diff --git a/.gitattributes b/.gitattributes
index 6276a980d88426083241127390be0e609b8bb66e..0e01d4965145a72607659fc59f9e64df116944ca 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3792,6 +3792,6 @@ dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19_gs
 dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/0e5037eebfc15fddb63ea0f378d34b78.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/0e5037eebfc15fddb63ea0f378d34b78/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/16b602cfd8285027af606f20aaadc739/16b602cfd8285027af606f20aaadc739.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/16b602cfd8285027af606f20aaadc739/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/16b602cfd8285027af606f20aaadc739/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/17fde0add43752449698e861bee0892c/17fde0add43752449698e861bee0892c.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/17fde0add43752449698e861bee0892c.urdf b/dataset/furniture/table/17fde0add43752449698e861bee0892c/17fde0add43752449698e861bee0892c.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..854088fc2a4bfacb8b7b84de5a0001598f143622
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/17fde0add43752449698e861bee0892c.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_striped_table">
+   <link name="wooden_striped_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_striped_table.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_striped_table_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="20.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.711006</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with striped surface and 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>20251005073053</generate_time>
+         <gs_model>mesh/wooden_striped_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.842318177223206</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/17fde0add43752449698e861bee0892c/17fde0add43752449698e861bee0892c.usd b/dataset/furniture/table/17fde0add43752449698e861bee0892c/17fde0add43752449698e861bee0892c.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7e90d6dd0f5bdeb4b09cb7984ca7df489eb3141d
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/17fde0add43752449698e861bee0892c.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1635f89d22cd855791e050a3205297f91e8e72807c93c9e22c9b0822506eef36
+size 618677
diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/material.mtl b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/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/17fde0add43752449698e861bee0892c/mesh/material_0.png b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b790718252e8946331ac98073fcd80eed11d6d4
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c25f5b6a7eef87bc9d07052f24c3a46c9e90d896b97c02bced59944cb9fc5a94
+size 1289741
diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table.glb b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..dc594f0a39dbba2dc2de3cc853db2976b3b7094d
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07922d8184ad2b16af7c78c0110b8513a2fcef52ae4fe8838bacc6d37b1116b
+size 1704344
diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table.obj b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a74bc6b281d4831de841d9b285246f431aae125d
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table.obj
@@ -0,0 +1,37762 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table_collision.obj b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c2d52dc2c38210d5bfdf67d9a1ba842436ccefd
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table_collision.obj
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diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table_gs.ply b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table_gs.ply
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index 0000000000000000000000000000000000000000..8bc4498bf1db29c83a28ff379a13ac384d074900
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mesh/wooden_striped_table_gs.ply
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diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/17fde0add43752449698e861bee0892c.xml b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/17fde0add43752449698e861bee0892c.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a31736d9c5799e01e8708d4eb7ff8c61b7ae4d76
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+    <mesh name="collision_mesh_0_2" file="mesh/wooden_striped_table_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wooden_striped_table_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wooden_striped_table_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/material_0.png b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/material_0.png
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diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table.obj b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table.obj
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diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision.obj b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4bc03de472b9d3a3b44596e41646bea8eb6b3a2
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision.obj
@@ -0,0 +1,4814 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_0.obj b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7aef8de9632ea528122acb4eac8d96190f477b4
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_0.obj
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diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_1.obj b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba404b6085e29150ea1621a4a39f6965a41b142f
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_1.obj
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diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_2.obj b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e8d93de3177a7b11170465a3f84b52c9272579
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_2.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_3.obj b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d71ed8aa0e1715e8b7032b611957528a019742b
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_3.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_4.obj b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d0a96abf5a6ec6ff1a4134e8a9b10881c283e71
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_4.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_5.obj b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fc49cc836ac74b4cefdcb39bdf629478b06c963
--- /dev/null
+++ b/dataset/furniture/table/17fde0add43752449698e861bee0892c/mjcf/mesh/wooden_striped_table_collision_5.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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