 71 70
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_11.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bebebc8069a2e71b8315f368e1d4f67c9f7c8a4
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_11.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.60331692 -0.53725444 0.37314116
+v 0.60331692 -0.53725437 0.35431769
+v 0.60331692 -0.53655519 0.37315514
+v 0.07986082 -0.53716704 0.37216932
+v 0.10173980 -0.53725444 0.37217864
+v 0.58154040 -0.53725436 0.35166324
+v 0.60331692 -0.53716695 0.34950518
+v 0.60331692 -0.39984919 0.37323252
+v 0.07986082 -0.53725443 0.36985978
+v 0.07986082 -0.19452799 0.37235935
+v 0.07986082 -0.53725436 0.35129734
+v 0.60331692 -0.53638030 0.34947256
+v 0.60331692 -0.35404746 0.37324902
+v 0.07986082 0.23831607 0.37249613
+v 0.07986082 -0.51356684 0.35129276
+v 0.60331692 -0.39967430 0.34944044
+v 0.60331692 -0.21734146 0.37324251
+v 0.07986082 0.23840347 0.37249613
+v 0.07986082 -0.49075333 0.35130217
+v 0.60331692 0.35570499 0.34953878
+v 0.60331692 0.19295145 0.34947990
+v 0.60331692 -0.39949950 0.34944044
+v 0.60331692 -0.19452799 0.37323097
+v 0.07986082 0.35570490 0.37244996
+v 0.07986082 -0.46802731 0.35131623
+v 0.07986082 0.35561758 0.35202310
+v 0.09917785 0.35570498 0.35217925
+v 0.60331692 0.35570490 0.37163191
+v 0.60331692 0.35561750 0.37278786
+v 0.58410231 0.35570490 0.37219826
+v 0.07986082 0.35570497 0.35258008
+f 1 2 7
+f 1 7 12
+f 1 12 16
+f 1 16 22
+f 1 22 21
+f 1 21 20
+f 1 20 28
+f 1 28 29
+f 1 29 23
+f 1 23 17
+f 1 17 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 14
+f 4 14 18
+f 4 18 24
+f 4 24 31
+f 4 31 26
+f 4 26 25
+f 4 25 19
+f 4 19 15
+f 4 15 11
+f 4 11 9
+f 6 11 7
+f 7 11 12
+f 8 13 10
+f 10 13 14
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 14
+f 15 19 20
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 17 23 24
+f 17 24 18
+f 19 25 20
+f 20 26 27
+f 20 27 31
+f 20 31 24
+f 20 24 30
+f 20 30 28
+f 20 25 26
+f 23 29 24
+f 24 29 30
+f 26 31 27
+f 28 30 29
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_12.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151c7915311c2dd394d068abce190c32e2dc608d
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_12.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.65096720 -0.53725390 0.22719239
+v 0.62248311 -0.53725390 0.22719239
+v 0.65082257 -0.53725385 0.21137691
+v 0.65031984 0.35570549 0.21138019
+v 0.65026475 0.35570544 0.22719567
+v 0.62240734 -0.53637985 0.22719239
+v 0.58061780 -0.37686032 0.21057030
+v 0.58784211 -0.53725382 0.20313125
+v 0.65053336 -0.53725384 0.21040544
+v 0.64406659 0.21550327 0.19024228
+v 0.64401838 0.35570557 0.19073557
+v 0.62339216 0.35570544 0.22719567
+v 0.58061780 -0.35404687 0.21131657
+v 0.62282746 -0.08072232 0.22719406
+v 0.58061780 0.35561808 0.21371731
+v 0.58061780 0.19260230 0.21323802
+v 0.58061780 -0.39967378 0.20565661
+v 0.58766308 -0.53725378 0.19240301
+v 0.64425250 -0.53725377 0.19022546
+v 0.64404590 0.23831674 0.19028462
+v 0.62655325 -0.53725373 0.17924848
+v 0.64135314 0.35570557 0.18945908
+v 0.58072110 0.35570548 0.21372199
+v 0.58061780 0.35570549 0.21293357
+v 0.58061780 -0.39967373 0.19298076
+v 0.58851015 -0.53725377 0.19168968
+v 0.58061780 -0.39949893 0.19291036
+v 0.58061780 -0.37686024 0.18838168
+v 0.62625712 0.23831677 0.18182311
+v 0.60421224 -0.53725373 0.18101305
+v 0.62625712 0.35570560 0.18228344
+v 0.58061780 0.35570558 0.18834682
+v 0.60331004 -0.53725374 0.18132279
+v 0.58061780 -0.37677280 0.18837700
+v 0.62284122 0.35570560 0.18252280
+v 0.58061780 -0.35404678 0.18733991
+v 0.58061780 -0.01236918 0.18729894
+v 0.58061780 -0.01228177 0.18729894
+v 0.58061780 0.01053169 0.18732249
+v 0.60349599 0.35570559 0.18443284
+f 1 2 8
+f 1 8 18
+f 1 18 26
+f 1 26 33
+f 1 33 30
+f 1 30 21
+f 1 21 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 11 22
+f 4 22 31
+f 4 31 35
+f 4 35 40
+f 4 40 32
+f 4 32 24
+f 4 24 23
+f 4 23 12
+f 4 12 5
+f 4 9 10
+f 6 13 7
+f 6 14 15
+f 6 15 16
+f 6 16 13
+f 7 13 16
+f 7 16 15
+f 7 15 24
+f 7 24 32
+f 7 32 39
+f 7 39 38
+f 7 38 37
+f 7 37 36
+f 7 36 34
+f 7 34 28
+f 7 28 27
+f 7 27 25
+f 7 25 17
+f 7 17 8
+f 8 17 18
+f 9 19 10
+f 10 20 11
+f 10 19 21
+f 10 21 20
+f 11 20 22
+f 12 23 15
+f 12 15 14
+f 15 23 24
+f 17 25 18
+f 18 25 27
+f 18 27 28
+f 18 28 26
+f 20 29 22
+f 20 21 29
+f 21 30 29
+f 22 29 31
+f 26 28 33
+f 28 34 33
+f 29 35 31
+f 29 30 35
+f 30 33 36
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 32
+f 30 32 40
+f 30 40 35
+f 33 34 36
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_13.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8202580254166f61e468d8d6ea20af37cb5a0dc
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_13.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.58061092 -0.39967378 0.20565675
+v 0.39856131 -0.53725385 0.21276557
+v 0.42011860 -0.53725383 0.20681692
+v 0.42138668 -0.53725383 0.20637290
+v 0.43406746 -0.52737671 0.20209383
+v 0.58061092 -0.39967373 0.19298045
+v 0.58061092 -0.37686032 0.21056951
+v 0.39856131 -0.53637980 0.21280193
+v 0.39773133 -0.53725385 0.21279674
+v 0.53516769 -0.39967380 0.21267260
+v 0.42138668 -0.53725379 0.19491956
+v 0.43406746 -0.52737670 0.19855475
+v 0.58061092 -0.39949893 0.19291034
+v 0.58061092 -0.35413423 0.21131479
+v 0.34507157 -0.53664200 0.21262017
+v 0.46685300 -0.44521333 0.21289573
+v 0.44409679 -0.46802680 0.21290864
+v 0.58061092 0.35561808 0.21371920
+v 0.34507157 0.21550319 0.21287739
+v 0.34507157 -0.53725385 0.21261758
+v 0.58061092 -0.35404687 0.21131738
+v 0.55794694 -0.35404687 0.21221320
+v 0.58061092 0.19260230 0.21323823
+v 0.39856131 -0.53725376 0.18907995
+v 0.58061092 -0.37686024 0.18838207
+v 0.58061092 0.35570549 0.21293505
+v 0.56135922 0.35570549 0.21320768
+v 0.34507157 0.35570549 0.21287791
+v 0.34507157 0.23831666 0.21288269
+v 0.34507157 -0.53725376 0.18857103
+v 0.37580514 -0.53725376 0.18871123
+v 0.39856131 -0.53637971 0.18904619
+v 0.58061092 -0.35404678 0.18734093
+v 0.58061092 -0.37677280 0.18837688
+v 0.58061092 0.35570558 0.18834841
+v 0.34507157 0.35570557 0.19034515
+v 0.35302586 -0.53725376 0.18859958
+v 0.34507157 -0.01236918 0.18719937
+v 0.44409679 -0.01236918 0.18719159
+v 0.58061092 -0.01236918 0.18730064
+v 0.58061092 0.01044428 0.18732150
+v 0.46685300 0.01044428 0.18721763
+v 0.44409679 0.01044428 0.18719946
+v 0.34507157 0.01044428 0.18723842
+v 0.34507157 0.03325775 0.18739949
+v 0.58061092 -0.01228177 0.18730064
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 13
+f 1 13 25
+f 1 25 34
+f 1 34 33
+f 1 33 40
+f 1 40 46
+f 1 46 41
+f 1 41 35
+f 1 35 26
+f 1 26 18
+f 1 18 23
+f 1 23 21
+f 1 21 14
+f 1 14 7
+f 1 7 2
+f 2 8 9
+f 2 9 20
+f 2 20 30
+f 2 30 37
+f 2 37 31
+f 2 31 24
+f 2 24 11
+f 2 11 4
+f 2 4 3
+f 2 7 10
+f 2 10 8
+f 4 11 12
+f 4 12 5
+f 6 12 11
+f 6 11 13
+f 7 14 10
+f 8 15 9
+f 8 10 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 15
+f 9 15 20
+f 10 14 21
+f 10 21 22
+f 10 22 23
+f 10 23 18
+f 10 18 16
+f 11 24 13
+f 13 24 25
+f 15 19 29
+f 15 29 28
+f 15 28 36
+f 15 36 45
+f 15 45 44
+f 15 44 38
+f 15 38 30
+f 15 30 20
+f 16 18 17
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 21 23 22
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 26 35 36
+f 26 36 28
+f 26 28 27
+f 30 33 37
+f 30 38 33
+f 31 37 33
+f 31 33 32
+f 33 38 39
+f 33 39 40
+f 35 41 42
+f 35 42 43
+f 35 43 44
+f 35 44 45
+f 35 45 36
+f 38 44 43
+f 38 43 39
+f 39 43 46
+f 39 46 40
+f 41 46 42
+f 42 46 43
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_14.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2238176847aa7588672a3ce69fe7f8864571352a
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_14.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.53940769 -0.53726493 0.18741559
+v -0.53940769 -0.60717021 0.17766692
+v -0.53940769 -0.53726502 0.21130022
+v -0.16396760 -0.53726493 0.18855523
+v -0.53940769 -0.62793017 0.17687663
+v -0.16396760 -0.62754945 0.18160592
+v -0.53940769 -0.62145821 0.21743883
+v -0.53587966 -0.53726502 0.21141140
+v -0.16396760 -0.53726502 0.21261853
+v -0.53940769 -0.64182616 0.18660913
+v -0.16396760 -0.63276748 0.18420284
+v -0.16396760 -0.64514062 0.19037744
+v -0.53940769 -0.65157922 0.21743872
+v -0.53503442 -0.62108872 0.21743883
+v -0.42118228 -0.53726502 0.21296796
+v -0.44393066 -0.53726502 0.21275751
+v -0.46671577 -0.53726502 0.21250338
+v -0.48946415 -0.53726502 0.21221350
+v -0.51224931 -0.53726502 0.21189584
+v -0.53503442 -0.53726502 0.21143523
+v -0.16396760 -0.62116707 0.21743883
+v -0.53940769 -0.64554373 0.19000021
+v -0.16396760 -0.65115368 0.21137524
+v -0.53940769 -0.65164639 0.21137524
+v -0.16396760 -0.65109771 0.21743872
+f 1 2 5
+f 1 5 10
+f 1 10 22
+f 1 22 24
+f 1 24 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 21
+f 4 21 25
+f 4 25 23
+f 4 23 12
+f 4 12 11
+f 4 11 6
+f 5 6 11
+f 5 11 12
+f 5 12 10
+f 7 13 25
+f 7 25 21
+f 7 21 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 9 15 21
+f 10 12 22
+f 12 23 22
+f 13 24 25
+f 14 21 15
+f 22 23 24
+f 23 25 24
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_15.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e1f954583370d3aaa7dbc1cf995f9424421ae0
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_15.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.39850585 0.65013118 0.21137848
+v 0.39850585 0.65010235 0.21870727
+v 0.50727156 0.64984296 0.21870727
+v 0.50727156 0.64984298 0.21137848
+v 0.50727156 0.64491481 0.19583736
+v 0.50727156 0.64347383 0.19131757
+v 0.23909985 0.64347383 0.19100077
+v 0.21638337 0.64347383 0.19098318
+v -0.15769014 0.64344502 0.19094796
+v -0.12514504 0.64978536 0.21137848
+v -0.15769014 0.64975649 0.21870727
+v 0.50727156 0.62073471 0.21870716
+v 0.50727156 0.62572067 0.18327416
+v 0.39850585 0.62572067 0.18306999
+v -0.15769014 0.62572067 0.18274968
+v -0.15769014 0.64615407 0.19970944
+v -0.15769014 0.64975651 0.21137848
+v -0.15769014 0.62027358 0.21870716
+v 0.50727156 0.35570549 0.21296496
+v 0.06166391 0.35570547 0.21870619
+v 0.50727156 0.60292404 0.18334799
+v 0.48963212 0.60292404 0.18312623
+v -0.05680029 0.35570558 0.18856031
+v -0.06025009 0.35570558 0.18857440
+v -0.07958188 0.35570558 0.18865536
+v -0.15769014 0.35570558 0.18898273
+v 0.46685055 0.60292404 0.18311568
+v -0.15769014 0.35570549 0.21267279
+v -0.05959919 0.35570547 0.21870619
+v 0.50727156 0.35570557 0.19080963
+v 0.05704251 0.35570558 0.18868351
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 18
+f 2 18 29
+f 2 29 20
+f 2 20 12
+f 2 12 3
+f 3 12 19
+f 3 19 30
+f 3 30 21
+f 3 21 13
+f 3 13 6
+f 3 6 5
+f 3 5 4
+f 6 13 14
+f 6 14 7
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 26
+f 9 26 28
+f 9 28 18
+f 9 18 11
+f 9 11 17
+f 9 17 16
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 12 20 19
+f 13 21 22
+f 13 22 14
+f 14 22 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 22 27
+f 15 27 23
+f 18 28 29
+f 19 20 29
+f 19 29 28
+f 19 28 26
+f 19 26 25
+f 19 25 24
+f 19 24 23
+f 19 23 31
+f 19 31 30
+f 21 30 22
+f 22 30 31
+f 22 31 23
+f 22 23 27
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_16.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..578ddbfeadf35782d05bdbee9e14b8048a48a534
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_16.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.60349823 0.67267176 0.31267501
+v 0.60980055 0.66443473 0.27298135
+v 0.60349823 0.66499431 0.27298135
+v 0.59106216 0.66291264 0.27298135
+v 0.58635489 0.66204715 0.27298134
+v 0.58740526 0.66957534 0.31267500
+v 0.62689202 0.67047817 0.31267500
+v 0.62545259 0.66286041 0.27298134
+v 0.58063612 0.66823233 0.31267499
+v 0.54004708 0.65011665 0.27298130
+v 0.64183087 0.66405405 0.31267498
+v 0.63683829 0.65957004 0.27298133
+v 0.62866861 0.66195013 0.27298134
+v 0.54004708 0.65403364 0.31267494
+v 0.54004708 0.62630049 0.27298121
+v 0.64806832 0.66080096 0.31267497
+v 0.64783493 0.64816929 0.27298129
+v 0.54004708 0.62630780 0.31267484
+v 0.54004708 0.62630048 0.27434124
+v 0.63679936 0.59644817 0.27298110
+v 0.63521731 0.59644802 0.31267473
+v 0.65105091 0.64437154 0.27298128
+v 0.66711795 0.63797711 0.31267488
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diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_17.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ec6c70314e0183b4b1988912eab5fc5405dae5
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_17.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_18.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f19f4fb745276553f5538e96538702ca5404fb06
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_18.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.54044097 -0.62258723 0.22092415
+v 0.54863092 -0.62258722 0.21884049
+v 0.55115097 -0.58553821 0.20367189
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+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_19.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d66a17cd215a54bd7978f43a67ae8d7c41bbc8ec
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_19.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.66439064 0.60288418 0.27297727
+v -0.66540148 0.60288418 0.27300752
+v -0.64058248 0.60288418 0.27297727
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+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_2.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..661dc3da118a0aefbaa309f3b649599817170cfb
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_2.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.53940769 -0.53725436 0.35078339
+v -0.39839717 -0.62626695 0.30197596
+v -0.51224931 -0.62625163 0.30197596
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+v -0.37476677 -0.53725436 0.35095040
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+v -0.53940769 -0.65246519 0.30197586
+v -0.51309455 -0.53725444 0.37192686
+v -0.53940769 -0.65033588 0.37573838
+v -0.53503442 -0.65033588 0.37577465
+v -0.46671577 -0.65033588 0.37586178
+v -0.23904826 -0.65033588 0.37613042
+v -0.21626315 -0.65033588 0.37615222
+v -0.32927002 -0.53725436 0.35100847
+v -0.16396760 -0.53725436 0.35130617
+v -0.16396760 -0.65137742 0.30197587
+v -0.53940769 -0.68903561 0.33137472
+v -0.16396760 -0.68885176 0.33157802
+v -0.21626315 -0.53725444 0.37206481
+v -0.53940769 -0.65471757 0.37520830
+v -0.23904826 -0.67313296 0.37320425
+v -0.21626315 -0.67313296 0.37320425
+v -0.16396760 -0.65033588 0.37613772
+v -0.16396760 -0.53725444 0.37207206
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+v -0.53503442 -0.68903561 0.33138198
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+v -0.53940769 -0.67313296 0.37283397
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+v -0.16396760 -0.68932682 0.36446947
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+v -0.53940769 -0.69375437 0.34735570
+v -0.53940769 -0.69010817 0.36105687
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+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_20.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ba178f379c5daa71519b7d945d767d10acebd7c
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_20.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.62340421 0.35570544 0.22721030
+v 0.65025844 0.35570544 0.22721030
+v 0.62339529 0.35360764 0.22721029
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+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_21.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f21bb4cd87f9cd31c72ef13b3df7d5bc5f53b1e
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_21.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.65009792 0.35570543 0.22750735
+v -0.68823333 0.28385576 0.33064568
+v -0.68817128 0.35220876 0.33074754
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diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_22.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..618f157f501a2e35f6141e3bfd701623ec6dfcf8
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_22.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_23.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..328798601d5039927ac29771abb15023d986feff
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_23.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_24.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..097e72174aa201bd4c52d0b1175cb5a9860db698
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_24.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_25.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5376968542a7df0e316bb7dfcbf0d82a5af998f6
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_25.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.63401973 -0.62136256 0.30199987
+v -0.62663085 -0.53725418 0.30200018
+v -0.66416320 -0.62136256 0.30199987
+v -0.63578774 -0.62136198 0.14310819
+v -0.62003639 -0.58849583 0.14312386
+v -0.62003639 -0.58847937 0.14399494
+v -0.62003639 -0.58790313 0.16591157
+v -0.62003639 -0.58513692 0.18871482
+v -0.62003639 -0.57899517 0.20818937
+v -0.65124524 -0.53725418 0.30200018
+v -0.62003639 -0.55920305 0.21478467
+v -0.62003639 -0.53725387 0.21677576
+v -0.66695067 -0.60476483 0.30199993
+v -0.66298298 -0.62136198 0.14310819
+v -0.62003639 -0.58761489 0.14310831
+v -0.66334116 -0.58141603 0.30200001
+v -0.65112582 -0.53725393 0.23486593
+v -0.62003639 -0.53725373 0.18005102
+v -0.66373612 -0.60476425 0.14310825
+v -0.62003639 -0.56101406 0.14310841
+v -0.65112122 -0.53725393 0.23402596
+v -0.65081356 -0.53725385 0.21137825
+v -0.66121497 -0.59155851 0.14310830
+v -0.62589147 -0.53725373 0.17981769
+v -0.62612111 -0.56116226 0.14310841
+v -0.62623589 -0.53725373 0.17981769
+v -0.64405379 -0.53725377 0.19025492
+v -0.65333927 -0.58016404 0.14310834
+v -0.64195972 -0.56724642 0.14310839
+v -0.64330985 -0.53725377 0.18957051
+v -0.62678240 -0.53725373 0.17994213
+v -0.65320153 -0.58000762 0.14310834
+f 1 2 10
+f 1 10 16
+f 1 16 13
+f 1 13 3
+f 1 3 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 11
+f 2 11 12
+f 2 12 18
+f 2 18 24
+f 2 24 26
+f 2 26 31
+f 2 31 30
+f 2 30 27
+f 2 27 22
+f 2 22 21
+f 2 21 17
+f 2 17 10
+f 3 13 14
+f 4 14 19
+f 4 19 23
+f 4 23 28
+f 4 28 32
+f 4 32 29
+f 4 29 25
+f 4 25 20
+f 4 20 15
+f 4 15 5
+f 5 15 20
+f 5 20 18
+f 5 18 12
+f 5 12 11
+f 5 11 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 10 17 16
+f 13 16 19
+f 13 19 14
+f 16 17 21
+f 16 21 22
+f 16 22 23
+f 16 23 19
+f 18 20 24
+f 20 25 26
+f 20 26 24
+f 22 27 23
+f 23 27 28
+f 25 29 30
+f 25 30 31
+f 25 31 26
+f 27 30 29
+f 27 29 32
+f 27 32 28
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_26.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4480d36f88363dd8cab659e2b9ab84edb26a3d3
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_26.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.16396760 -0.53726223 0.35131488
+v -0.16396760 -0.53726231 0.37207251
+v -0.05609450 -0.53726219 0.34072816
+v -0.16396760 -0.61470426 0.34405763
+v -0.16396760 -0.61470437 0.37393452
+v -0.03404690 -0.53726232 0.37601020
+v -0.05586564 -0.55532647 0.34072809
+v 0.05727142 -0.53726219 0.34072816
+v -0.05578935 -0.55920527 0.34072808
+v -0.05334809 -0.57660082 0.34072801
+v -0.05281407 -0.57845764 0.34072801
+v -0.03404690 -0.60423233 0.34072791
+v -0.03412318 -0.61470425 0.34125198
+v 0.55109214 -0.61763109 0.34405061
+v 0.55109214 -0.61763120 0.37426994
+v -0.04396451 -0.61470438 0.37507004
+v -0.01131268 -0.58197461 0.37604849
+v -0.01131268 -0.55920540 0.37639799
+v -0.01131268 -0.53726232 0.37638757
+v 0.08015821 -0.53726223 0.35130090
+v 0.55109214 -0.53727009 0.35173063
+v 0.61540404 -0.53727793 0.34387969
+v 0.05727142 -0.53978771 0.34072815
+v -0.01131268 -0.61013313 0.34072789
+v -0.01131268 -0.61470425 0.34115063
+v 0.04880331 -0.61470425 0.34107728
+v 0.61540404 -0.61763109 0.34411351
+v 0.03476607 -0.61470425 0.34106678
+v 0.61540404 -0.61763120 0.37419306
+v 0.03423205 -0.61470438 0.37511896
+v 0.02431444 -0.61470438 0.37512244
+v 0.00158023 -0.61470438 0.37512945
+v -0.01131268 -0.61470438 0.37512945
+v -0.02123029 -0.61470438 0.37512597
+v 0.01149783 -0.58197461 0.37607292
+v 0.01149783 -0.55920540 0.37642242
+v 0.01065864 -0.53726232 0.37641201
+v 0.08015821 -0.53726231 0.37216685
+v 0.55109214 -0.53727017 0.37221925
+v 0.61540404 -0.53727804 0.37415843
+v 0.04956620 -0.59616001 0.34072794
+v 0.05460129 -0.58210825 0.34072799
+v 0.05719513 -0.56228942 0.34072806
+v 0.01149783 -0.61034554 0.34072789
+v 0.03552896 -0.60466506 0.34072791
+v 0.01149783 -0.53726232 0.37641201
+v 0.03423205 -0.53726232 0.37608359
+f 1 2 6
+f 1 6 19
+f 1 19 37
+f 1 37 46
+f 1 46 47
+f 1 47 38
+f 1 38 20
+f 1 20 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 23
+f 3 23 43
+f 3 43 42
+f 3 42 41
+f 3 41 45
+f 3 45 44
+f 3 44 24
+f 3 24 12
+f 3 12 11
+f 3 11 10
+f 3 10 9
+f 3 9 7
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 26 27
+f 14 27 29
+f 14 29 15
+f 14 25 28
+f 14 28 26
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 16
+f 16 34 17
+f 17 35 36
+f 17 36 18
+f 17 34 35
+f 18 36 37
+f 18 37 19
+f 20 38 39
+f 20 39 21
+f 21 39 40
+f 21 40 22
+f 22 40 29
+f 22 29 27
+f 22 27 41
+f 22 41 42
+f 22 42 43
+f 22 43 23
+f 24 44 28
+f 24 28 25
+f 26 28 44
+f 26 44 27
+f 27 44 45
+f 27 45 41
+f 29 40 36
+f 29 36 35
+f 29 35 30
+f 30 35 31
+f 31 35 32
+f 32 35 33
+f 33 35 34
+f 36 46 37
+f 36 40 46
+f 38 47 39
+f 39 47 46
+f 39 46 40
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_27.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d1d070150c1063bfcef93710a621d08fff4fe3a
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_27.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.33994466 -0.53725444 0.37197950
+v -0.60339732 -0.39967439 0.37244698
+v -0.60339732 -0.53638039 0.37235586
+v -0.60339732 -0.53725444 0.37234889
+v -0.33994466 -0.53725436 0.35100118
+v -0.33994466 0.31960543 0.37227771
+v -0.60339732 0.23831607 0.37284891
+v -0.60339732 0.21550260 0.37283954
+v -0.60339732 -0.53725435 0.34938421
+v -0.60334577 -0.53725435 0.34933080
+v -0.60339732 -0.53716695 0.34930989
+v -0.60339732 -0.53629286 0.34929129
+v -0.33994466 -0.53638031 0.35099883
+v -0.33994466 0.34241889 0.37228477
+v -0.33994466 0.35220860 0.37228711
+v -0.33994466 0.35570490 0.37228713
+v -0.60339732 0.35561750 0.37284703
+v -0.60339732 -0.51347939 0.34924724
+v -0.60339732 -0.42240032 0.34914768
+v -0.60339732 -0.39958686 0.34912916
+v -0.33994466 -0.51356684 0.35099194
+v -0.33994466 0.35570498 0.35188957
+v -0.60334577 0.35570490 0.37284472
+v -0.60339732 0.35570490 0.37235683
+v -0.33994466 -0.49075333 0.35098741
+v -0.33994466 -0.50377714 0.35098967
+v -0.60339732 0.21559009 0.34911752
+v -0.60339732 0.23840356 0.34913848
+v -0.60339732 0.35570499 0.34935730
+v -0.33994466 0.05598322 0.35142616
+v -0.33994466 -0.48096367 0.35098744
+v -0.33994466 -0.30850782 0.35102990
+v -0.33994466 -0.32144421 0.35102053
+v -0.33994466 -0.33132129 0.35101587
+v -0.33994466 -0.46802731 0.35098980
+v -0.33994466 0.03325715 0.35140054
+v -0.33994466 -0.24015485 0.35109981
+v -0.33994466 -0.27590467 0.35106252
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 13
+f 1 13 21
+f 1 21 26
+f 1 26 25
+f 1 25 31
+f 1 31 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 38
+f 1 38 37
+f 1 37 36
+f 1 36 30
+f 1 30 22
+f 1 22 16
+f 1 16 15
+f 1 15 14
+f 1 14 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 17
+f 2 17 24
+f 2 24 29
+f 2 29 28
+f 2 28 27
+f 2 27 20
+f 2 20 19
+f 2 19 18
+f 2 18 12
+f 2 12 11
+f 2 11 9
+f 2 9 4
+f 2 4 3
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 9 11 10
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 16 22 29
+f 16 29 24
+f 16 24 23
+f 16 23 17
+f 17 23 24
+f 20 25 26
+f 20 26 21
+f 20 27 25
+f 22 28 29
+f 22 30 28
+f 25 27 31
+f 27 28 32
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 27 35 31
+f 28 30 36
+f 28 36 37
+f 28 37 38
+f 28 38 32
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_28.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ff7cceb332c82a21721b27b051730263c93e2e
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_28.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.15773271 0.62552598 0.27296709
+v -0.15773271 0.61941822 0.21664910
+v -0.15773271 0.64975906 0.27296718
+v -0.53500978 0.62524414 0.27296709
+v -0.17071438 0.61941822 0.21665935
+v -0.15773271 0.61941835 0.18315191
+v -0.15773271 0.64977774 0.21138287
+v -0.58055207 0.66661833 0.25670627
+v -0.58055207 0.66659977 0.27296724
+v -0.54143678 0.62630677 0.27296709
+v -0.57765776 0.61941826 0.20793347
+v -0.55956856 0.61941823 0.21455487
+v -0.55778093 0.61941823 0.21504763
+v -0.53500978 0.61941822 0.21684414
+v -0.15773271 0.62573881 0.18275156
+v -0.55212006 0.61941840 0.16810229
+v -0.15773271 0.64346197 0.19095396
+v -0.59251224 0.66082028 0.16810244
+v -0.58055207 0.66650297 0.21138293
+v -0.58055207 0.66658605 0.23403947
+v -0.59251224 0.66657207 0.26858375
+v -0.59251224 0.66656745 0.27296724
+v -0.55778093 0.62904657 0.27296710
+v -0.57365688 0.63501591 0.27296712
+v -0.59251224 0.64289338 0.27296715
+v -0.58480837 0.61941833 0.18872622
+v -0.15773271 0.63332985 0.18626249
+v -0.55212006 0.62503659 0.16810231
+v -0.55224775 0.62549401 0.16810231
+v -0.56207977 0.64340199 0.16810237
+v -0.57889213 0.65451364 0.16810241
+v -0.59004358 0.66055689 0.16810244
+v -0.58642572 0.61941840 0.16810229
+v -0.59251224 0.62566494 0.16810231
+v -0.59251224 0.66358307 0.18874691
+v -0.59251224 0.66620727 0.21138293
+v -0.59251224 0.66649364 0.24591696
+v -0.59251224 0.62837232 0.18872625
+v -0.58629803 0.61941840 0.16989880
+f 1 2 6
+f 1 6 15
+f 1 15 27
+f 1 27 17
+f 1 17 7
+f 1 7 3
+f 1 3 9
+f 1 9 22
+f 1 22 25
+f 1 25 24
+f 1 24 23
+f 1 23 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 14
+f 2 14 13
+f 2 13 12
+f 2 12 11
+f 2 11 26
+f 2 26 39
+f 2 39 33
+f 2 33 16
+f 2 16 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 6 16 15
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 10 23 11
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 15 16 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 27
+f 16 33 34
+f 16 34 18
+f 16 18 32
+f 16 32 31
+f 16 31 30
+f 16 30 29
+f 16 29 28
+f 17 27 32
+f 17 32 18
+f 18 34 38
+f 18 38 25
+f 18 25 22
+f 18 22 21
+f 18 21 37
+f 18 37 36
+f 18 36 35
+f 18 35 19
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 20 37 21
+f 25 38 26
+f 26 38 34
+f 26 34 39
+f 33 39 34
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_29.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f3a3af311b8092655284178617f4a4924ee7e5b
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_29.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.60348516 -0.56090156 0.14302156
+v 0.60330291 -0.53725374 0.18131474
+v 0.60420275 -0.53725373 0.18100513
+v 0.60932856 -0.53725373 0.18066034
+v 0.60385536 -0.56091766 0.14302156
+v 0.58399579 -0.56649184 0.14302154
+v 0.58850649 -0.53725377 0.19168667
+v 0.60932856 -0.53725385 0.21250791
+v 0.60932856 -0.56119918 0.14302156
+v 0.57280452 -0.57318402 0.14302151
+v 0.58765221 -0.53725378 0.19239736
+v 0.60932856 -0.55091983 0.21211382
+v 0.58783445 -0.53725382 0.20312813
+v 0.55115097 -0.58553108 0.20366978
+v 0.55115097 -0.59077546 0.20545002
+v 0.55115097 -0.61942653 0.21490004
+v 0.60932856 -0.58849086 0.14302146
+v 0.57261657 -0.57330467 0.14302151
+v 0.55115097 -0.58225732 0.18906185
+v 0.55115097 -0.58225734 0.19281938
+v 0.60932856 -0.55124156 0.21208567
+v 0.55641912 -0.61942653 0.21434415
+v 0.55795113 -0.61942653 0.21417526
+v 0.55115097 -0.61942635 0.16725533
+v 0.60932856 -0.58849086 0.14323958
+v 0.58712822 -0.61942627 0.14304244
+v 0.58236125 -0.61942627 0.14302134
+v 0.56409641 -0.58468627 0.14302147
+v 0.55115097 -0.59147514 0.17587525
+v 0.60932856 -0.55919661 0.21129754
+v 0.56030331 -0.61942652 0.21336607
+v 0.55928954 -0.61942627 0.14302134
+v 0.55115097 -0.60355648 0.16676282
+v 0.55782585 -0.60476290 0.14302140
+v 0.60932856 -0.58836221 0.15171164
+v 0.58712822 -0.61942627 0.14335205
+v 0.55791127 -0.60446529 0.14302140
+v 0.55115097 -0.60348407 0.16676282
+v 0.60932856 -0.56947619 0.20812400
+v 0.57691086 -0.61942650 0.20625912
+v 0.60932856 -0.58525748 0.17289177
+v 0.58560187 -0.61942635 0.16605207
+v 0.60932856 -0.57636950 0.20565413
+v 0.58234985 -0.61942643 0.18870987
+v 0.60932856 -0.58126797 0.19439558
+v 0.60932856 -0.58287666 0.18871001
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 17
+f 1 17 27
+f 1 27 32
+f 1 32 34
+f 1 34 37
+f 1 37 28
+f 1 28 18
+f 1 18 10
+f 1 10 6
+f 1 6 2
+f 2 7 11
+f 2 11 13
+f 2 13 8
+f 2 8 4
+f 2 4 3
+f 2 6 7
+f 4 8 12
+f 4 12 21
+f 4 21 30
+f 4 30 39
+f 4 39 43
+f 4 43 45
+f 4 45 46
+f 4 46 41
+f 4 41 35
+f 4 35 25
+f 4 25 17
+f 4 17 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 12
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 13
+f 12 16 22
+f 12 22 23
+f 12 23 21
+f 13 20 14
+f 14 20 19
+f 14 19 29
+f 14 29 38
+f 14 38 33
+f 14 33 24
+f 14 24 16
+f 14 16 15
+f 16 24 32
+f 16 32 27
+f 16 27 26
+f 16 26 36
+f 16 36 42
+f 16 42 44
+f 16 44 40
+f 16 40 31
+f 16 31 23
+f 16 23 22
+f 17 25 36
+f 17 36 26
+f 17 26 27
+f 18 28 19
+f 19 28 29
+f 21 23 30
+f 23 31 30
+f 24 33 34
+f 24 34 32
+f 25 35 36
+f 28 37 29
+f 29 37 34
+f 29 34 38
+f 30 31 39
+f 31 40 39
+f 33 38 34
+f 35 41 42
+f 35 42 36
+f 39 40 43
+f 40 44 45
+f 40 45 43
+f 41 46 42
+f 42 46 44
+f 44 46 45
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_3.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ac1f91109dd0309f830ac6dc4f3f4bdbafcb6f7
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_3.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.34507157 -0.53725385 0.21262214
+v 0.04941153 -0.53725396 0.24283484
+v 0.34507157 -0.53725376 0.18857197
+v 0.34507157 0.23036253 0.21288673
+v 0.04995379 -0.21734098 0.24283601
+v 0.01974664 -0.53725396 0.24283484
+v 0.33023912 -0.53725376 0.18851744
+v 0.34507157 -0.01236918 0.18719959
+v 0.34507157 0.23831666 0.21288676
+v 0.04995379 -0.20851277 0.24283604
+v 0.01920437 -0.53725393 0.23407098
+v 0.01974664 0.35570538 0.24283812
+v 0.30746414 -0.53725376 0.18846289
+v 0.23913921 -0.01236918 0.18712324
+v 0.34507157 0.01044428 0.18724331
+v 0.05700318 -0.46802671 0.18808139
+v 0.34507157 0.35570549 0.21288174
+v 0.04941153 0.21550308 0.24283760
+v 0.01965095 -0.53725385 0.21137874
+v 0.01977853 0.35570541 0.23404154
+v 0.04912445 0.35570538 0.24283812
+v 0.28551851 -0.53725376 0.18845199
+v 0.05700318 -0.49075273 0.18816311
+v 0.21636424 -0.01236918 0.18712869
+v 0.05700318 0.01044428 0.18715060
+v 0.05700318 0.03325775 0.18719431
+v 0.34507157 0.01839841 0.18729788
+v 0.05700318 0.14715028 0.18757103
+v 0.05700318 0.35570558 0.18868432
+v 0.03422821 -0.53725378 0.19371466
+v 0.03422821 -0.01236920 0.19253315
+v 0.05700318 -0.03509524 0.18721586
+v 0.34507157 0.35570557 0.19034764
+v 0.02169240 -0.53725381 0.20012259
+v 0.02095875 0.35570549 0.21138202
+v 0.02118203 0.35570550 0.20962052
+v 0.02248985 0.35570554 0.19959687
+v 0.02220276 0.01044424 0.19907753
+v 0.08063940 -0.53725376 0.18840291
+v 0.07977817 -0.53725376 0.18840291
+v 0.05700318 -0.53725376 0.18844654
+v 0.05700318 -0.01236918 0.18717232
+v 0.03422821 0.01044426 0.19253324
+v 0.34507157 0.03325775 0.18740154
+v 0.03422821 0.35570556 0.19378339
+v 0.05359013 0.35570557 0.18944782
+v 0.02197948 -0.53725380 0.19942999
+v 0.02220276 -0.03509528 0.19906098
+v 0.02220276 -0.01236922 0.19905561
+v 0.03247383 0.35570556 0.19465051
+f 1 2 6
+f 1 6 11
+f 1 11 19
+f 1 19 34
+f 1 34 47
+f 1 47 30
+f 1 30 41
+f 1 41 40
+f 1 40 39
+f 1 39 22
+f 1 22 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 27
+f 1 27 44
+f 1 44 33
+f 1 33 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 5 10
+f 2 10 18
+f 2 18 21
+f 2 21 12
+f 2 12 6
+f 2 4 5
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 6 12 11
+f 7 13 8
+f 8 14 15
+f 8 13 16
+f 8 16 14
+f 9 17 10
+f 10 17 18
+f 11 12 20
+f 11 20 19
+f 12 21 17
+f 12 17 33
+f 12 33 29
+f 12 29 46
+f 12 46 45
+f 12 45 50
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+f 12 37 36
+f 12 36 35
+f 12 35 20
+f 13 22 23
+f 13 23 16
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 14 16 24
+f 15 26 28
+f 15 28 29
+f 15 29 27
+f 16 23 30
+f 16 30 31
+f 16 31 32
+f 16 32 24
+f 17 21 18
+f 19 20 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 34
+f 22 39 23
+f 23 39 40
+f 23 40 41
+f 23 41 30
+f 24 32 42
+f 24 42 25
+f 25 42 31
+f 25 31 43
+f 25 43 26
+f 26 43 28
+f 27 29 44
+f 28 43 45
+f 28 45 46
+f 28 46 29
+f 29 33 44
+f 30 47 31
+f 31 48 49
+f 31 49 43
+f 31 42 32
+f 31 47 48
+f 34 38 49
+f 34 49 47
+f 37 50 43
+f 37 43 38
+f 38 43 49
+f 43 50 45
+f 47 49 48
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_30.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..604f0d54aeedb936f42471f5de8262a392792045
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_30.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.16396760 -0.65138863 0.30196761
+v -0.16396760 -0.65109959 0.21744267
+v -0.16396760 -0.62636686 0.30196770
+v -0.53940769 -0.65247294 0.30196760
+v -0.16396760 -0.62116927 0.21744278
+v -0.53940769 -0.65243604 0.29802063
+v -0.53940769 -0.65158798 0.21744267
+v -0.26179664 -0.62632693 0.30196770
+v -0.53940769 -0.62677233 0.30196770
+v -0.28458177 -0.62631772 0.30196770
+v -0.53503442 -0.62109862 0.21744278
+v -0.42118228 -0.62627469 0.30196770
+v -0.39839717 -0.62628084 0.30196770
+v -0.53940769 -0.62146416 0.21744278
+v -0.53503442 -0.62630235 0.30196770
+v -0.51224931 -0.62626854 0.30196770
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 10
+f 1 10 13
+f 1 13 12
+f 1 12 16
+f 1 16 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 14
+f 2 14 11
+f 2 11 5
+f 3 5 8
+f 4 9 14
+f 4 14 7
+f 4 7 6
+f 5 10 8
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 9 15 14
+f 11 14 15
+f 11 15 16
+f 11 16 12
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_31.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2da542b14fd3202577e3762482d6f41c37f886c3
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_31.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.66328747 0.62018108 0.27296707
+v 0.66331809 0.62018109 0.27060594
+v 0.66310375 0.62310759 0.27296708
+v 0.63555982 0.62018108 0.27296707
+v 0.66327216 0.62348500 0.25670611
+v 0.66347122 0.62018114 0.25670610
+v 0.66033252 0.63128605 0.27296711
+v 0.50727160 0.62624035 0.27296709
+v 0.50727160 0.62018128 0.21698787
+v 0.65933732 0.63487955 0.25670615
+v 0.66340994 0.62385804 0.23403931
+v 0.66360901 0.62018122 0.23403930
+v 0.65921485 0.63450214 0.27296712
+v 0.50727160 0.64985429 0.27296718
+v 0.50727160 0.62018141 0.18331616
+v 0.65947511 0.63525259 0.23403935
+v 0.65105425 0.64437423 0.27296716
+v 0.66348653 0.62408186 0.21138277
+v 0.65956701 0.63547641 0.21138281
+v 0.66368556 0.62018130 0.21138276
+v 0.50727160 0.64985889 0.21649521
+v 0.60348394 0.66500026 0.27296723
+v 0.50727160 0.62574048 0.18327511
+v 0.55127451 0.62597747 0.16810231
+v 0.55141229 0.62018146 0.16810229
+v 0.64794617 0.64834941 0.25670620
+v 0.64783900 0.64817386 0.27296717
+v 0.66348653 0.62435408 0.16810230
+v 0.65972010 0.63574859 0.16810235
+v 0.65965886 0.63561691 0.18872627
+v 0.66365494 0.62018139 0.18872622
+v 0.50727160 0.64985891 0.21138287
+v 0.60979195 0.66443425 0.27296723
+v 0.62599067 0.66308302 0.23403946
+v 0.60348394 0.66497835 0.25670626
+v 0.50727160 0.64349261 0.19132353
+v 0.56190014 0.64337860 0.16810237
+v 0.56006283 0.64160164 0.16810237
+v 0.66362432 0.62018146 0.16810229
+v 0.64809927 0.64839778 0.23403940
+v 0.63725930 0.65973960 0.25670624
+v 0.63684594 0.65956841 0.27296721
+v 0.65869428 0.63688938 0.16810235
+v 0.58950527 0.66107812 0.16810244
+v 0.50727160 0.64492732 0.19584048
+v 0.60348394 0.66486874 0.23403946
+v 0.60348394 0.66468457 0.21138292
+v 0.60348394 0.66440823 0.18872638
+v 0.60348394 0.66407923 0.16810245
+v 0.60213662 0.66380281 0.16810245
+v 0.62545479 0.66286350 0.27296722
+v 0.62586815 0.66298642 0.25670626
+v 0.62583753 0.66304798 0.21138292
+v 0.63738182 0.65979233 0.23403944
+v 0.62540886 0.66291653 0.16810245
+v 0.58847949 0.66058232 0.16810244
+v 0.57610845 0.65366309 0.16810241
+v 0.64819112 0.64832325 0.21138286
+v 0.62867000 0.66195086 0.27296722
+v 0.64834426 0.64813035 0.16810239
+v 0.62341846 0.66304814 0.16810245
+v 0.63721337 0.65971780 0.21138290
+v 0.64731844 0.64916144 0.16810239
+v 0.63680001 0.65952490 0.16810243
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 17
+f 1 17 27
+f 1 27 42
+f 1 42 59
+f 1 59 51
+f 1 51 33
+f 1 33 22
+f 1 22 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 25
+f 1 25 39
+f 1 39 31
+f 1 31 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 8 9
+f 5 10 7
+f 5 6 11
+f 5 11 16
+f 5 16 10
+f 6 12 11
+f 7 10 13
+f 8 14 21
+f 8 21 32
+f 8 32 45
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+f 8 36 23
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+f 8 15 9
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+f 26 41 27
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+f 28 31 39
+f 29 43 40
+f 29 40 30
+f 32 44 45
+f 32 35 46
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 50
+f 32 50 44
+f 33 51 52
+f 33 52 34
+f 34 53 35
+f 34 52 41
+f 34 41 54
+f 34 54 53
+f 35 53 55
+f 35 55 46
+f 36 45 44
+f 36 44 56
+f 36 56 57
+f 36 57 37
+f 40 58 54
+f 40 54 41
+f 40 43 58
+f 41 52 59
+f 41 59 42
+f 43 60 58
+f 46 55 61
+f 46 61 47
+f 47 61 48
+f 48 61 49
+f 51 59 52
+f 53 54 62
+f 53 62 55
+f 54 58 60
+f 54 60 63
+f 54 63 62
+f 55 62 64
+f 62 63 64
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_32.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc25113a9ee63507061802d164faf973577d280
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_32.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.66455807 0.61617045 0.16810227
+v -0.66459960 0.61617043 0.17558532
+v -0.64132462 0.61617045 0.16810227
+v -0.66535551 0.60293814 0.16810222
+v -0.66547179 0.60293807 0.18873448
+v -0.66432549 0.61617018 0.24288139
+v -0.66546349 0.60293798 0.21138891
+v -0.66543857 0.60293782 0.25669778
+v -0.66541365 0.60293776 0.27295725
+v -0.66487370 0.60887826 0.27295728
+v -0.64085947 0.61617007 0.27292650
+v -0.59252360 0.59590128 0.16810220
+v -0.66503987 0.60153585 0.16810222
+v -0.64387476 0.35573104 0.19068390
+v -0.65014621 0.35573096 0.21139829
+v -0.66422582 0.61617010 0.26514577
+v -0.65009638 0.35573074 0.27296661
+v -0.65105990 0.54575073 0.27296730
+v -0.66416767 0.61617007 0.27295730
+v -0.64094254 0.61617007 0.27295730
+v -0.62751082 0.55737680 0.27295709
+v -0.59252360 0.57644790 0.20316671
+v -0.59252360 0.58486155 0.19223472
+v -0.59252360 0.58687571 0.18873443
+v -0.58764768 0.53894360 0.20402883
+v -0.58714926 0.53894365 0.19179316
+v -0.58061201 0.39680473 0.19435885
+v -0.58061201 0.37518434 0.19057105
+v -0.58061201 0.35575655 0.18934946
+v -0.59252360 0.55834601 0.16810206
+v -0.66186676 0.58868599 0.16810217
+v -0.62610702 0.35573107 0.18306740
+v -0.62568337 0.35573074 0.27296661
+v -0.62656387 0.54575073 0.27296730
+v -0.59252360 0.56805979 0.20567129
+v -0.62566675 0.53455808 0.27296726
+v -0.58061201 0.37510777 0.21225034
+v -0.58061201 0.39680468 0.20705643
+v -0.58061201 0.35573096 0.21245555
+v -0.58400107 0.35573105 0.18875410
+v -0.60525755 0.55253298 0.16810204
+v -0.66131851 0.58764064 0.16810217
+v -0.65295380 0.57532619 0.16810212
+v -0.64267027 0.56201740 0.16810207
+v -0.64049396 0.56018173 0.16810207
+v -0.62447061 0.55248200 0.16810204
+v -0.58061201 0.35573096 0.21269165
+f 1 2 6
+f 1 6 16
+f 1 16 19
+f 1 19 20
+f 1 20 11
+f 1 11 3
+f 1 3 12
+f 1 12 30
+f 1 30 41
+f 1 41 46
+f 1 46 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 31
+f 1 31 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 6
+f 3 11 12
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 7
+f 6 10 16
+f 7 15 8
+f 8 15 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 19 16
+f 10 18 19
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 13 31 14
+f 14 32 40
+f 14 40 39
+f 14 39 47
+f 14 47 33
+f 14 33 17
+f 14 17 15
+f 14 31 32
+f 17 33 36
+f 17 36 34
+f 17 34 18
+f 18 34 20
+f 18 20 19
+f 20 34 21
+f 21 35 22
+f 21 34 25
+f 21 25 35
+f 22 35 25
+f 22 25 23
+f 23 25 24
+f 25 34 36
+f 25 36 37
+f 25 37 38
+f 25 38 26
+f 26 38 27
+f 27 38 37
+f 27 37 47
+f 27 47 39
+f 27 39 29
+f 27 29 28
+f 29 39 40
+f 29 40 30
+f 30 40 32
+f 30 32 41
+f 31 42 32
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 41
+f 33 47 36
+f 36 47 37
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_33.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8a7422c7a835bba0c878e1df423094238cb412f
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_33.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.01972289 0.35570538 0.24283814
+v 0.00342775 0.21550286 0.30133926
+v 0.00342775 0.23831633 0.30159002
+v 0.00342775 0.35570511 0.31576067
+v 0.04909604 0.35570538 0.24283814
+v 0.01972289 0.30666955 0.24283796
+v 0.00342775 -0.03509565 0.30008491
+v 0.00342775 0.01044387 0.30013786
+v 0.00342775 0.03325734 0.30026987
+v 0.00342775 0.35570488 0.37734968
+v 0.07976352 0.35570498 0.35201743
+v 0.07986078 0.35561758 0.35201743
+v 0.04938034 0.21550308 0.24283762
+v 0.01974533 -0.53725396 0.24283486
+v 0.00342775 -0.04978018 0.30009805
+v 0.01146309 0.35570488 0.37733651
+v 0.00342775 0.32144096 0.37741552
+v 0.01146309 0.32948251 0.37738917
+v 0.07986078 0.35570497 0.35257157
+v 0.07986078 -0.46802731 0.35130196
+v 0.04994147 -0.20851277 0.24283606
+v 0.04938034 -0.53725396 0.24283486
+v 0.00342775 -0.53725424 0.31723511
+v 0.00342775 -0.37686066 0.30178568
+v 0.00342775 -0.33132111 0.30108656
+v 0.00342775 -0.30850763 0.30080958
+v 0.00342775 -0.28569417 0.30069092
+v 0.00342775 -0.05790912 0.30011123
+v 0.03422990 0.35570489 0.37700663
+v 0.00342775 0.23831605 0.37756035
+v 0.01146309 0.23831605 0.37754718
+v 0.07986078 0.35570490 0.37244157
+v 0.07986078 -0.49075333 0.35128867
+v 0.04994147 -0.21734098 0.24283603
+v 0.07986078 -0.53725436 0.35128850
+v 0.04940279 -0.53637991 0.24283486
+v 0.00342775 -0.53725445 0.37639644
+v 0.03422990 0.23831605 0.37720413
+v 0.00342775 0.21550258 0.37759985
+v 0.01146309 0.19277651 0.37759977
+v 0.03422990 0.21550258 0.37723042
+v 0.07986078 0.23840347 0.37249390
+v 0.07986078 -0.53725443 0.36985228
+v 0.01061766 -0.53725445 0.37640966
+v 0.00342775 -0.21734148 0.37718924
+v 0.00342775 0.19277651 0.37761298
+v 0.01146309 0.16996305 0.37759968
+v 0.03422990 0.19277651 0.37723034
+v 0.07986078 0.23831607 0.37249390
+v 0.07986078 -0.53716704 0.37216122
+v 0.07976352 -0.53725444 0.37216122
+v 0.01146309 -0.53725445 0.37640966
+v 0.01146309 -0.21734148 0.37716285
+v 0.00342775 -0.20256952 0.37721572
+v 0.00342775 0.16192152 0.37761286
+v 0.00342775 0.14714958 0.37759960
+v 0.00342775 -0.19452801 0.37722892
+v 0.01146309 -0.19452801 0.37720254
+v 0.03422990 -0.19452800 0.37679352
+v 0.07986078 -0.17180192 0.37236048
+v 0.03422990 -0.21734147 0.37676704
+v 0.03422990 -0.53725445 0.37607978
+v 0.03338447 -0.53725445 0.37609299
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 29
+f 1 29 32
+f 1 32 19
+f 1 19 11
+f 1 11 5
+f 1 5 13
+f 1 13 21
+f 1 21 34
+f 1 34 36
+f 1 36 22
+f 1 22 14
+f 1 14 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 8
+f 2 8 7
+f 2 7 15
+f 2 15 28
+f 2 28 27
+f 2 27 26
+f 2 26 25
+f 2 25 24
+f 2 24 23
+f 2 23 37
+f 2 37 45
+f 2 45 54
+f 2 54 57
+f 2 57 56
+f 2 56 55
+f 2 55 46
+f 2 46 39
+f 2 39 30
+f 2 30 17
+f 2 17 10
+f 2 10 4
+f 2 4 3
+f 5 11 12
+f 5 12 13
+f 6 14 7
+f 7 14 15
+f 10 17 18
+f 10 18 16
+f 11 19 12
+f 12 19 32
+f 12 32 42
+f 12 42 49
+f 12 49 60
+f 12 60 50
+f 12 50 43
+f 12 43 35
+f 12 35 33
+f 12 33 20
+f 12 20 21
+f 12 21 13
+f 14 22 35
+f 14 35 43
+f 14 43 51
+f 14 51 62
+f 14 62 63
+f 14 63 52
+f 14 52 44
+f 14 44 37
+f 14 37 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 16 18 29
+f 17 30 18
+f 18 30 31
+f 18 31 29
+f 20 33 21
+f 21 33 35
+f 21 35 34
+f 22 36 35
+f 29 31 38
+f 29 38 32
+f 30 39 31
+f 31 39 40
+f 31 40 38
+f 32 38 41
+f 32 41 42
+f 34 35 36
+f 37 44 45
+f 38 40 41
+f 39 46 40
+f 40 46 55
+f 40 55 47
+f 40 47 48
+f 40 48 41
+f 41 48 49
+f 41 49 42
+f 43 50 51
+f 44 52 45
+f 45 53 54
+f 45 52 53
+f 47 55 56
+f 47 56 57
+f 47 57 58
+f 47 58 48
+f 48 58 59
+f 48 59 50
+f 48 50 60
+f 48 60 49
+f 50 59 61
+f 50 61 62
+f 50 62 51
+f 52 63 53
+f 53 61 58
+f 53 58 54
+f 53 63 62
+f 53 62 61
+f 54 58 57
+f 58 61 59
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_34.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f318d2bb31b5a9ceadfce35f76e7391a13fdbca7
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_34.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.16396762 -0.62288215 0.22092427
+v -0.16396762 -0.62288215 0.22227686
+v -0.16396762 -0.62188215 0.22092427
+v -0.16396762 -0.62188215 0.22227686
+v 0.54048267 -0.62288215 0.22092427
+v 0.54048267 -0.62288215 0.22227686
+v 0.54048267 -0.62188215 0.22092427
+v 0.54048267 -0.62188215 0.22227686
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_35.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d5127d5ce84e974caaf9c71f62048b1a9e8956b
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_35.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.06211585 0.51171233 0.21871557
+v 0.06206778 0.49011597 0.21871549
+v 0.06207979 0.53456610 0.21871565
+v 0.04570271 0.41423251 0.27297654
+v 0.04572674 0.39145274 0.27297646
+v 0.04573875 0.37508286 0.27297640
+v 0.04575078 0.35572992 0.27297633
+v 0.06193561 0.44482760 0.21871532
+v 0.06182747 0.55737052 0.21871574
+v 0.04439302 0.55737032 0.27297707
+v 0.04494573 0.50426683 0.27297687
+v 0.04563062 0.43711088 0.27297663
+v 0.04565465 0.43107077 0.27297660
+v -0.03775674 0.35572992 0.27297633
+v 0.06165926 0.35573012 0.21871500
+v 0.05891973 0.58015025 0.21871582
+v 0.04386434 0.58015005 0.27297715
+v 0.04414070 0.57371550 0.27297713
+v -0.05964892 0.35573012 0.21871500
+v -0.04055634 0.58015005 0.27297715
+v 0.05177053 0.59999630 0.21871589
+v 0.03592212 0.59203303 0.27297719
+v -0.06046598 0.44344702 0.21871532
+v -0.03089591 0.59661857 0.27297721
+v -0.05568381 0.58076658 0.21871582
+v -0.05585204 0.58010095 0.21871582
+v -0.06014156 0.55737052 0.21871574
+v -0.06018962 0.55564478 0.21871573
+v -0.06050202 0.53456610 0.21871565
+v -0.06052606 0.53288966 0.21871565
+v -0.06062218 0.51178633 0.21871557
+v -0.06063419 0.48900656 0.21871549
+v -0.06059815 0.46622679 0.21871540
+v 0.03174074 0.60532140 0.21871591
+v 0.03279810 0.59666788 0.27297721
+v -0.05427800 0.58244306 0.21871583
+v -0.01131069 0.60191906 0.27297723
+v -0.03518543 0.60211647 0.21871590
+v 0.01144661 0.60756491 0.21871592
+v 0.01144661 0.60196836 0.27297723
+v -0.00488241 0.60194371 0.27297723
+v -0.01131069 0.60736765 0.21871592
+f 1 2 8
+f 1 8 15
+f 1 15 19
+f 1 19 23
+f 1 23 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 36
+f 1 36 38
+f 1 38 42
+f 1 42 39
+f 1 39 34
+f 1 34 21
+f 1 21 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 12
+f 4 12 11
+f 4 11 10
+f 4 10 18
+f 4 18 17
+f 4 17 22
+f 4 22 35
+f 4 35 40
+f 4 40 41
+f 4 41 37
+f 4 37 24
+f 4 24 20
+f 4 20 14
+f 4 14 7
+f 4 7 6
+f 4 6 5
+f 7 14 19
+f 7 19 15
+f 7 15 8
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 14 20 19
+f 16 21 17
+f 17 21 22
+f 19 20 23
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 23
+f 21 34 35
+f 21 35 22
+f 24 36 25
+f 24 37 38
+f 24 38 36
+f 34 39 40
+f 34 40 35
+f 37 41 39
+f 37 39 42
+f 37 42 38
+f 39 41 40
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_36.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13f131894f7f1edb00f6bf5f8baf3108466464e9
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_36.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.59308158 0.67274951 0.31165072
+v -0.60334130 0.67272217 0.31165072
+v -0.58057854 0.67270164 0.31165072
+v -0.58057854 0.66660156 0.27297749
+v -0.59690938 0.66655368 0.27297749
+v -0.60334130 0.66649896 0.27297749
+v -0.61584434 0.67144330 0.31165072
+v -0.55899234 0.66777085 0.31165070
+v -0.56250636 0.66296329 0.27297748
+v -0.61769549 0.66390022 0.27297748
+v -0.62340579 0.66286069 0.27297747
+v -0.62660609 0.66891978 0.31165071
+v -0.51235297 0.65308788 0.31165065
+v -0.51235297 0.64974382 0.27300394
+v -0.51235297 0.64940872 0.27297743
+v -0.63479502 0.65861379 0.27297746
+v -0.63708543 0.66631420 0.31165070
+v -0.51235297 0.65289641 0.31165065
+v -0.51235297 0.62532237 0.27297734
+v -0.64412916 0.65044141 0.27297743
+v -0.65918931 0.64752792 0.31165063
+v -0.52538941 0.62527435 0.31165055
+v -0.51235297 0.62533592 0.31161269
+v -0.63917188 0.60288404 0.31165046
+v -0.64056806 0.60288418 0.27297725
+v -0.64780007 0.64722030 0.27297742
+v -0.65917363 0.63501983 0.27297737
+v -0.66973139 0.62630704 0.31165055
+v -0.64823932 0.60288404 0.31165046
+v -0.66439760 0.60288418 0.27297725
+v -0.66227976 0.62684059 0.27297734
+v -0.66344067 0.62362633 0.27297733
+v -0.67261793 0.60295241 0.31165046
+v -0.66762926 0.60288407 0.30203516
+v -0.66540160 0.60288418 0.27299997
+v -0.66541731 0.60295255 0.27297725
+v -0.66486825 0.60890234 0.27297728
+f 1 2 7
+f 1 7 12
+f 1 12 17
+f 1 17 21
+f 1 21 28
+f 1 28 33
+f 1 33 29
+f 1 29 24
+f 1 24 22
+f 1 22 18
+f 1 18 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 15
+f 4 15 19
+f 4 19 25
+f 4 25 30
+f 4 30 36
+f 4 36 37
+f 4 37 32
+f 4 32 31
+f 4 31 27
+f 4 27 26
+f 4 26 20
+f 4 20 16
+f 4 16 11
+f 4 11 10
+f 4 10 6
+f 4 6 5
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 11 16 17
+f 11 17 12
+f 13 18 23
+f 13 23 19
+f 13 19 15
+f 13 15 14
+f 16 20 21
+f 16 21 17
+f 18 22 23
+f 19 24 25
+f 19 23 24
+f 20 26 21
+f 21 26 27
+f 21 27 28
+f 22 24 23
+f 24 29 34
+f 24 34 35
+f 24 35 30
+f 24 30 25
+f 27 31 28
+f 28 31 32
+f 28 32 33
+f 29 33 34
+f 30 35 36
+f 32 37 33
+f 33 37 36
+f 33 36 35
+f 33 35 34
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_37.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25cabd2b1a5614fb04e552ed101659659300c152
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_37.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.64888285 0.69226827 0.34735832
+v -0.64888285 0.68749063 0.33080951
+v -0.67164402 0.68577560 0.33263837
+v -0.67164402 0.68883814 0.34735831
+v -0.67164402 0.68576677 0.36268147
+v -0.64888285 0.68748179 0.36506284
+v -0.52741922 0.68733306 0.36534225
+v -0.52741922 0.69167321 0.34735832
+v -0.61584080 0.67144269 0.31165706
+v -0.52741922 0.68703565 0.33134928
+v -0.58058298 0.68713189 0.33093017
+v -0.58058298 0.67270274 0.31165706
+v -0.59309592 0.67274646 0.31165706
+v -0.60336043 0.67272022 0.31165706
+v -0.68392891 0.68354423 0.33503876
+v -0.62661045 0.66892259 0.31165705
+v -0.63708677 0.66631501 0.31165704
+v -0.68440139 0.68399051 0.34735829
+v -0.68396148 0.68357918 0.35981749
+v -0.67164402 0.67130246 0.37039701
+v -0.64888285 0.67130245 0.37396584
+v -0.62610536 0.67130245 0.37415635
+v -0.60336043 0.67130245 0.37428971
+v -0.62610536 0.68742051 0.36520889
+v -0.55782177 0.68734178 0.36532952
+v -0.53504431 0.68733306 0.36534225
+v -0.52741922 0.67130244 0.37445482
+v -0.52741922 0.65426583 0.31166969
+v -0.55899486 0.66776755 0.31165704
+v -0.68640539 0.67130260 0.33251768
+v -0.68989205 0.67130254 0.34735825
+v -0.65919623 0.64753685 0.31165697
+v -0.68651948 0.67130249 0.36281479
+v -0.67164402 0.64851665 0.37407371
+v -0.64888285 0.64851664 0.37630900
+v -0.58058298 0.67130244 0.37435322
+v -0.60336043 0.68735930 0.36528507
+v -0.58058298 0.68735050 0.36531048
+v -0.55782177 0.67130244 0.37439767
+v -0.52741922 0.64851664 0.37652492
+v -0.52741922 0.65416082 0.31165699
+v -0.68836053 0.64851681 0.33052360
+v -0.69385128 0.64851674 0.34735816
+v -0.66973774 0.62630863 0.31165689
+v -0.68850719 0.64851668 0.36519605
+v -0.67169292 0.60288385 0.37383857
+v -0.67164402 0.60295386 0.37386398
+v -0.64894800 0.60288384 0.37604214
+v -0.64888285 0.60295385 0.37604846
+v -0.52741922 0.63337862 0.37555328
+v -0.52741922 0.62526735 0.31165689
+v -0.67260531 0.60295409 0.31165680
+v -0.68821395 0.60295402 0.33047263
+v -0.68823024 0.60288401 0.33052343
+v -0.69344395 0.60288394 0.34735799
+v -0.68826281 0.60288388 0.36501806
+v -0.53510946 0.60288385 0.37308926
+v -0.52741922 0.60295386 0.37308926
+v -0.52741922 0.61059287 0.37374973
+v -0.52741922 0.62573960 0.37504522
+v -0.52741922 0.60295395 0.34961234
+v -0.63917225 0.60288408 0.31165680
+v -0.67646673 0.60288405 0.31914376
+v -0.68818129 0.60288401 0.33044088
+v -0.64824742 0.60288408 0.31165680
+v -0.52741922 0.60288391 0.35748666
+v -0.53504431 0.60288394 0.34958057
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 9
+f 3 15 4
+f 3 9 16
+f 3 16 17
+f 3 17 15
+f 4 15 18
+f 4 18 19
+f 4 19 5
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 21 22
+f 6 22 23
+f 6 23 24
+f 6 24 7
+f 7 25 26
+f 7 26 27
+f 7 27 40
+f 7 40 50
+f 7 50 60
+f 7 60 59
+f 7 59 58
+f 7 58 66
+f 7 66 61
+f 7 61 51
+f 7 51 41
+f 7 41 28
+f 7 28 10
+f 7 10 8
+f 7 24 25
+f 9 14 13
+f 9 13 12
+f 9 12 29
+f 9 29 41
+f 9 41 51
+f 9 51 62
+f 9 62 65
+f 9 65 52
+f 9 52 44
+f 9 44 32
+f 9 32 17
+f 9 17 16
+f 10 28 29
+f 10 29 12
+f 10 12 11
+f 15 30 31
+f 15 31 18
+f 15 17 32
+f 15 32 30
+f 18 31 19
+f 19 31 33
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 35 22
+f 21 34 35
+f 22 35 23
+f 23 36 24
+f 23 35 36
+f 24 37 38
+f 24 38 25
+f 24 36 39
+f 24 39 27
+f 24 27 37
+f 25 38 27
+f 25 27 26
+f 27 38 37
+f 27 39 35
+f 27 35 40
+f 28 41 29
+f 30 42 43
+f 30 43 31
+f 30 32 44
+f 30 44 42
+f 31 43 33
+f 33 43 45
+f 33 45 34
+f 34 45 46
+f 34 46 47
+f 34 47 35
+f 35 47 48
+f 35 48 49
+f 35 49 40
+f 35 39 36
+f 40 49 50
+f 42 44 52
+f 42 52 53
+f 42 53 43
+f 43 53 54
+f 43 54 55
+f 43 55 56
+f 43 56 45
+f 45 56 46
+f 46 56 55
+f 46 55 54
+f 46 54 64
+f 46 64 63
+f 46 63 65
+f 46 65 62
+f 46 62 67
+f 46 67 66
+f 46 66 57
+f 46 57 48
+f 46 48 47
+f 48 57 58
+f 48 58 49
+f 49 58 59
+f 49 59 60
+f 49 60 50
+f 51 61 62
+f 52 63 64
+f 52 64 53
+f 52 65 63
+f 53 64 54
+f 57 66 58
+f 61 66 67
+f 61 67 62
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_38.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59b9640bd13a6469466e285c8084aa78cf3a61ac
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_38.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.17071001 0.64851782 0.37711068
+v -0.17071001 0.62574445 0.37560200
+v -0.16387790 0.62574445 0.37560200
+v -0.16387790 0.64851782 0.37710046
+v -0.16387790 0.65534981 0.37644816
+v -0.16387790 0.67129992 0.37490902
+v -0.17071001 0.67129992 0.37490902
+v -0.23903107 0.67129992 0.37487847
+v -0.19348369 0.64851782 0.37709029
+v -0.19348369 0.62574445 0.37559183
+v -0.17071001 0.60295361 0.37347153
+v -0.16387790 0.60295361 0.37347153
+v -0.16387790 0.67610762 0.37210593
+v -0.21629297 0.68731986 0.36554159
+v -0.23903107 0.68731986 0.36553138
+v -0.30738773 0.68731986 0.36549061
+v -0.39841133 0.68731114 0.36543963
+v -0.52740294 0.68731986 0.36533771
+v -0.30738773 0.67129992 0.37480710
+v -0.35286396 0.64851783 0.37692718
+v -0.19355487 0.60289257 0.37345115
+v -0.39841133 0.62574445 0.37533696
+v -0.39841133 0.60295361 0.37327786
+v -0.17078118 0.60289257 0.37346136
+v -0.16387790 0.60289257 0.37346136
+v -0.16387790 0.68731986 0.36554159
+v -0.19348369 0.69202290 0.34735703
+v -0.52740294 0.69165642 0.34735703
+v -0.52740294 0.67129992 0.37445036
+v -0.42111383 0.67129992 0.37466441
+v -0.39841133 0.67129992 0.37470518
+v -0.21629297 0.69201418 0.34735703
+v -0.39841133 0.64851783 0.37686603
+v -0.21632856 0.60289257 0.37343076
+v -0.42111383 0.62574445 0.37528602
+v -0.52740294 0.61059711 0.37374681
+v -0.52740294 0.60295361 0.37308419
+v -0.42118500 0.60289257 0.37323709
+v -0.39844692 0.60289257 0.37326769
+v -0.16387790 0.60289265 0.35019039
+v -0.16387790 0.69201418 0.34735703
+v -0.19348369 0.68739846 0.33091543
+v -0.16387790 0.68738974 0.33090524
+v -0.52740294 0.68703198 0.33134355
+v -0.21629297 0.68738974 0.33093582
+v -0.52740294 0.64851783 0.37651945
+v -0.52740294 0.63338791 0.37555105
+v -0.52740294 0.62574445 0.37504137
+v -0.52740294 0.60289263 0.35747848
+v -0.51227976 0.60289257 0.37308419
+v -0.16387790 0.62553540 0.27298753
+v -0.51220859 0.60289266 0.34969092
+v -0.51235094 0.62532600 0.27298753
+v -0.27817337 0.64976595 0.27298762
+v -0.34642328 0.64976595 0.27298762
+v -0.46029171 0.64975719 0.27298762
+v -0.50580350 0.64973975 0.27298762
+v -0.16387790 0.64975719 0.27298762
+v -0.51224418 0.64973103 0.27298762
+v -0.51235094 0.64973975 0.27300801
+v -0.52740294 0.65425939 0.31167064
+v -0.52740294 0.60295370 0.34960938
+v -0.52740294 0.62527350 0.31166035
+v -0.51235094 0.64939947 0.27298762
+v -0.52740294 0.65415467 0.31166045
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 12 25
+f 3 25 40
+f 3 40 51
+f 3 51 58
+f 3 58 43
+f 3 43 41
+f 3 41 26
+f 3 26 13
+f 3 13 6
+f 3 6 5
+f 3 5 4
+f 6 13 7
+f 7 14 8
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 8 14 15
+f 9 20 10
+f 10 21 11
+f 10 20 22
+f 10 22 23
+f 10 23 21
+f 11 21 24
+f 11 24 25
+f 11 25 12
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 27 16
+f 16 27 18
+f 16 18 17
+f 18 28 44
+f 18 44 61
+f 18 61 65
+f 18 65 63
+f 18 63 62
+f 18 62 49
+f 18 49 37
+f 18 37 36
+f 18 36 48
+f 18 48 47
+f 18 47 46
+f 18 46 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 18 27 32
+f 18 32 28
+f 19 31 20
+f 20 31 33
+f 20 33 22
+f 21 23 34
+f 21 34 39
+f 21 39 38
+f 21 38 50
+f 21 50 49
+f 21 49 52
+f 21 52 40
+f 21 40 25
+f 21 25 24
+f 22 33 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 23 38 39
+f 23 39 34
+f 26 41 27
+f 27 42 32
+f 27 41 43
+f 27 43 42
+f 28 32 45
+f 28 45 44
+f 29 46 33
+f 29 33 30
+f 30 33 31
+f 32 42 45
+f 33 46 47
+f 33 47 48
+f 33 48 35
+f 35 48 36
+f 37 49 50
+f 37 50 38
+f 40 52 53
+f 40 53 51
+f 42 54 55
+f 42 55 56
+f 42 56 57
+f 42 57 45
+f 42 43 54
+f 43 58 54
+f 44 59 60
+f 44 60 61
+f 44 45 59
+f 45 57 59
+f 49 62 52
+f 51 53 64
+f 51 64 59
+f 51 59 57
+f 51 57 56
+f 51 56 55
+f 51 55 54
+f 51 54 58
+f 52 62 53
+f 53 62 63
+f 53 63 65
+f 53 65 64
+f 59 64 60
+f 60 64 65
+f 60 65 61
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_39.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..400a860c4425214ac00e4b7fb29532f12587b976
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_39.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.04678671 0.43575239 0.31705243
+v 0.04676919 0.45895063 0.31705252
+v 0.04676919 0.41296452 0.31705235
+v 0.04575205 0.35570531 0.27298065
+v 0.04572574 0.39787734 0.27298080
+v 0.04569943 0.41424408 0.27298086
+v 0.04565559 0.43106942 0.27298092
+v 0.04657628 0.51179245 0.31705271
+v 0.04668150 0.39020076 0.31705226
+v 0.04653244 0.36741288 0.31705218
+v 0.04630445 0.35570515 0.31705214
+v -0.03775829 0.35570531 0.27298065
+v 0.04562929 0.43712849 0.27298095
+v 0.04494536 0.50428516 0.27298119
+v 0.04440171 0.55736836 0.27298139
+v 0.04632199 0.53214221 0.31705278
+v -0.04236171 0.35570515 0.31705214
+v -0.04055542 0.58015624 0.27298147
+v 0.04413866 0.57371094 0.27298145
+v 0.04535747 0.57892496 0.31705296
+v -0.04268614 0.39787718 0.31705229
+v -0.04271244 0.54165325 0.31705282
+v -0.04263353 0.55606464 0.31705287
+v -0.04253708 0.56511703 0.31705291
+v -0.04091492 0.58015608 0.31705296
+v -0.03768815 0.58575646 0.31705298
+v -0.03093647 0.59666776 0.27937546
+v -0.03089263 0.59661951 0.27298153
+v -0.04277382 0.42066506 0.31705238
+v -0.04279136 0.42626548 0.31705240
+v -0.04278259 0.44902923 0.31705248
+v 0.04386684 0.58015624 0.27298147
+v 0.04532239 0.58015608 0.31705296
+v -0.03085756 0.59669176 0.31705302
+v -0.03101539 0.59674009 0.30203461
+v -0.01131277 0.60221977 0.31705304
+v -0.01131277 0.60214741 0.30203463
+v -0.01131277 0.60200264 0.27937548
+v -0.01131277 0.60193026 0.27298155
+v 0.03592266 0.59203299 0.27298151
+v 0.03551054 0.59618483 0.31705302
+v 0.03905298 0.59087412 0.31705300
+v 0.01145002 0.60229218 0.31705304
+v 0.01145002 0.60197851 0.27298155
+v -0.00488552 0.60195438 0.27298155
+v 0.01145002 0.60202676 0.27937548
+v 0.03280110 0.59666779 0.27298153
+v 0.03365164 0.59674009 0.30203461
+v 0.01893825 0.60048172 0.31705304
+v 0.03295893 0.59669189 0.27937546
+f 1 2 8
+f 1 8 16
+f 1 16 20
+f 1 20 33
+f 1 33 42
+f 1 42 41
+f 1 41 49
+f 1 49 43
+f 1 43 36
+f 1 36 34
+f 1 34 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 31
+f 1 31 30
+f 1 30 29
+f 1 29 21
+f 1 21 17
+f 1 17 11
+f 1 11 10
+f 1 10 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 17
+f 4 17 12
+f 4 12 18
+f 4 18 28
+f 4 28 39
+f 4 39 45
+f 4 45 44
+f 4 44 47
+f 4 47 40
+f 4 40 32
+f 4 32 19
+f 4 19 15
+f 4 15 14
+f 4 14 13
+f 4 13 7
+f 4 7 6
+f 4 6 5
+f 7 13 8
+f 8 14 15
+f 8 15 16
+f 8 13 14
+f 12 17 18
+f 15 19 16
+f 16 19 20
+f 17 21 18
+f 18 22 23
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 21 29
+f 18 29 30
+f 18 30 31
+f 18 31 22
+f 19 32 33
+f 19 33 20
+f 26 34 35
+f 26 35 27
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 32 40 41
+f 32 41 42
+f 32 42 33
+f 34 36 35
+f 36 43 37
+f 37 43 38
+f 38 44 45
+f 38 45 39
+f 38 43 46
+f 38 46 44
+f 40 47 41
+f 41 47 48
+f 41 48 49
+f 43 49 46
+f 44 46 49
+f 44 49 48
+f 44 48 50
+f 44 50 47
+f 47 50 48
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_4.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ee99730670c8ad2c974e5a91a1176a0bb251cfc
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_4.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.33994934 -0.53725385 0.21262442
+v -0.33994934 -0.53725376 0.18864056
+v -0.33994934 -0.53637980 0.21262909
+v -0.62353091 -0.53725391 0.22750403
+v -0.62587579 -0.53725373 0.17981178
+v -0.33994934 -0.01236918 0.18828297
+v -0.62347000 -0.53637986 0.22750403
+v -0.33994934 -0.52344340 0.21263848
+v -0.65099980 -0.53725391 0.22750403
+v -0.62621081 -0.53725373 0.17981178
+v -0.62608899 0.35570560 0.18305522
+v -0.33994934 0.03325775 0.18834851
+v -0.33994934 0.02023398 0.18831112
+v -0.33994934 0.01044428 0.18828306
+v -0.33994934 -0.51356633 0.21264319
+v -0.33994934 -0.50062993 0.21264790
+v -0.33994934 -0.46802680 0.21265736
+v -0.33994934 -0.44521333 0.21266210
+v -0.33994934 0.31960602 0.21275362
+v -0.62267822 0.10161060 0.22750637
+v -0.65081711 -0.53725385 0.21137318
+v -0.65008620 0.35570543 0.22750731
+v -0.65014711 0.35570549 0.21137646
+v -0.62675894 -0.53725373 0.17993317
+v -0.62876889 0.35570559 0.18419909
+v -0.33994934 0.35570557 0.18959628
+v -0.33994934 0.35570549 0.21275376
+v -0.62267822 0.22913877 0.22750684
+v -0.64405644 -0.53725377 0.19025598
+v -0.64387374 0.35570557 0.19066544
+v -0.64387374 0.32948320 0.19062334
+v -0.64387374 0.21550327 0.19044082
+v -0.62301320 0.35570543 0.22750731
+v -0.64329512 -0.53725377 0.18956032
+f 1 2 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 26
+f 1 26 27
+f 1 27 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 21
+f 1 21 29
+f 1 29 34
+f 1 34 24
+f 1 24 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 7
+f 4 7 20
+f 4 20 28
+f 4 28 33
+f 4 33 22
+f 4 22 9
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 8 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 9 22 23
+f 9 23 21
+f 10 24 11
+f 11 25 30
+f 11 30 23
+f 11 23 22
+f 11 22 33
+f 11 33 27
+f 11 27 26
+f 11 26 12
+f 11 24 25
+f 19 27 28
+f 19 28 20
+f 21 23 30
+f 21 30 31
+f 21 31 32
+f 21 32 29
+f 24 34 32
+f 24 32 31
+f 24 31 30
+f 24 30 25
+f 27 33 28
+f 29 32 34
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_40.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3c30c9f693e941d520fbc1502da0574d165919b
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_40.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.53003573 0.61941835 0.18138969
+v -0.53003573 0.61522226 0.18178512
+v -0.53003573 0.61941822 0.21682078
+v -0.15772658 0.61941835 0.18314841
+v -0.15772658 0.61270302 0.18356812
+v -0.15772658 0.60294884 0.18418553
+v -0.15772658 0.53899166 0.18915620
+v -0.53003573 0.60386206 0.18285697
+v -0.53003573 0.58791991 0.20371873
+v -0.39838809 0.53899157 0.21199527
+v -0.39397796 0.53899157 0.21261273
+v -0.37560851 0.53899157 0.21282087
+v -0.17073828 0.61941822 0.21665775
+v -0.15772658 0.61941822 0.21664733
+v -0.35286542 0.53899165 0.18966613
+v -0.15772658 0.53899157 0.21269946
+v -0.37560851 0.53899165 0.18994711
+v -0.39838809 0.53899165 0.19140751
+v -0.53003573 0.60001235 0.18495562
+v -0.53003573 0.58791995 0.19314211
+v -0.41894436 0.53899159 0.20582761
+v -0.41580989 0.53899159 0.20726373
+v -0.16632816 0.53899157 0.21270639
+v -0.41894436 0.53899163 0.19626046
+f 1 2 8
+f 1 8 19
+f 1 19 20
+f 1 20 9
+f 1 9 3
+f 1 3 13
+f 1 13 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 14 16
+f 4 16 7
+f 4 7 6
+f 4 6 5
+f 7 15 8
+f 7 16 23
+f 7 23 12
+f 7 12 11
+f 7 11 10
+f 7 10 22
+f 7 22 21
+f 7 21 24
+f 7 24 18
+f 7 18 17
+f 7 17 15
+f 8 15 17
+f 8 17 18
+f 8 18 19
+f 9 20 24
+f 9 24 21
+f 9 21 22
+f 9 22 10
+f 12 23 13
+f 13 23 14
+f 14 23 16
+f 18 24 19
+f 19 24 20
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_41.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b2107de92d2f67c6121b180923a4e4cf6f20214
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_41.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.62040585 -0.53725433 0.34203579
+v -0.62040585 -0.61616580 0.34173427
+v -0.62040585 -0.53725444 0.37346476
+v -0.53941563 -0.53725436 0.35078643
+v -0.53941563 -0.61616580 0.34322776
+v -0.62040585 -0.61616591 0.37343626
+v -0.53941563 -0.61616591 0.37378766
+v -0.53941563 -0.53725444 0.37191482
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 8 7
+f 4 7 5
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_42.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4ab49d6d683dcd2aa15399292a09a0e276b1ce4
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_42.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.61392211 0.35570548 0.21516228
+v 0.61392211 0.35570560 0.18340226
+v 0.61392211 0.37509558 0.21526328
+v 0.53517930 0.62017692 0.21719120
+v 0.50727164 0.62017692 0.21697976
+v 0.50727164 0.35570549 0.21296615
+v 0.50727164 0.35570557 0.19081247
+v 0.57229552 0.56847884 0.16810210
+v 0.58210967 0.56125609 0.16810207
+v 0.58503305 0.55972871 0.16810207
+v 0.60432722 0.55149634 0.16810204
+v 0.61392211 0.55175520 0.16810204
+v 0.61392211 0.44343978 0.21534523
+v 0.61392211 0.53456542 0.21540323
+v 0.53605630 0.62017692 0.21713354
+v 0.61392211 0.45780761 0.21535489
+v 0.50727164 0.62017705 0.18331193
+v 0.50727164 0.60293565 0.18334550
+v 0.55132039 0.60391944 0.16810223
+v 0.55180069 0.60280629 0.16810222
+v 0.56153129 0.58134516 0.16810215
+v 0.61392211 0.58584966 0.16810216
+v 0.61392211 0.55737273 0.21421633
+v 0.55795020 0.62017693 0.21525458
+v 0.55141437 0.62017710 0.16810229
+v 0.55132039 0.60454079 0.16810223
+v 0.58603534 0.62017710 0.16810229
+v 0.58443794 0.62017704 0.18482569
+v 0.61392211 0.58307955 0.18871806
+v 0.61392211 0.56790913 0.21105912
+v 0.57802739 0.62017695 0.20868055
+v 0.57425836 0.62017695 0.20999246
+v 0.58430219 0.62017704 0.18541197
+v 0.58352958 0.62017703 0.18871820
+v 0.57962484 0.62017697 0.20513403
+v 0.61392211 0.57645221 0.20767121
+f 1 2 12
+f 1 12 22
+f 1 22 29
+f 1 29 36
+f 1 36 30
+f 1 30 23
+f 1 23 14
+f 1 14 16
+f 1 16 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 3 13 4
+f 4 14 15
+f 4 15 24
+f 4 24 32
+f 4 32 31
+f 4 31 35
+f 4 35 34
+f 4 34 33
+f 4 33 28
+f 4 28 27
+f 4 27 25
+f 4 25 17
+f 4 17 5
+f 4 13 16
+f 4 16 14
+f 5 17 18
+f 5 18 7
+f 5 7 6
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 20
+f 8 20 19
+f 8 19 26
+f 8 26 25
+f 8 25 27
+f 8 27 22
+f 8 22 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 14 23 15
+f 15 23 24
+f 17 25 26
+f 17 26 19
+f 17 19 18
+f 22 27 28
+f 22 28 29
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 28 33 29
+f 29 33 34
+f 29 34 35
+f 29 35 36
+f 30 36 31
+f 31 36 35
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_43.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ce9ede3e226e62b76c867ae99022467efc9a229
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_43.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.05612646 -0.53725432 0.34072467
+v -0.04215305 -0.53725418 0.30195048
+v -0.04308535 -0.55911907 0.30195040
+v -0.04308535 -0.55919775 0.30195040
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+v -0.05339615 -0.57659821 0.34072452
+v -0.03145379 -0.59883497 0.30195025
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+v -0.01130945 -0.61013961 0.34072440
+v 0.01145421 -0.60498804 0.30195023
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+v 0.03553863 -0.60464477 0.34072442
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+v 0.01145421 -0.61034709 0.34072440
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+f 1 22 27
+f 1 27 29
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+f 1 25 24
+f 1 24 20
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+f 1 10 6
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+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_44.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b855e440ce6a9af3decc724d62da8bc456273a0
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_44.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.57594574 -0.60765280 -0.14837663
+v 0.57598719 -0.62755272 -0.14837671
+v 0.57597062 -0.60477201 -0.14837662
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+v 0.58471615 -0.64649790 -0.14837677
+v 0.58672415 -0.64468747 -0.30987436
+v 0.58348813 -0.58811817 -0.14837656
+v 0.58059231 -0.60477134 -0.33253546
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+v 0.58581970 -0.62969388 -0.35735396
+v 0.58891467 -0.64219672 -0.35123836
+v 0.58703115 -0.64425568 -0.33253561
+v 0.58740453 -0.64799228 -0.14837678
+v 0.60349334 -0.65372006 -0.30987439
+v 0.60375055 -0.65681731 -0.14837681
+v 0.58469954 -0.58568568 -0.14837655
+v 0.58473277 -0.58571888 -0.15124534
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+v 0.60521921 -0.57408776 -0.14837651
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+v 0.60879541 -0.59066606 -0.36936274
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+v 0.60747614 -0.64196419 -0.36960754
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+v 0.64529599 -0.64638929 -0.33253561
+v 0.64184426 -0.64299372 -0.35519688
+v 0.64563622 -0.64677129 -0.30987437
+v 0.64629999 -0.64737791 -0.14837678
+v 0.60806523 -0.57308323 -0.14837651
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+v 0.62824471 -0.58661476 -0.35724263
+v 0.62198840 -0.59066606 -0.36936274
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+v 0.63836761 -0.63963965 -0.36718351
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+v 0.64896348 -0.62755197 -0.35519683
+v 0.65768414 -0.62909689 -0.14837671
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+v 0.64136299 -0.58983596 -0.35103802
+v 0.62172289 -0.57287567 -0.14837650
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+v 0.63716447 -0.59379595 -0.36613815
+v 0.64095643 -0.60898860 -0.36974087
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+v 0.65520318 -0.60477142 -0.30987421
+v 0.66043061 -0.61608749 -0.18711651
+v 0.66043061 -0.61627016 -0.18711651
+v 0.66070443 -0.61769823 -0.14837667
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+v 0.64547026 -0.58529549 -0.14837655
+v 0.65685441 -0.60365123 -0.14837662
+v 0.66023146 -0.61360535 -0.14837665
+v 0.66070443 -0.61504159 -0.14837666
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+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_45.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..973adb6af3f8b9a5f6b4115f41f4b3e6caa6fd4b
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_45.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.65124948 -0.53725418 0.30201574
+v -0.68779709 -0.53725429 0.33137265
+v -0.62663390 -0.53725418 0.30201574
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+v -0.68800466 -0.53725429 0.33197046
+v -0.66694648 -0.60477171 0.30201549
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+v -0.62041379 -0.53725433 0.34203218
+v -0.62041379 -0.63462962 0.30202258
+v -0.62041379 -0.64296777 0.30201535
+v -0.69327277 -0.53725435 0.34735474
+v -0.66315285 -0.62797749 0.30201540
+v -0.68794733 -0.65034037 0.33102653
+v -0.68793308 -0.62754842 0.33099780
+v -0.69345168 -0.60477188 0.34735449
+v -0.69353760 -0.65034043 0.34735432
+v -0.69350185 -0.62754848 0.34735440
+v -0.62041379 -0.53725444 0.37346338
+v -0.62041379 -0.65900030 0.30201529
+v -0.69310095 -0.53725435 0.34801016
+v -0.66200044 -0.63064448 0.30201539
+v -0.68585017 -0.67313232 0.33311513
+v -0.68851998 -0.53725441 0.36510863
+v -0.68930019 -0.67313238 0.34735424
+v -0.68648723 -0.67313243 0.36265930
+v -0.68862739 -0.65034049 0.36518022
+v -0.68861305 -0.62754854 0.36522350
+v -0.68859156 -0.60477194 0.36520199
+v -0.62696314 -0.53725444 0.37390272
+v -0.62041379 -0.65034053 0.37538597
+v -0.62041379 -0.66552979 0.30202247
+v -0.62624738 -0.66442620 0.30201527
+v -0.65296020 -0.64402535 0.30201534
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+v -0.64889458 -0.65034053 0.37558766
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+v -0.67165628 -0.69011521 0.34735418
+v -0.64818594 -0.64963522 0.30201532
+v -0.64182984 -0.65484655 0.30201530
+v -0.62965448 -0.66295476 0.30201527
+v -0.64973917 -0.53725445 0.37521355
+v -0.67165628 -0.68750959 0.36219831
+v -0.64889458 -0.67313247 0.37275705
+v -0.62041379 -0.68925698 0.36423657
+v -0.62041379 -0.69028377 0.33521095
+v -0.64889458 -0.69379381 0.34735416
+v -0.64889458 -0.68925698 0.36420054
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+v -0.62041379 -0.69382446 0.34735416
+v -0.62612571 -0.69382446 0.34735416
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+f 1 35 56
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+f 1 18 8
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+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_46.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..325942ea41da9903844753063d9b0518527f3556
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_46.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.63645160 0.62017710 0.16810229
+v 0.63556927 0.62017672 0.27296707
+v 0.66362517 0.62017710 0.16810229
+v 0.61393746 0.58584966 0.16810216
+v 0.66328812 0.62017672 0.27296707
+v 0.61393746 0.58307955 0.18872608
+v 0.61393746 0.57645221 0.20767666
+v 0.62619584 0.55737252 0.27296684
+v 0.66365986 0.62017703 0.18872622
+v 0.66457192 0.60293546 0.23403923
+v 0.66453230 0.60293554 0.21138269
+v 0.66438356 0.60293563 0.18872615
+v 0.66420018 0.60293570 0.16810222
+v 0.61393746 0.55175520 0.16810204
+v 0.66436870 0.60293532 0.27296700
+v 0.66331784 0.62017673 0.27060594
+v 0.61393746 0.56790913 0.21106433
+v 0.61393746 0.55737273 0.21422614
+v 0.62574474 0.54101132 0.27296678
+v 0.66368466 0.62017694 0.21138276
+v 0.66451247 0.60293538 0.25670603
+v 0.65023666 0.35570527 0.27296610
+v 0.65031597 0.35570549 0.21138179
+v 0.66112194 0.58999172 0.16810218
+v 0.64496256 0.35570556 0.19383759
+v 0.64401577 0.35570557 0.19073734
+v 0.62546220 0.55193640 0.16810204
+v 0.62626025 0.35570560 0.18228861
+v 0.62284993 0.35570560 0.18252473
+v 0.61393746 0.35570560 0.18340759
+v 0.66347647 0.62017678 0.25670610
+v 0.61393746 0.53456542 0.21541689
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+v 0.66362021 0.62017686 0.23403930
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+v 0.65432609 0.57860104 0.16810214
+v 0.64135395 0.35570557 0.18946437
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+v 0.64306406 0.56190327 0.16810207
+v 0.61393746 0.35570548 0.21516984
+v 0.61393746 0.45780761 0.21536528
+v 0.61393746 0.44343978 0.21535496
+v 0.61393746 0.37509558 0.21527258
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+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_47.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7146500ea7869cec566eade535e7b2df5a0060ca
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_47.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.55115097 -0.61942635 0.16726033
+v 0.55928954 -0.61942627 0.14302134
+v 0.55115097 -0.62818077 0.16749367
+v 0.55115097 -0.61942653 0.21491378
+v 0.58236125 -0.61942627 0.14302134
+v 0.56006980 -0.62719229 0.14302132
+v 0.55115097 -0.63076623 0.16925169
+v 0.56010966 -0.62756235 0.14302131
+v 0.55115097 -0.62832249 0.30194390
+v 0.55641912 -0.61942653 0.21435370
+v 0.58712822 -0.61942627 0.14305244
+v 0.58710546 -0.62226488 0.14302133
+v 0.55115097 -0.64912238 0.18929003
+v 0.56638022 -0.64270975 0.14302126
+v 0.55115097 -0.65607567 0.30194380
+v 0.55792267 -0.62917454 0.30194390
+v 0.57691086 -0.61942650 0.20626366
+v 0.56030331 -0.61942652 0.21337355
+v 0.55795113 -0.61942653 0.21418256
+v 0.58712822 -0.61942627 0.14336359
+v 0.60932856 -0.64031421 0.14302127
+v 0.58733327 -0.62244991 0.14302133
+v 0.57873334 -0.65409831 0.14302122
+v 0.59011256 -0.66285761 0.14302119
+v 0.55115097 -0.65561279 0.21138202
+v 0.56690986 -0.66337429 0.30194377
+v 0.55115097 -0.65572486 0.22804440
+v 0.60932856 -0.64182902 0.30194385
+v 0.58234985 -0.61942643 0.18871449
+v 0.60932856 -0.64031421 0.14311461
+v 0.58560187 -0.61942635 0.16606238
+v 0.60932856 -0.66533106 0.14302118
+v 0.60348516 -0.66564264 0.14302117
+v 0.56893740 -0.66189860 0.19963589
+v 0.56842481 -0.66209342 0.21138200
+v 0.58071532 -0.66740095 0.30194376
+v 0.60932856 -0.66799007 0.30194376
+v 0.60932856 -0.66533590 0.14313007
+v 0.60348516 -0.66670910 0.18871432
+v 0.58071532 -0.66465450 0.21138199
+v 0.60348516 -0.66916838 0.30194375
+v 0.60348516 -0.66721559 0.21138198
+v 0.60932856 -0.66616868 0.18871432
+v 0.60932856 -0.66534079 0.14339456
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 25
+f 1 25 27
+f 1 27 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 18
+f 1 18 17
+f 1 17 29
+f 1 29 31
+f 1 31 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 12
+f 2 12 22
+f 2 22 21
+f 2 21 32
+f 2 32 33
+f 2 33 24
+f 2 24 23
+f 2 23 14
+f 2 14 8
+f 2 8 6
+f 2 6 3
+f 3 6 8
+f 3 8 7
+f 4 9 10
+f 5 11 12
+f 7 8 14
+f 7 14 13
+f 9 15 26
+f 9 26 36
+f 9 36 41
+f 9 41 37
+f 9 37 28
+f 9 28 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 20 30
+f 11 30 21
+f 11 21 22
+f 11 22 12
+f 13 14 23
+f 13 23 24
+f 13 24 25
+f 15 27 26
+f 16 28 17
+f 17 28 29
+f 20 31 28
+f 20 28 30
+f 21 30 28
+f 21 28 37
+f 21 37 43
+f 21 43 44
+f 21 44 38
+f 21 38 32
+f 24 33 34
+f 24 34 25
+f 25 35 26
+f 25 26 27
+f 25 34 35
+f 26 35 36
+f 28 31 29
+f 32 38 33
+f 33 38 39
+f 33 39 36
+f 33 36 40
+f 33 40 34
+f 34 40 36
+f 34 36 35
+f 36 39 42
+f 36 42 41
+f 37 41 43
+f 38 44 41
+f 38 41 42
+f 38 42 39
+f 41 44 43
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_48.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dc21542cdc9b73ae44a4f9783f2b3b011095a87
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_48.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.66460843 0.61617043 0.17557576
+v -0.66411446 0.62367997 0.16810230
+v -0.66456613 0.61617045 0.16810227
+v -0.66423441 0.61617010 0.26515479
+v -0.66390981 0.62592988 0.16810231
+v -0.64132678 0.61617045 0.16810227
+v -0.66417089 0.61617007 0.27296705
+v -0.66345106 0.62362039 0.27296708
+v -0.66353575 0.62403985 0.25670611
+v -0.66047999 0.63744084 0.16810235
+v -0.66361340 0.62463198 0.23403931
+v -0.66367691 0.62527842 0.21138278
+v -0.66311233 0.62796754 0.19015319
+v -0.66038825 0.63730262 0.18354207
+v -0.59251928 0.62566343 0.16810231
+v -0.64086102 0.61617007 0.27293625
+v -0.64094571 0.61617007 0.27296705
+v -0.66227959 0.62683733 0.27296709
+v -0.66022596 0.63704602 0.19865328
+v -0.64907556 0.64830544 0.16810239
+v -0.65113629 0.64609494 0.19015325
+v -0.64779824 0.64722454 0.27296717
+v -0.64864511 0.64799446 0.21138286
+v -0.59251928 0.66081800 0.16810244
+v -0.59251928 0.62837212 0.18872625
+v -0.59251928 0.64288755 0.27296715
+v -0.64086102 0.61619969 0.27296705
+v -0.65918149 0.63501787 0.27296712
+v -0.63664789 0.65957958 0.16810243
+v -0.63669727 0.65959923 0.18872636
+v -0.64412851 0.65044149 0.27296718
+v -0.63616800 0.65939195 0.21138290
+v -0.60335204 0.66294949 0.16810245
+v -0.59251928 0.66358095 0.18874691
+v -0.59251928 0.66657063 0.27296724
+v -0.62527168 0.66238210 0.16810244
+v -0.62341564 0.66286522 0.27296722
+v -0.62531402 0.66239189 0.18872637
+v -0.63479185 0.65861709 0.27296721
+v -0.60335204 0.66444442 0.18872638
+v -0.59251928 0.66620576 0.21138293
+v -0.59251928 0.66657064 0.26858375
+v -0.59693002 0.66655584 0.27296724
+v -0.61769932 0.66390136 0.27296723
+v -0.60335204 0.66650157 0.27296724
+v -0.60335204 0.66640787 0.25670627
+v -0.60335204 0.66593932 0.21138293
+v -0.59251928 0.66649181 0.24591696
+f 1 2 3
+f 1 3 6
+f 1 6 16
+f 1 16 17
+f 1 17 7
+f 1 7 4
+f 1 4 2
+f 2 5 10
+f 2 10 20
+f 2 20 29
+f 2 29 36
+f 2 36 33
+f 2 33 24
+f 2 24 15
+f 2 15 6
+f 2 6 3
+f 2 4 5
+f 4 7 8
+f 4 8 9
+f 4 9 5
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 10
+f 6 15 16
+f 7 17 27
+f 7 27 26
+f 7 26 35
+f 7 35 43
+f 7 43 45
+f 7 45 44
+f 7 44 37
+f 7 37 39
+f 7 39 31
+f 7 31 22
+f 7 22 28
+f 7 28 18
+f 7 18 8
+f 8 18 19
+f 8 19 14
+f 8 14 9
+f 9 14 13
+f 9 13 12
+f 9 12 11
+f 10 14 21
+f 10 21 20
+f 14 19 22
+f 14 22 23
+f 14 23 21
+f 15 24 34
+f 15 34 41
+f 15 41 48
+f 15 48 42
+f 15 42 35
+f 15 35 26
+f 15 26 25
+f 15 25 16
+f 16 26 27
+f 16 27 17
+f 16 25 26
+f 18 28 19
+f 19 28 22
+f 20 21 30
+f 20 30 29
+f 21 23 30
+f 22 31 32
+f 22 32 30
+f 22 30 23
+f 24 33 34
+f 29 30 36
+f 30 32 37
+f 30 37 38
+f 30 38 36
+f 31 39 32
+f 32 39 37
+f 33 36 40
+f 33 40 41
+f 33 41 34
+f 35 42 43
+f 36 38 37
+f 36 37 44
+f 36 44 45
+f 36 45 46
+f 36 46 47
+f 36 47 40
+f 40 47 41
+f 41 47 46
+f 41 46 48
+f 42 48 43
+f 43 48 45
+f 45 48 46
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_49.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68c326a54297757b6189c4c826b22f15c9a0439f
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_49.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.04389396 -0.53725400 0.24204769
+v -0.04452938 -0.55919859 0.24204761
+v -0.04309278 -0.55919881 0.30195040
+v -0.04215347 -0.53725422 0.30195048
+v 0.04954916 -0.53725400 0.24204769
+v -0.04218109 -0.58197944 0.27936728
+v -0.04216268 -0.58197952 0.30195031
+v -0.04160093 -0.58158776 0.24204752
+v 0.04651021 -0.53725422 0.30195048
+v 0.04661151 -0.55709527 0.30195040
+v 0.04662072 -0.55919881 0.30195040
+v 0.04662072 -0.55927843 0.30195040
+v 0.04926369 -0.55919859 0.24204761
+v -0.04168381 -0.58197935 0.25670802
+v -0.03151714 -0.59889410 0.27936722
+v -0.03145268 -0.59884108 0.30195025
+v -0.03827650 -0.58679025 0.24204750
+v 0.04629841 -0.58197952 0.30195031
+v 0.04728376 -0.57887371 0.24204753
+v 0.04574587 -0.59366516 0.30195027
+v 0.04581033 -0.59379779 0.27936724
+v -0.03096460 -0.59876790 0.25670796
+v -0.01131273 -0.60451451 0.25670794
+v -0.01131273 -0.60473358 0.27936720
+v -0.01138640 -0.60463411 0.30195023
+v -0.03002529 -0.59850242 0.24204746
+v 0.04576429 -0.59369819 0.26462463
+v 0.04518412 -0.59081157 0.24951849
+v 0.04368307 -0.58955075 0.24204749
+v 0.03422549 -0.59945819 0.30195025
+v 0.03422549 -0.59962403 0.27936722
+v -0.01131273 -0.60406324 0.24204744
+v -0.00327332 -0.60416278 0.24204744
+v 0.01145178 -0.60479322 0.25670794
+v 0.01145178 -0.60503885 0.27936720
+v -0.01131273 -0.60465404 0.30195023
+v 0.01136889 -0.60498584 0.30195023
+v 0.03624224 -0.59811098 0.25692493
+v 0.03263234 -0.59819719 0.24204746
+v 0.03818533 -0.59439488 0.24204748
+v 0.01145178 -0.60498584 0.30195023
+v 0.01145178 -0.60408976 0.24204744
+v 0.02011739 -0.60174732 0.24204745
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 13
+f 1 13 19
+f 1 19 29
+f 1 29 40
+f 1 40 39
+f 1 39 43
+f 1 43 42
+f 1 42 33
+f 1 33 32
+f 1 32 26
+f 1 26 17
+f 1 17 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 6
+f 3 7 16
+f 3 16 25
+f 3 25 36
+f 3 36 37
+f 3 37 41
+f 3 41 30
+f 3 30 20
+f 3 20 18
+f 3 18 12
+f 3 12 11
+f 3 11 10
+f 3 10 9
+f 3 9 4
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 6 8 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 8 17 15
+f 8 15 14
+f 12 18 13
+f 13 18 20
+f 13 20 21
+f 13 21 19
+f 15 17 22
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 17 26 22
+f 19 21 27
+f 19 27 28
+f 19 28 29
+f 20 30 31
+f 20 31 21
+f 21 31 27
+f 22 26 32
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 24 36 25
+f 24 35 37
+f 24 37 36
+f 27 31 38
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 28 40 29
+f 30 41 31
+f 31 35 34
+f 31 34 38
+f 31 41 35
+f 33 42 34
+f 34 42 38
+f 35 41 37
+f 38 42 43
+f 38 43 39
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_5.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e0aeef11eff6174fe346d7495a8aaea0390827
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_5.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00342774 -0.53725445 0.37640568
+v -0.01132649 -0.53725445 0.37639263
+v 0.00342774 -0.53725429 0.33323554
+v 0.00342774 -0.21734148 0.37719390
+v -0.01132649 -0.21734148 0.37723304
+v -0.33991889 -0.53725444 0.37197910
+v -0.05068229 -0.53725429 0.33323554
+v 0.00342774 0.35570505 0.33323882
+v 0.00342774 -0.19452801 0.37722880
+v -0.01132649 -0.19452801 0.37727662
+v -0.33991889 -0.53725436 0.35100280
+v -0.01132649 0.14714958 0.37764746
+v -0.01132649 0.16996305 0.37765625
+v -0.33991889 0.30666907 0.37227353
+v -0.33991889 -0.52650320 0.35099846
+v -0.33991889 -0.50377714 0.35098987
+v -0.05068229 -0.53638024 0.33323554
+v -0.04483437 0.35570505 0.33323882
+v 0.00342774 0.35570488 0.37735256
+v 0.00342774 0.16192152 0.37762145
+v 0.00342774 0.16996305 0.37762582
+v 0.00342774 0.18473498 0.37762154
+v -0.01132649 0.19277651 0.37764763
+v -0.33991889 0.35570490 0.37228676
+v -0.33991889 0.35220860 0.37228674
+v -0.33991889 -0.46802731 0.35099000
+v -0.33991889 -0.33132129 0.35101660
+v -0.33991889 0.03325715 0.35140058
+v -0.33991889 0.05598322 0.35142677
+v -0.33991889 0.35570498 0.35188876
+v -0.33991889 -0.32144421 0.35102097
+v -0.33991889 -0.29863074 0.35104278
+v -0.33991889 -0.25309121 0.35108643
+v 0.00342774 0.32948251 0.37740028
+v -0.00793200 0.35570488 0.37736561
+v -0.01132649 0.23831605 0.37759131
+v 0.00342774 0.19277651 0.37761720
+v -0.01132649 0.21550258 0.37763032
+v -0.03411320 0.28385558 0.37722617
+v -0.03411320 0.30666905 0.37719583
+v -0.03411320 0.32948251 0.37714809
+v -0.03411320 0.35220858 0.37709597
+v -0.03411320 0.35570488 0.37708732
+v 0.00342774 0.23831605 0.37756083
+v -0.01132649 0.35570488 0.37736561
+v -0.01132649 0.32948251 0.37741770
+v 0.00342774 0.21550258 0.37759989
+v -0.03068510 0.35570488 0.37713080
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 34
+f 1 34 44
+f 1 44 47
+f 1 47 37
+f 1 37 22
+f 1 22 21
+f 1 21 20
+f 1 20 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 17
+f 3 17 18
+f 3 18 8
+f 4 9 10
+f 4 10 5
+f 5 10 6
+f 6 10 12
+f 6 12 13
+f 6 13 14
+f 6 14 25
+f 6 25 24
+f 6 24 30
+f 6 30 29
+f 6 29 28
+f 6 28 33
+f 6 33 32
+f 6 32 31
+f 6 31 27
+f 6 27 26
+f 6 26 16
+f 6 16 15
+f 6 15 11
+f 7 11 15
+f 7 15 16
+f 7 16 26
+f 7 26 17
+f 8 18 30
+f 8 30 24
+f 8 24 43
+f 8 43 48
+f 8 48 45
+f 8 45 35
+f 8 35 19
+f 9 20 10
+f 10 20 12
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 17 26 27
+f 17 27 18
+f 18 28 29
+f 18 29 30
+f 18 27 31
+f 18 31 32
+f 18 32 33
+f 18 33 28
+f 19 35 36
+f 19 36 34
+f 22 37 23
+f 23 37 47
+f 23 47 38
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 34 36 44
+f 35 45 46
+f 35 46 36
+f 36 38 47
+f 36 47 44
+f 36 46 40
+f 36 40 38
+f 38 40 39
+f 40 46 45
+f 40 45 41
+f 41 45 48
+f 41 48 42
+f 42 48 43
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_50.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b867f9caa44a644205fcbf2f7a398df639ea00e8
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_50.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.69357673 -0.65033811 0.34735412
+v 0.68876360 -0.62755310 0.36583758
+v 0.68879421 -0.65033817 0.36565506
+v 0.68672059 -0.67312322 0.36293321
+v 0.68965122 -0.67312317 0.34735404
+v 0.68610837 -0.67312311 0.33294974
+v 0.68796017 -0.65033805 0.33105988
+v 0.68794486 -0.62755298 0.33102349
+v 0.68792190 -0.60478319 0.33099438
+v 0.68786066 -0.53726957 0.33119166
+v 0.69333186 -0.53726963 0.34735454
+v 0.68882483 -0.53726969 0.36518117
+v 0.68864886 -0.53726969 0.36586710
+v 0.68871009 -0.60478331 0.36586685
+v 0.67179916 -0.53726973 0.37497380
+v 0.67179916 -0.55919790 0.37496639
+v 0.67179916 -0.58199829 0.37495171
+v 0.67179916 -0.60478335 0.37491515
+v 0.67179916 -0.62755314 0.37484941
+v 0.67179916 -0.65033821 0.37464500
+v 0.67179916 -0.67312325 0.37013534
+v 0.68415713 -0.68544153 0.35979544
+v 0.68444793 -0.68573226 0.34735399
+v 0.68389695 -0.68522719 0.33524096
+v 0.65895149 -0.63590788 0.30195943
+v 0.66371870 -0.62452299 0.30195948
+v 0.66694783 -0.60478308 0.30195955
+v 0.66439973 -0.58111047 0.30195964
+v 0.66422371 -0.58028413 0.30195964
+v 0.65221774 -0.53726946 0.30195980
+v 0.68802906 -0.53726970 0.36620277
+v 0.67094981 -0.53726973 0.37503216
+v 0.64903453 -0.65033821 0.37648384
+v 0.64903453 -0.67312326 0.37314172
+v 0.67179916 -0.68756859 0.36223263
+v 0.67179916 -0.69027705 0.34735397
+v 0.67179916 -0.68723184 0.33309562
+v 0.62352282 -0.66513524 0.30195933
+v 0.63490896 -0.66036091 0.30195934
+v 0.64757300 -0.64897602 0.30195939
+v 0.62523683 -0.53726946 0.30195980
+v 0.64903453 -0.53726973 0.37649885
+v 0.64903453 -0.55919790 0.37649877
+v 0.61540404 -0.65033821 0.37631603
+v 0.61540404 -0.67312326 0.37318552
+v 0.62626221 -0.67312326 0.37319282
+v 0.64903453 -0.68922121 0.36416634
+v 0.64903453 -0.69358234 0.34735396
+v 0.64903453 -0.68886920 0.33137353
+v 0.61540404 -0.66677256 0.30200309
+v 0.61540404 -0.65635173 0.30195936
+v 0.61540404 -0.53726961 0.34387390
+v 0.61540404 -0.64008543 0.30195942
+v 0.62626221 -0.53726973 0.37508322
+v 0.61540404 -0.53726972 0.37415653
+v 0.61540404 -0.68077441 0.36890942
+v 0.62626221 -0.68919065 0.36421740
+v 0.62626221 -0.69349050 0.34735396
+v 0.61540404 -0.69124101 0.33974318
+v 0.61540404 -0.68879268 0.33140271
+v 0.61540404 -0.68917533 0.36421011
+v 0.61540404 -0.69344462 0.34735396
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 2
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 17 18
+f 2 18 19
+f 2 19 3
+f 2 13 14
+f 3 19 20
+f 3 20 4
+f 4 20 21
+f 4 21 22
+f 4 22 5
+f 5 22 23
+f 5 23 24
+f 5 24 6
+f 6 24 25
+f 6 25 26
+f 6 26 27
+f 6 27 7
+f 7 27 8
+f 8 27 9
+f 9 27 10
+f 10 28 29
+f 10 29 30
+f 10 30 41
+f 10 41 52
+f 10 52 55
+f 10 55 54
+f 10 54 42
+f 10 42 32
+f 10 32 15
+f 10 15 31
+f 10 31 13
+f 10 13 12
+f 10 12 11
+f 10 27 28
+f 13 31 14
+f 14 31 15
+f 15 32 16
+f 16 32 33
+f 16 33 17
+f 17 33 18
+f 18 33 19
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 22
+f 22 35 36
+f 22 36 23
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 39
+f 25 39 38
+f 25 38 51
+f 25 51 53
+f 25 53 41
+f 25 41 30
+f 25 30 29
+f 25 29 28
+f 25 28 27
+f 25 27 26
+f 32 42 43
+f 32 43 33
+f 33 44 45
+f 33 45 46
+f 33 46 34
+f 33 43 44
+f 34 46 47
+f 34 47 35
+f 35 47 48
+f 35 48 36
+f 36 48 37
+f 37 48 49
+f 37 49 50
+f 37 50 38
+f 38 50 51
+f 41 53 52
+f 42 54 44
+f 42 44 43
+f 44 54 55
+f 44 55 52
+f 44 52 53
+f 44 53 51
+f 44 51 50
+f 44 50 60
+f 44 60 59
+f 44 59 62
+f 44 62 61
+f 44 61 56
+f 44 56 45
+f 45 56 57
+f 45 57 46
+f 46 57 47
+f 47 57 48
+f 48 58 59
+f 48 59 60
+f 48 60 49
+f 48 57 61
+f 48 61 58
+f 49 60 50
+f 56 61 57
+f 58 62 59
+f 58 61 62
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_51.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6cba1447e6d5aff324ae4fe195b6a64e69f68ba
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_51.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.50727156 0.62624035 0.27297732
+v 0.39850585 0.61991382 0.21871597
+v 0.50727156 0.62075976 0.21871597
+v 0.50727156 0.64985229 0.27297741
+v 0.03426093 0.62552749 0.27297732
+v -0.12514504 0.62550679 0.27297732
+v -0.13158897 0.62550977 0.27297732
+v -0.15430545 0.62552158 0.27297732
+v -0.15769014 0.62029835 0.21871597
+v 0.50727156 0.64985840 0.21871608
+v 0.39850585 0.65012751 0.23404630
+v 0.49601099 0.64985820 0.27297741
+v -0.15769014 0.62552456 0.27297732
+v -0.15769014 0.64977560 0.21871608
+v 0.39850585 0.65012757 0.21871608
+v 0.26188144 0.64984047 0.27297741
+v 0.44406899 0.64986708 0.27297741
+v 0.47322942 0.64986708 0.27297741
+v 0.48963212 0.64986117 0.27297741
+v -0.15769014 0.64976061 0.27297741
+v -0.01130224 0.64979908 0.27297741
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 12
+f 1 12 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 21
+f 1 21 20
+f 1 20 13
+f 1 13 8
+f 1 8 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 14
+f 2 14 15
+f 2 15 10
+f 2 10 3
+f 4 10 11
+f 4 11 12
+f 8 13 9
+f 9 13 20
+f 9 20 14
+f 10 15 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 11 15 14
+f 11 14 20
+f 11 20 21
+f 11 21 16
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_52.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1adcd54facea788cd77857d6c0e7b825e703be0e
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_52.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.53003573 0.58791991 0.20371792
+v -0.59251224 0.53899159 0.20579286
+v -0.58922207 0.53899160 0.20460026
+v -0.58763815 0.53899160 0.20402303
+v -0.58713053 0.53899165 0.19178220
+v -0.53003573 0.58791995 0.19313719
+v -0.53003573 0.61941822 0.21682230
+v -0.53503824 0.61941822 0.21683661
+v -0.53515445 0.61941822 0.21683185
+v -0.55781256 0.61941823 0.21504293
+v -0.59251224 0.54948580 0.20585014
+v -0.59251224 0.53899166 0.18798976
+v -0.59149094 0.53899166 0.18857650
+v -0.58429904 0.56212147 0.16810207
+v -0.57141358 0.57327700 0.16810212
+v -0.56217908 0.58361373 0.16810215
+v -0.53003573 0.60001235 0.18495600
+v -0.53003573 0.61941835 0.18138782
+v -0.55959832 0.61941823 0.21455158
+v -0.59251224 0.56808093 0.20565940
+v -0.59251224 0.55835836 0.16810206
+v -0.56069300 0.58556614 0.16810216
+v -0.53003573 0.60386206 0.18285705
+v -0.55215569 0.61941840 0.16810229
+v -0.53003573 0.61522226 0.18178376
+v -0.55210675 0.60417700 0.16810223
+v -0.57768202 0.61941826 0.20792074
+v -0.59251224 0.57646526 0.20315020
+v -0.59251224 0.59592650 0.16810220
+v -0.58644559 0.61941840 0.16810229
+v -0.58482498 0.61941833 0.18871992
+v -0.59251224 0.58488114 0.19222126
+v -0.59251224 0.58687294 0.18871980
+v -0.58630496 0.61941840 0.16989596
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 23
+f 1 23 25
+f 1 25 18
+f 1 18 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 20
+f 2 20 28
+f 2 28 32
+f 2 32 33
+f 2 33 29
+f 2 29 21
+f 2 21 12
+f 2 12 13
+f 2 13 5
+f 2 5 4
+f 2 4 3
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 7 18 24
+f 7 24 30
+f 7 30 34
+f 7 34 31
+f 7 31 27
+f 7 27 19
+f 7 19 10
+f 7 10 9
+f 7 9 8
+f 10 19 11
+f 11 19 20
+f 12 21 14
+f 12 14 13
+f 14 21 29
+f 14 29 30
+f 14 30 24
+f 14 24 26
+f 14 26 22
+f 14 22 16
+f 14 16 15
+f 16 22 17
+f 17 22 23
+f 18 25 26
+f 18 26 24
+f 19 27 20
+f 20 27 28
+f 22 26 23
+f 23 26 25
+f 27 31 28
+f 28 31 32
+f 29 33 31
+f 29 31 34
+f 29 34 30
+f 31 33 32
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_53.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5c08e416cc4a1105dad9aa4e345518ac4800808
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_53.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.54003413 0.62630454 0.31267484
+v 0.54003413 0.65404016 0.31267494
+v 0.53516611 0.62608838 0.31267484
+v 0.54003413 0.62629918 0.27434124
+v 0.54003413 0.65011951 0.27298130
+v 0.27409029 0.64984043 0.27298130
+v 0.27409029 0.65347105 0.31267494
+v 0.53516611 0.62611314 0.27298121
+v 0.54003413 0.62629919 0.27298121
+v 0.27409029 0.62619783 0.31267484
+v 0.27409029 0.62615418 0.27937338
+v 0.27409029 0.62615419 0.27639296
+v 0.27409029 0.62615694 0.27298121
+f 1 2 7
+f 1 7 10
+f 1 10 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 3 10 11
+f 3 11 12
+f 3 12 8
+f 5 9 8
+f 5 8 13
+f 5 13 6
+f 6 13 12
+f 6 12 11
+f 6 11 10
+f 6 10 7
+f 8 12 13
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_54.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d241c44613993d820517628f8f601a6a2aa42664
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_54.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.66415387 -0.62136256 0.30199987
+v -0.66315248 -0.62799032 0.30199984
+v -0.63401452 -0.62136256 0.30199987
+v -0.66298151 -0.62136198 0.14310819
+v -0.66279833 -0.62538135 0.14310817
+v -0.66278611 -0.62563663 0.14310817
+v -0.65950107 -0.63713333 0.21137788
+v -0.66199234 -0.63064978 0.30199983
+v -0.65952550 -0.63703097 0.14310813
+v -0.65952550 -0.63715182 0.18871463
+v -0.53940769 -0.62676968 0.30199985
+v -0.53940769 -0.62136225 0.21714875
+v -0.56020484 -0.62136198 0.14310819
+v -0.64816827 -0.64964198 0.30199976
+v -0.64965814 -0.64792932 0.30199977
+v -0.65295539 -0.64403993 0.30199978
+v -0.65911027 -0.63640497 0.29750449
+v -0.64827817 -0.64910302 0.14310809
+v -0.53940769 -0.65247314 0.30199975
+v -0.53940769 -0.62136210 0.17748418
+v -0.56092537 -0.62755812 0.14310816
+v -0.53940769 -0.62793881 0.17687750
+v -0.64181799 -0.65484948 0.30199974
+v -0.64813163 -0.64925614 0.14338807
+v -0.63507695 -0.66072033 0.18871454
+v -0.64813163 -0.64925154 0.14310809
+v -0.56773970 -0.66288822 0.30199972
+v -0.53940769 -0.65164203 0.21137783
+v -0.56098640 -0.62772518 0.14310816
+v -0.53940769 -0.64183952 0.18661473
+v -0.56698253 -0.64175583 0.14310811
+v -0.63461290 -0.66044688 0.29821992
+v -0.62964259 -0.66296711 0.30199971
+v -0.63468615 -0.66064589 0.14310804
+v -0.63494262 -0.66070167 0.16605129
+v -0.62727344 -0.66406246 0.30199971
+v -0.58058676 -0.66650844 0.30199970
+v -0.58246743 -0.66403894 0.21137778
+v -0.57108577 -0.66079466 0.21137779
+v -0.59143105 -0.66202899 0.14310804
+v -0.53940769 -0.64555257 0.19000564
+v -0.56716571 -0.64191829 0.14310811
+v -0.62343885 -0.66400157 0.14310803
+v -0.62356100 -0.66418730 0.16605128
+v -0.62623541 -0.66443843 0.30199971
+v -0.60333783 -0.66877803 0.30199969
+v -0.60333783 -0.66662411 0.21137777
+v -0.60331340 -0.66433109 0.14310803
+v -0.59154098 -0.66205221 0.14310804
+v -0.58025704 -0.65331728 0.14310807
+v -0.58007385 -0.65316876 0.14310807
+v -0.62329231 -0.66403869 0.14310803
+v -0.62330452 -0.66404334 0.14338801
+v -0.62369532 -0.66429878 0.18871453
+v -0.60358205 -0.66433574 0.14310803
+f 1 2 8
+f 1 8 16
+f 1 16 15
+f 1 15 14
+f 1 14 23
+f 1 23 33
+f 1 33 36
+f 1 36 45
+f 1 45 46
+f 1 46 37
+f 1 37 27
+f 1 27 19
+f 1 19 11
+f 1 11 3
+f 1 3 12
+f 1 12 20
+f 1 20 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 6 9
+f 2 9 10
+f 2 10 7
+f 3 11 12
+f 4 13 21
+f 4 21 29
+f 4 29 31
+f 4 31 42
+f 4 42 51
+f 4 51 50
+f 4 50 40
+f 4 40 49
+f 4 49 48
+f 4 48 55
+f 4 55 52
+f 4 52 43
+f 4 43 34
+f 4 34 26
+f 4 26 18
+f 4 18 9
+f 4 9 6
+f 4 6 5
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 7 10 14
+f 8 17 16
+f 9 18 10
+f 10 18 14
+f 11 19 28
+f 11 28 41
+f 11 41 30
+f 11 30 22
+f 11 22 20
+f 11 20 12
+f 13 20 22
+f 13 22 21
+f 14 18 24
+f 14 24 25
+f 14 25 23
+f 18 26 24
+f 19 27 28
+f 21 22 29
+f 22 30 31
+f 22 31 29
+f 23 32 33
+f 23 25 32
+f 24 26 34
+f 24 34 35
+f 24 35 25
+f 25 35 36
+f 25 36 33
+f 25 33 32
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 28 39 40
+f 28 40 41
+f 30 41 31
+f 31 41 42
+f 34 43 44
+f 34 44 45
+f 34 45 35
+f 35 45 36
+f 37 46 47
+f 37 47 38
+f 38 47 48
+f 38 48 49
+f 38 49 40
+f 38 40 39
+f 40 50 41
+f 41 50 51
+f 41 51 42
+f 43 52 53
+f 43 53 44
+f 44 54 45
+f 44 53 46
+f 44 46 54
+f 45 54 46
+f 46 53 52
+f 46 52 47
+f 47 52 55
+f 47 55 48
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_55.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a0757b65eca90dd67e53113f9488bcf1f18f79
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_55.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.37579171 0.69312566 0.34735955
+v 0.39858284 0.68785397 0.36595030
+v 0.42134487 0.69312566 0.34735955
+v 0.33026768 0.68798661 0.33059787
+v 0.30747654 0.68798661 0.33060411
+v 0.30747654 0.69310676 0.34735955
+v 0.39858284 0.67130090 0.37488977
+v 0.57142288 0.68773099 0.36562565
+v 0.42134487 0.68785397 0.36586289
+v 0.51239297 0.69304050 0.34735955
+v 0.44407778 0.69310676 0.34735955
+v 0.27409029 0.69309730 0.34735955
+v 0.37579171 0.68784451 0.36595654
+v 0.37579171 0.67130090 0.37492722
+v 0.39858284 0.68797715 0.33060411
+v 0.51239297 0.68795825 0.33062283
+v 0.57142288 0.67691344 0.32269457
+v 0.27409029 0.68797715 0.33061035
+v 0.27409029 0.64852035 0.37644412
+v 0.57142288 0.64852035 0.37592596
+v 0.57142288 0.67130090 0.37443407
+v 0.57142288 0.69081637 0.35480085
+v 0.55794613 0.69296480 0.34735955
+v 0.57142288 0.68996466 0.33742737
+v 0.57142288 0.68791090 0.33062907
+v 0.27409029 0.68781615 0.36581296
+v 0.27409029 0.68012166 0.37005172
+v 0.27409029 0.67130090 0.37489601
+v 0.27409029 0.66068196 0.37562636
+v 0.57142288 0.65971686 0.31268121
+v 0.27409029 0.65347040 0.31268119
+v 0.27409029 0.59644784 0.37271077
+v 0.53515499 0.59644784 0.37251102
+v 0.55794613 0.59644784 0.37243613
+v 0.57142288 0.59644784 0.37225506
+v 0.57142288 0.69293635 0.34735955
+v 0.57142288 0.63035859 0.31268111
+v 0.27409029 0.62620378 0.31268109
+v 0.27409029 0.59644792 0.35054294
+v 0.57142288 0.59644792 0.35059915
+v 0.57017124 0.63004626 0.31268110
+v 0.31399661 0.59644792 0.35045557
+v 0.29120550 0.59644792 0.35049302
+v 0.28471452 0.59644792 0.35051174
+v 0.53515499 0.62609021 0.31268109
+v 0.53515499 0.59644792 0.35024330
+v 0.56443708 0.59644792 0.35038688
+v 0.55794613 0.62708394 0.31268109
+v 0.54164595 0.59644792 0.35024330
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 6 12
+f 2 12 13
+f 2 13 14
+f 2 14 7
+f 3 15 4
+f 3 11 16
+f 3 16 15
+f 4 15 17
+f 4 17 5
+f 5 18 12
+f 5 12 6
+f 5 17 18
+f 7 14 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 20
+f 8 20 35
+f 8 35 40
+f 8 40 37
+f 8 37 30
+f 8 30 17
+f 8 17 25
+f 8 25 24
+f 8 24 36
+f 8 36 22
+f 8 22 23
+f 8 23 10
+f 8 10 9
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 11 25 16
+f 12 18 31
+f 12 31 38
+f 12 38 39
+f 12 39 32
+f 12 32 19
+f 12 19 29
+f 12 29 28
+f 12 28 27
+f 12 27 26
+f 12 26 13
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 14 28 29
+f 14 29 19
+f 15 16 17
+f 16 25 17
+f 17 30 18
+f 18 30 31
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 22 36 23
+f 23 36 24
+f 30 37 41
+f 30 41 48
+f 30 48 45
+f 30 45 38
+f 30 38 31
+f 32 39 44
+f 32 44 43
+f 32 43 42
+f 32 42 46
+f 32 46 49
+f 32 49 47
+f 32 47 40
+f 32 40 35
+f 32 35 34
+f 32 34 33
+f 37 40 41
+f 38 42 43
+f 38 43 44
+f 38 44 39
+f 38 45 46
+f 38 46 42
+f 40 47 45
+f 40 45 48
+f 40 48 41
+f 45 47 49
+f 45 49 46
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_56.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42122d65a487359e59ead586e0348b3ff9615c15
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_56.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.60933422 -0.66799276 0.30194376
+v 0.62351801 -0.66513894 0.30194377
+v 0.60933422 -0.64182201 0.30194385
+v 0.60933422 -0.66616228 0.18871432
+v 0.62480947 -0.66451127 0.14302118
+v 0.62500687 -0.66469052 0.16606222
+v 0.63490448 -0.66036548 0.30194378
+v 0.63639337 -0.66114564 0.16606223
+v 0.63624109 -0.66106891 0.18871434
+v 0.62523248 -0.53725418 0.30194424
+v 0.60933422 -0.53725385 0.21251819
+v 0.60933422 -0.66533032 0.14302118
+v 0.63619036 -0.66108155 0.14302119
+v 0.63620164 -0.66108155 0.14339457
+v 0.64756559 -0.64897578 0.30194383
+v 0.64832130 -0.64969185 0.14302123
+v 0.64832130 -0.64969185 0.14339461
+v 0.64817467 -0.64974311 0.16606227
+v 0.64803929 -0.64967921 0.18871438
+v 0.65221265 -0.53725418 0.30194424
+v 0.60933422 -0.53725373 0.18067144
+v 0.60933422 -0.56119759 0.14302156
+v 0.65895206 -0.63590960 0.30194387
+v 0.65970780 -0.63729114 0.14302128
+v 0.66422518 -0.58027916 0.30194408
+v 0.65081968 -0.53725385 0.21138246
+v 0.62655777 -0.53725373 0.17925569
+v 0.62626453 -0.56206781 0.14302156
+v 0.66371760 -0.62451989 0.30194392
+v 0.66299573 -0.62608060 0.14302132
+v 0.66440001 -0.58111100 0.30194408
+v 0.66126433 -0.59209062 0.14302145
+v 0.66121921 -0.59188583 0.14302145
+v 0.65053206 -0.53725384 0.21041788
+v 0.64424945 -0.53725377 0.19023946
+v 0.64148599 -0.56766029 0.14302153
+v 0.62649576 -0.56214462 0.14302156
+v 0.66694913 -0.60476063 0.30194399
+v 0.66304646 -0.62588864 0.14302132
+v 0.66385294 -0.60476005 0.14302140
+v 0.65301351 -0.58067529 0.14302149
+v 0.65287250 -0.58049613 0.14302149
+v 0.66384732 -0.60510558 0.14302140
+f 1 2 7
+f 1 7 15
+f 1 15 23
+f 1 23 29
+f 1 29 38
+f 1 38 31
+f 1 31 25
+f 1 25 20
+f 1 20 10
+f 1 10 3
+f 1 3 11
+f 1 11 21
+f 1 21 22
+f 1 22 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 11
+f 4 12 5
+f 5 12 22
+f 5 22 28
+f 5 28 37
+f 5 37 36
+f 5 36 42
+f 5 42 41
+f 5 41 33
+f 5 33 32
+f 5 32 40
+f 5 40 43
+f 5 43 39
+f 5 39 30
+f 5 30 24
+f 5 24 16
+f 5 16 13
+f 5 13 6
+f 6 13 14
+f 6 14 8
+f 7 9 15
+f 8 14 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 15
+f 10 20 26
+f 10 26 34
+f 10 34 35
+f 10 35 27
+f 10 27 21
+f 10 21 11
+f 13 16 14
+f 15 19 24
+f 15 24 23
+f 16 24 17
+f 17 24 18
+f 18 24 19
+f 20 25 26
+f 21 27 22
+f 22 27 28
+f 23 24 29
+f 24 30 29
+f 25 31 32
+f 25 32 33
+f 25 33 26
+f 26 33 34
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 29 30 39
+f 29 39 38
+f 31 38 40
+f 31 40 32
+f 33 41 35
+f 33 35 34
+f 35 41 42
+f 35 42 36
+f 38 39 43
+f 38 43 40
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_57.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d2a363200b755a94942d2796a4a7e071a8f8d37
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_57.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.63680702 0.59644817 0.27297725
+v 0.60338687 0.59644788 0.35073896
+v 0.66312672 0.59644817 0.27297725
+v 0.63155731 0.58014100 0.27297719
+v 0.60338687 0.59644780 0.37215849
+v 0.62769568 0.56378669 0.27297713
+v 0.62620085 0.55735337 0.27297711
+v 0.62574706 0.54099906 0.27297705
+v 0.62559579 0.53456574 0.27297702
+v 0.60338687 0.55747093 0.34983122
+v 0.68860114 0.59644796 0.33041867
+v 0.68861897 0.35570506 0.33054889
+v 0.65023381 0.35570527 0.27297637
+v 0.64902370 0.59644779 0.37590996
+v 0.60338687 0.55735300 0.37265252
+v 0.60338687 0.48899023 0.34951835
+v 0.60338687 0.51189566 0.34951843
+v 0.60338687 0.53468330 0.34957902
+v 0.62580931 0.35570527 0.27297637
+v 0.60338687 0.35570499 0.34952796
+v 0.69415337 0.59644789 0.34736069
+v 0.69426900 0.46622615 0.34736021
+v 0.69428684 0.44343851 0.34736013
+v 0.69426900 0.35570499 0.34735981
+v 0.64902370 0.58014062 0.37593004
+v 0.67179318 0.55735299 0.37472993
+v 0.67179318 0.59644779 0.37466956
+v 0.62626314 0.53456536 0.37449787
+v 0.62626314 0.51177772 0.37453815
+v 0.60338687 0.53456537 0.37276334
+v 0.60338687 0.35570490 0.37279297
+v 0.68873460 0.59644783 0.36586575
+v 0.68885024 0.46622609 0.36599637
+v 0.68886807 0.44343845 0.36602656
+v 0.69345931 0.35570498 0.35016327
+v 0.64902370 0.55735299 0.37595015
+v 0.67179318 0.42067437 0.37489076
+v 0.68390306 0.59644782 0.36838691
+v 0.60338687 0.51177773 0.37280359
+v 0.62626314 0.48899013 0.37454816
+v 0.62626314 0.35570489 0.37454767
+v 0.62626314 0.37509911 0.37455783
+v 0.62626314 0.42067437 0.37456806
+v 0.60338687 0.42055654 0.37280325
+v 0.67179318 0.39788674 0.37491085
+v 0.68884136 0.42067441 0.36605671
+v 0.68883249 0.37509915 0.36608682
+v 0.68883249 0.35570493 0.36609684
+v 0.64902370 0.53456536 0.37596015
+v 0.67179318 0.35570489 0.37493088
+v 0.62967990 0.35570489 0.37476951
+v 0.64902370 0.35570489 0.37598973
+v 0.64902370 0.42067437 0.37598997
+v 0.67434686 0.35570490 0.37360980
+f 1 2 5
+f 1 5 14
+f 1 14 27
+f 1 27 38
+f 1 38 32
+f 1 32 21
+f 1 21 11
+f 1 11 3
+f 1 3 13
+f 1 13 19
+f 1 19 9
+f 1 9 8
+f 1 8 7
+f 1 7 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 18
+f 2 18 17
+f 2 17 16
+f 2 16 20
+f 2 20 31
+f 2 31 44
+f 2 44 39
+f 2 39 30
+f 2 30 15
+f 2 15 5
+f 3 11 12
+f 3 12 13
+f 5 15 14
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 9 19 20
+f 9 20 16
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 35
+f 12 35 48
+f 12 48 54
+f 12 54 50
+f 12 50 52
+f 12 52 51
+f 12 51 41
+f 12 41 31
+f 12 31 20
+f 12 20 19
+f 12 19 13
+f 14 25 26
+f 14 26 27
+f 14 15 28
+f 14 28 29
+f 14 29 25
+f 15 30 28
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 25 29 36
+f 25 36 45
+f 25 45 37
+f 25 37 26
+f 26 38 27
+f 26 37 34
+f 26 34 38
+f 28 30 39
+f 28 39 29
+f 29 39 40
+f 29 40 49
+f 29 49 36
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 32 38 34
+f 32 34 33
+f 34 37 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 36 49 50
+f 36 50 45
+f 39 44 43
+f 39 43 40
+f 40 43 49
+f 41 51 42
+f 42 51 43
+f 43 51 52
+f 43 52 53
+f 43 53 49
+f 45 50 54
+f 45 54 47
+f 45 47 46
+f 47 54 48
+f 49 53 50
+f 50 53 52
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_58.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d475de30fa5218344853740e98fdcdc68dc960e9
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_58.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.41895282 0.53897370 0.19625904
+v -0.41895282 0.53897366 0.20582826
+v -0.39837803 0.53897372 0.19140572
+v -0.58061197 0.39677270 0.19434659
+v -0.41580659 0.53897366 0.20726279
+v -0.58061197 0.39677265 0.20704287
+v -0.37560916 0.53897372 0.18994707
+v -0.39837803 0.53457814 0.19101030
+v -0.58061197 0.37515369 0.19056367
+v -0.58061197 0.39662915 0.19432009
+v -0.39837803 0.53897364 0.21199557
+v -0.58061197 0.37919038 0.21125963
+v -0.35288167 0.53897372 0.18966497
+v -0.58061197 0.35574147 0.18934124
+v -0.39398985 0.53897364 0.21261279
+v -0.58061197 0.37508186 0.21224331
+v -0.15769016 0.53897373 0.18915626
+v -0.58057056 0.35572350 0.18934365
+v -0.58061197 0.35572342 0.21244575
+v -0.15769016 0.35572351 0.18898200
+v -0.37560916 0.53897364 0.21282253
+v -0.53503279 0.39786705 0.21358630
+v -0.58061197 0.35572342 0.21268685
+v -0.15769016 0.53897364 0.21269958
+v -0.15769016 0.35572342 0.21267238
+v -0.16634235 0.53897364 0.21270681
+v -0.57713454 0.35572342 0.21279295
+v -0.53503279 0.37508186 0.21361274
+v -0.15769016 0.51179291 0.21270430
+v -0.15769016 0.41089224 0.21268946
+v -0.53503279 0.35572342 0.21294484
+v -0.55436564 0.35572342 0.21293519
+v -0.15769016 0.42065220 0.21269191
+v -0.15769016 0.46622253 0.21270172
+v -0.15769016 0.48900772 0.21270422
+f 1 2 5
+f 1 5 11
+f 1 11 15
+f 1 15 21
+f 1 21 26
+f 1 26 24
+f 1 24 17
+f 1 17 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 14
+f 4 14 19
+f 4 19 23
+f 4 23 16
+f 4 16 12
+f 4 12 6
+f 5 6 11
+f 6 12 11
+f 7 13 14
+f 7 14 9
+f 7 9 8
+f 11 12 16
+f 11 16 15
+f 13 17 14
+f 14 18 19
+f 14 17 20
+f 14 20 18
+f 15 16 22
+f 15 22 21
+f 16 23 22
+f 17 24 29
+f 17 29 35
+f 17 35 34
+f 17 34 33
+f 17 33 30
+f 17 30 25
+f 17 25 20
+f 18 20 25
+f 18 25 31
+f 18 31 32
+f 18 32 27
+f 18 27 23
+f 18 23 19
+f 21 22 26
+f 22 23 27
+f 22 27 28
+f 22 28 24
+f 22 24 26
+f 24 28 29
+f 25 30 28
+f 25 28 31
+f 27 32 28
+f 28 32 31
+f 28 30 33
+f 28 33 34
+f 28 34 35
+f 28 35 29
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_59.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc313d3a512b8f205c6b76832883037888dd01a4
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_59.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.05835839 -0.53725392 0.22092447
+v -0.05772145 -0.55920116 0.22092439
+v -0.04451934 -0.55920124 0.24204176
+v -0.04389398 -0.53725400 0.24204184
+v 0.05995096 -0.53725392 0.22092447
+v -0.05231321 -0.58140628 0.22092430
+v -0.04160098 -0.58158756 0.24204167
+v 0.04953983 -0.53725400 0.24204184
+v 0.04926189 -0.55920124 0.24204176
+v 0.05940667 -0.55920116 0.22092439
+v -0.03308911 -0.60298414 0.22092423
+v -0.03002020 -0.59850275 0.24204161
+v -0.03827730 -0.58679384 0.24204165
+v 0.04728158 -0.57887640 0.24204168
+v 0.05409108 -0.58036781 0.22092431
+v -0.02890844 -0.60423865 0.22092422
+v -0.01130564 -0.60406450 0.24204159
+v 0.04367996 -0.58954684 0.24204164
+v 0.03587450 -0.60034266 0.22092423
+v -0.01130564 -0.60844831 0.22092421
+v -0.00326857 -0.60416209 0.24204159
+v 0.03817908 -0.59439769 0.24204163
+v 0.03315301 -0.60275413 0.22092423
+v -0.00630274 -0.60842736 0.22092421
+v 0.01145061 -0.60408540 0.24204159
+v 0.03263188 -0.59819609 0.24204161
+v 0.01145061 -0.60824616 0.22092421
+v 0.02012463 -0.60174361 0.24204160
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 10
+f 1 10 15
+f 1 15 19
+f 1 19 23
+f 1 23 27
+f 1 27 24
+f 1 24 20
+f 1 20 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 13
+f 3 13 12
+f 3 12 17
+f 3 17 21
+f 3 21 25
+f 3 25 28
+f 3 28 26
+f 3 26 22
+f 3 22 18
+f 3 18 14
+f 3 14 9
+f 3 9 8
+f 3 8 4
+f 5 8 9
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 9 14 10
+f 10 14 15
+f 11 16 12
+f 12 16 17
+f 14 18 15
+f 15 18 19
+f 16 20 17
+f 17 20 21
+f 18 22 23
+f 18 23 19
+f 20 24 21
+f 21 24 25
+f 22 26 23
+f 23 26 28
+f 23 28 25
+f 23 25 27
+f 24 27 25
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_6.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..541918386ab1d065527e729f09e4029a54692377
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_6.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.16396760 -0.61471347 0.34404860
+v -0.16396760 -0.61471358 0.37393809
+v -0.03404690 -0.61471346 0.34123229
+v -0.16396760 -0.62637949 0.30195015
+v -0.16396760 -0.62757111 0.37509382
+v -0.04396451 -0.61471359 0.37507195
+v -0.01123638 -0.61471346 0.34114451
+v 0.03476607 -0.61471346 0.34105673
+v 0.48960297 -0.62627888 0.30195015
+v -0.16396760 -0.65139824 0.30195006
+v -0.16396760 -0.64360821 0.37582529
+v -0.02123029 -0.61471359 0.37513047
+v -0.16396760 -0.65035414 0.37613249
+v 0.04887959 -0.61471346 0.34107136
+v 0.48967927 -0.62627888 0.30195015
+v -0.16396760 -0.68884915 0.33158339
+v 0.55109214 -0.65607090 0.30195004
+v 0.60342661 -0.66916051 0.30197193
+v -0.05678111 -0.65035414 0.37637390
+v 0.30734778 -0.65035414 0.37663723
+v 0.35296877 -0.65035414 0.37666649
+v 0.48960297 -0.65035414 0.37668112
+v 0.00165651 -0.61471359 0.37513047
+v -0.16396760 -0.67312167 0.37318443
+v -0.07959161 -0.67312167 0.37338924
+v 0.53507140 -0.61471347 0.34422415
+v 0.53507140 -0.62632530 0.30195015
+v 0.51241345 -0.62628663 0.30195015
+v 0.01157412 -0.69374622 0.34735473
+v -0.16396760 -0.69365340 0.34735473
+v 0.61540404 -0.68878730 0.33140783
+v 0.55109214 -0.62832897 0.30195014
+v 0.61540404 -0.65635715 0.30197198
+v 0.61540404 -0.66677003 0.30200852
+v -0.05678111 -0.67312167 0.37340387
+v -0.03404690 -0.67312167 0.37340387
+v 0.53507140 -0.65035414 0.37666649
+v 0.53507140 -0.62757111 0.37554005
+v 0.03430833 -0.61471359 0.37511584
+v -0.16396760 -0.68932120 0.36446477
+v -0.07959161 -0.68935991 0.36458181
+v 0.55109214 -0.61471348 0.34532142
+v 0.61540404 -0.61763773 0.34410711
+v 0.53514770 -0.62633304 0.30195015
+v 0.03430833 -0.68942950 0.36452329
+v 0.01157412 -0.68942950 0.36452329
+v 0.61540404 -0.69123196 0.33973970
+v 0.61540404 -0.69345228 0.34735473
+v 0.55788187 -0.62917996 0.30197208
+v 0.61540404 -0.64010344 0.30197204
+v 0.61540404 -0.67312167 0.37318443
+v 0.61540404 -0.65035414 0.37630804
+v 0.53507140 -0.61471358 0.37428190
+v 0.61540404 -0.63843269 0.37564975
+v 0.61540404 -0.61763784 0.37419412
+v 0.55109214 -0.61471358 0.37400394
+v 0.61540404 -0.68917418 0.36420873
+v 0.54796431 -0.61471358 0.37407709
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 39
+f 1 39 53
+f 1 53 58
+f 1 58 56
+f 1 56 42
+f 1 42 26
+f 1 26 14
+f 1 14 8
+f 1 8 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 30
+f 1 30 40
+f 1 40 24
+f 1 24 13
+f 1 13 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 15
+f 4 15 28
+f 4 28 27
+f 4 27 44
+f 4 44 32
+f 4 32 17
+f 4 17 10
+f 5 11 6
+f 6 11 13
+f 6 13 12
+f 8 14 15
+f 8 15 9
+f 10 17 18
+f 10 18 16
+f 12 13 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 13 24 25
+f 13 25 19
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 16 29 30
+f 16 18 31
+f 16 31 29
+f 17 32 50
+f 17 50 33
+f 17 33 18
+f 18 33 34
+f 18 34 31
+f 19 25 20
+f 20 25 35
+f 20 35 21
+f 21 35 22
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 23 38 39
+f 24 40 25
+f 25 40 41
+f 25 41 35
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 29 45 46
+f 29 46 30
+f 29 31 47
+f 29 47 48
+f 29 48 45
+f 30 41 40
+f 30 46 41
+f 31 34 33
+f 31 33 50
+f 31 50 43
+f 31 43 55
+f 31 55 54
+f 31 54 52
+f 31 52 51
+f 31 51 57
+f 31 57 48
+f 31 48 47
+f 32 44 43
+f 32 43 49
+f 32 49 50
+f 35 41 36
+f 36 41 45
+f 36 45 51
+f 36 51 37
+f 37 51 52
+f 37 52 38
+f 38 53 39
+f 38 52 54
+f 38 54 55
+f 38 55 53
+f 41 46 45
+f 42 56 55
+f 42 55 43
+f 43 50 49
+f 45 48 57
+f 45 57 51
+f 53 55 58
+f 55 56 58
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_60.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8390f2fa83e951bddc625dafdbc0513c3302e128
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_60.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.16396762 -0.53725376 0.18855497
+v -0.16396762 -0.58223185 0.18674043
+v -0.16396762 -0.53725385 0.21261531
+v -0.05679972 -0.53725376 0.18754505
+v -0.03407065 -0.58223184 0.18535092
+v -0.16396762 -0.58223193 0.21031321
+v -0.16396762 -0.55270298 0.21259436
+v -0.05830343 -0.53725388 0.22092445
+v -0.03378148 -0.58223184 0.18535092
+v 0.33023077 -0.53725376 0.18851665
+v -0.16396762 -0.55919697 0.21258388
+v -0.05107408 -0.58223197 0.22092428
+v -0.05228862 -0.58140868 0.22092428
+v -0.05818776 -0.54218052 0.22092443
+v 0.05996874 -0.53725388 0.22092445
+v 0.37597811 -0.58223184 0.18643398
+v 0.35295985 -0.53725376 0.18860023
+v -0.05772507 -0.55919700 0.22092437
+v 0.05123569 -0.58223197 0.22092428
+v 0.05956390 -0.55470624 0.22092438
+v 0.39766615 -0.53725385 0.21279639
+v 0.35382737 -0.53725376 0.18860372
+v 0.37574676 -0.53725376 0.18871168
+v 0.39853370 -0.53725376 0.18908082
+v 0.39876501 -0.58223185 0.18732199
+v 0.05412743 -0.58036960 0.22092429
+v 0.39853370 -0.58223193 0.21036199
+v 0.37574676 -0.55919697 0.21262566
+v 0.05944823 -0.55919700 0.22092437
+v 0.39853370 -0.53725385 0.21276505
+v 0.42132056 -0.53725379 0.19491743
+v 0.42687271 -0.58223187 0.19211388
+v 0.42687271 -0.58223192 0.20591836
+v 0.39853370 -0.55919697 0.21178640
+v 0.42004824 -0.53725383 0.20681700
+v 0.42132056 -0.53725383 0.20637472
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 21
+f 1 21 30
+f 1 30 35
+f 1 35 36
+f 1 36 31
+f 1 31 24
+f 1 24 23
+f 1 23 22
+f 1 22 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 16
+f 2 16 25
+f 2 25 32
+f 2 32 33
+f 2 33 27
+f 2 27 19
+f 2 19 12
+f 2 12 6
+f 3 7 8
+f 4 9 5
+f 4 10 9
+f 6 12 13
+f 6 13 11
+f 7 11 8
+f 8 11 14
+f 8 14 18
+f 8 18 13
+f 8 13 12
+f 8 12 19
+f 8 19 26
+f 8 26 29
+f 8 29 20
+f 8 20 15
+f 9 10 16
+f 10 17 16
+f 11 13 18
+f 11 18 14
+f 15 20 21
+f 16 17 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 19 27 28
+f 19 28 26
+f 20 29 21
+f 21 28 30
+f 21 29 26
+f 21 26 28
+f 24 31 32
+f 24 32 25
+f 27 33 34
+f 27 34 28
+f 28 34 30
+f 30 34 33
+f 30 33 35
+f 31 36 33
+f 31 33 32
+f 33 36 35
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_61.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1990ef51706b449c9a06bbe54050f2dbd1843129
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_61.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.06010189 0.48899126 0.34445726
+v 0.06004322 0.46460550 0.34445717
+v 0.04677298 0.41297654 0.31705235
+v 0.04678471 0.43576405 0.31705243
+v 0.04678471 0.44331953 0.31705246
+v 0.04677298 0.45896322 0.31705252
+v 0.06006669 0.51177877 0.34445734
+v 0.05998455 0.44181799 0.34445708
+v 0.05990242 0.41905472 0.34445700
+v 0.04667911 0.39018907 0.31705226
+v 0.04657351 0.51177888 0.31705271
+v 0.05980855 0.55735375 0.34445751
+v 0.05973815 0.39629146 0.34445692
+v 0.04652658 0.36740155 0.31705218
+v 0.04638578 0.52698666 0.31705277
+v 0.04631539 0.53214474 0.31705278
+v 0.05936269 0.58014122 0.34445759
+v 0.05952696 0.37352815 0.34445683
+v 0.04630365 0.35570511 0.31705214
+v 0.04535327 0.57893055 0.31705296
+v 0.04531807 0.58014133 0.31705296
+v 0.05814244 0.60307404 0.34445768
+v 0.05913976 0.35570500 0.34445677
+v -0.04236407 0.35570511 0.31705214
+v 0.03905254 0.59086914 0.31705300
+v 0.01144434 0.60229923 0.31705304
+v 0.01144434 0.60309831 0.32666451
+v 0.05509181 0.60309825 0.34367708
+v 0.05513875 0.60309824 0.34445768
+v 0.03550911 0.59617252 0.31705302
+v 0.01894185 0.60048299 0.31705304
+v -0.05751162 0.35570500 0.34445677
+v -0.05762896 0.35664943 0.34445677
+v -0.05974093 0.37471477 0.34445684
+v -0.04268087 0.39786561 0.31705229
+v -0.01130632 0.60309831 0.32709104
+v -0.01130632 0.60220237 0.31705304
+v -0.04651763 0.60309824 0.34445768
+v -0.05976440 0.37936429 0.34445685
+v -0.04277474 0.42065308 0.31705238
+v -0.03085381 0.59668104 0.31705302
+v -0.05326421 0.59680203 0.34445765
+v -0.04278647 0.44903453 0.31705248
+v -0.04278647 0.42624706 0.31705240
+v -0.05961186 0.56023548 0.34445752
+v -0.04271607 0.54166172 0.31705282
+v -0.03768253 0.58575952 0.31705298
+v -0.04090916 0.58014133 0.31705296
+v -0.04254007 0.56512726 0.31705291
+v -0.04263394 0.55607038 0.31705287
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 17
+f 1 17 22
+f 1 22 29
+f 1 29 38
+f 1 38 42
+f 1 42 45
+f 1 45 39
+f 1 39 34
+f 1 34 33
+f 1 33 32
+f 1 32 23
+f 1 23 18
+f 1 18 13
+f 1 13 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 14
+f 3 14 19
+f 3 19 24
+f 3 24 35
+f 3 35 40
+f 3 40 44
+f 3 44 43
+f 3 43 46
+f 3 46 50
+f 3 50 49
+f 3 49 48
+f 3 48 47
+f 3 47 41
+f 3 41 37
+f 3 37 26
+f 3 26 31
+f 3 31 30
+f 3 30 25
+f 3 25 21
+f 3 21 20
+f 3 20 16
+f 3 16 15
+f 3 15 11
+f 3 11 6
+f 3 6 5
+f 3 5 4
+f 6 11 7
+f 7 11 12
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 13 18 14
+f 14 18 19
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 18 23 19
+f 19 23 32
+f 19 32 24
+f 21 25 22
+f 22 26 27
+f 22 27 28
+f 22 28 29
+f 22 25 30
+f 22 30 31
+f 22 31 26
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 26 36 27
+f 26 37 36
+f 27 36 38
+f 27 38 29
+f 27 29 28
+f 34 39 35
+f 35 39 40
+f 36 37 38
+f 37 41 38
+f 38 41 42
+f 39 43 44
+f 39 44 40
+f 39 45 46
+f 39 46 43
+f 41 47 42
+f 42 47 48
+f 42 48 45
+f 45 48 49
+f 45 49 50
+f 45 50 46
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_62.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4244ce4ea8dab43e9f87d7113e70d5db9bf1d208
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_62.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.53941555 -0.62136225 0.21714740
+v -0.55781273 -0.62136224 0.21523409
+v -0.53941555 -0.62136210 0.17748249
+v -0.53941555 -0.53725385 0.21129906
+v -0.62003635 -0.53725387 0.21677084
+v -0.62003635 -0.55920305 0.21477049
+v -0.57789098 -0.62136221 0.20787801
+v -0.62003635 -0.57899517 0.20817529
+v -0.53941555 -0.60716838 0.17767097
+v -0.56019625 -0.62136198 0.14310818
+v -0.55825471 -0.60476425 0.14310824
+v -0.53941555 -0.53725376 0.18741170
+v -0.62003635 -0.53725373 0.18005562
+v -0.58025871 -0.62136220 0.20329041
+v -0.62003635 -0.58513692 0.18870882
+v -0.58719613 -0.62136198 0.14310818
+v -0.56430816 -0.58576247 0.14310831
+v -0.57345545 -0.57451619 0.14310835
+v -0.57358175 -0.57437623 0.14310835
+v -0.58495466 -0.56666191 0.14310838
+v -0.60313877 -0.56065179 0.14310840
+v -0.60334394 -0.56058594 0.14310840
+v -0.60349390 -0.53725373 0.18065716
+v -0.62003635 -0.56101406 0.14310840
+v -0.58481260 -0.62136213 0.18499803
+v -0.62003635 -0.58790313 0.16590130
+v -0.58719613 -0.62136198 0.14338358
+v -0.62003635 -0.58849583 0.14312279
+v -0.62003635 -0.58761489 0.14310830
+v -0.58666734 -0.62136206 0.16593742
+v -0.62003635 -0.58847937 0.14398523
+f 1 2 7
+f 1 7 14
+f 1 14 25
+f 1 25 30
+f 1 30 27
+f 1 27 16
+f 1 16 10
+f 1 10 3
+f 1 3 9
+f 1 9 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 10 11
+f 3 11 9
+f 4 12 23
+f 4 23 13
+f 4 13 5
+f 5 13 24
+f 5 24 29
+f 5 29 28
+f 5 28 31
+f 5 31 26
+f 5 26 15
+f 5 15 8
+f 5 8 6
+f 7 8 14
+f 8 15 14
+f 9 11 12
+f 10 16 29
+f 10 29 24
+f 10 24 22
+f 10 22 21
+f 10 21 20
+f 10 20 19
+f 10 19 18
+f 10 18 17
+f 10 17 11
+f 11 17 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 17 18
+f 13 23 22
+f 13 22 24
+f 14 15 25
+f 15 26 25
+f 16 27 28
+f 16 28 29
+f 25 26 30
+f 26 31 30
+f 27 30 31
+f 27 31 28
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_63.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51369b6d5d3726e05bbe0fc32cb7701c69feda03
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_63.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.57145199 0.69293399 0.34735930
+v 0.57145199 0.68995871 0.33742469
+v 0.57145199 0.68772945 0.36562658
+v 0.62627104 0.68770117 0.36558310
+v 0.64902614 0.69286790 0.34735930
+v 0.64902614 0.68789020 0.33068775
+v 0.58072480 0.68789965 0.33060705
+v 0.57145199 0.68790902 0.33063189
+v 0.60349192 0.68787129 0.33053254
+v 0.57145199 0.67130367 0.37443107
+v 0.58072480 0.67130367 0.37442487
+v 0.62627104 0.67130367 0.37438762
+v 0.64902614 0.67130368 0.37422617
+v 0.64902614 0.68767281 0.36542169
+v 0.67179326 0.68569873 0.36268966
+v 0.67179326 0.68918416 0.34735928
+v 0.67179326 0.68619000 0.33238906
+v 0.62689645 0.67048212 0.31268118
+v 0.60349192 0.67266406 0.31268119
+v 0.58741181 0.66957534 0.31268118
+v 0.58064060 0.66823409 0.31268117
+v 0.57145199 0.67691450 0.32269655
+v 0.57145199 0.64852104 0.37592738
+v 0.64902614 0.64852104 0.37610747
+v 0.67179326 0.64852104 0.37464207
+v 0.67179326 0.67130369 0.37064973
+v 0.68394052 0.68341285 0.35963473
+v 0.68465013 0.68412131 0.34735926
+v 0.68437350 0.68388527 0.33473610
+v 0.64807602 0.66080043 0.31268115
+v 0.64183400 0.66404973 0.31268116
+v 0.57145199 0.65971421 0.31268114
+v 0.57145199 0.59644784 0.37225761
+v 0.64902614 0.59644783 0.37591479
+v 0.67179326 0.59644783 0.37467297
+v 0.67179326 0.62573842 0.37466064
+v 0.68882353 0.64852108 0.36584373
+v 0.68658647 0.67130372 0.36295659
+v 0.69023062 0.67130377 0.34735922
+v 0.68682702 0.67130383 0.33231450
+v 0.66711477 0.63798949 0.31268106
+v 0.57145199 0.63035749 0.31268104
+v 0.57145199 0.59644792 0.35059392
+v 0.68390445 0.59644786 0.36838930
+v 0.68877540 0.62573846 0.36587473
+v 0.68873933 0.59644787 0.36587462
+v 0.69430785 0.64852114 0.34735913
+v 0.68866718 0.64852121 0.33051997
+v 0.67019366 0.62615423 0.31268102
+v 0.63521914 0.59644806 0.31268091
+v 0.69415149 0.59644793 0.34735894
+v 0.69257591 0.59644795 0.34255308
+v 0.68860700 0.60295597 0.33038941
+v 0.68863110 0.62573859 0.33043296
+v 0.67250287 0.60295603 0.31268093
+v 0.67154069 0.61716210 0.31268099
+v 0.67099948 0.59644806 0.31268091
+v 0.68859503 0.59644800 0.33042043
+f 1 2 8
+f 1 8 22
+f 1 22 32
+f 1 32 42
+f 1 42 43
+f 1 43 33
+f 1 33 23
+f 1 23 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 6 9
+f 2 9 7
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 9
+f 7 9 8
+f 8 9 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 10 23 24
+f 10 24 11
+f 11 24 12
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 15
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 30
+f 18 30 41
+f 18 41 49
+f 18 49 56
+f 18 56 55
+f 18 55 57
+f 18 57 50
+f 18 50 42
+f 18 42 32
+f 18 32 21
+f 18 21 20
+f 18 20 19
+f 21 32 22
+f 23 33 34
+f 23 34 24
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 25 36 37
+f 25 37 26
+f 26 37 38
+f 26 38 27
+f 27 38 39
+f 27 39 28
+f 28 39 29
+f 29 39 40
+f 29 40 41
+f 29 41 30
+f 33 43 50
+f 33 50 57
+f 33 57 58
+f 33 58 52
+f 33 52 51
+f 33 51 46
+f 33 46 44
+f 33 44 35
+f 33 35 34
+f 35 44 45
+f 35 45 37
+f 35 37 36
+f 37 45 46
+f 37 46 47
+f 37 47 38
+f 38 47 39
+f 39 47 40
+f 40 47 48
+f 40 48 49
+f 40 49 41
+f 42 50 43
+f 44 46 45
+f 46 51 47
+f 47 51 52
+f 47 52 53
+f 47 53 54
+f 47 54 48
+f 48 54 55
+f 48 55 56
+f 48 56 49
+f 52 58 53
+f 53 58 55
+f 53 55 54
+f 55 58 57
+
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_7.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20f44a1078cde8cddaef12ecc6291063ce8f43d9
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_7.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.16383505 0.64852152 0.37710727
+v -0.16383505 0.67130371 0.37491591
+v -0.16383505 0.62573936 0.37560885
+v -0.03406508 0.60310693 0.37551702
+v -0.01130069 0.60310693 0.37554762
+v -0.01112920 0.60310693 0.37554762
+v 0.01163520 0.60310693 0.37553740
+v -0.14792996 0.64852152 0.37709706
+v 0.19357892 0.67130371 0.37496685
+v 0.17081452 0.67130371 0.37496685
+v -0.16383505 0.67611390 0.37210269
+v 0.27404744 0.68782219 0.36581377
+v 0.21638618 0.68781338 0.36580356
+v 0.19357892 0.68779578 0.36578317
+v -0.16383505 0.60310694 0.37348864
+v -0.07959389 0.64852153 0.37704612
+v 0.03439960 0.60310693 0.37549663
+v 0.12528572 0.64852153 0.37685245
+v 0.10252132 0.64852153 0.37688301
+v 0.27404744 0.67130371 0.37489553
+v 0.27404744 0.68012236 0.37005395
+v -0.16383505 0.68732002 0.36554872
+v 0.27404744 0.69064131 0.35595732
+v 0.27404744 0.69309934 0.34735460
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diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_8.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f8ce7196ff07d5a21732b26fced41ac6c27dac2
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_8.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_9.obj b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2051468e3d3d0c7440047c5d6d2e62b1360973e
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/mjcf/mesh/table_collision_9.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.55115097 -0.65607636 0.30193687
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diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/textures/material_0.png b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..048748df6e69bd58d66edd122dc452a8f8442db9
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1356871
diff --git a/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/video.mp4 b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c05e27d3477b6dbc8cc98e9eb11470cb411b280
--- /dev/null
+++ b/dataset/furniture/table/8c58e88be44d50529a88030e3378df3f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83aa407a5243a47f34c7ae8df63b7fddb4fc0611f24c29c65b83e1c38e80546c
+size 247929