diff --git a/.gitattributes b/.gitattributes
index e2d9957255c6a1bf77659111bb1732ecb72a92df..3217de958cf79b292825f510ff72187783be6f14 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3789,6 +3789,6 @@ dataset/furniture/chair/eaa4224cad1a51ca9b82063642e27343/mesh/office_chair_15_gs
 dataset/furniture/table/2b301955fe975ff7ab473e2d109c6e86/2b301955fe975ff7ab473e2d109c6e86.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/2b301955fe975ff7ab473e2d109c6e86/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/2b301955fe975ff7ab473e2d109c6e86/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/2a842458f7855996b2183eb6253166be/2a842458f7855996b2183eb6253166be.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/wooden_striped_table.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/wooden_striped_table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/31326f5a0f095e99bd51f854101910d7.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/31326f5a0f095e99bd51f854101910d7.urdf b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/31326f5a0f095e99bd51f854101910d7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4a86a47ffa4f2ed52972f9a073420b3501f94476
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/31326f5a0f095e99bd51f854101910d7.urdf
@@ -0,0 +1,57 @@
+<?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>0.50</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>1.036355</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden round table with four vertical legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251011203743</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.976165413856506</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/31326f5a0f095e99bd51f854101910d7.usd b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/31326f5a0f095e99bd51f854101910d7.usd
new file mode 100644
index 0000000000000000000000000000000000000000..73d22e670ffc9dfc57de276dde7a23179d5aafbe
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/31326f5a0f095e99bd51f854101910d7.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce75ba4dc2a40a771e14122aa7aaf4bf1da56c05f5e8d9d9d1882c5b2653c2ac
+size 276704
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/material.mtl b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/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/31326f5a0f095e99bd51f854101910d7/mesh/material_0.png b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b685470c313f1842ff7e5419ef1b68911be0d569
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29ed9662df8d4ceecfeb5ca143d5af2ee05fe2a84c825ddd5b7471fe963a5daa
+size 954373
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/table.glb b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fe28683aea6eeb12793a198cd794b96eb58b33e5
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d382dac0fca4407142ff4eedb07f5c9e38a609b43672888a02a3713b052604a
+size 1153008
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/table.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d95867b498d58f1892670ea8a601a691c95e8e2
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/table.obj
@@ -0,0 +1,18240 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/table_collision.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42210e2662767979d1faba5ff32da43ee2ea5c61
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mesh/table_collision.obj
@@ -0,0 +1,14573 @@
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/31326f5a0f095e99bd51f854101910d7.xml b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/31326f5a0f095e99bd51f854101910d7.xml
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/material_0.png b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b685470c313f1842ff7e5419ef1b68911be0d569
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 954373
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec80297d9a34632fcfbc0afece030fa633c6efe7
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b70102611af1549f02247d78c7d1bd0d5ee0ae6
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision.obj
@@ -0,0 +1,14573 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_0.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83c35c7d2ea22f26558a221d6ddf98f9af8cc37a
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_0.obj
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_1.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c25c6d37971bc2b8dcd61e1d88347775824c9a5d
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_1.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_10.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3275925bbae84e1f3f44da334163965448a6a83
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_10.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_11.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad3a5f5971fb92dd190e91e548f1995ce70dda82
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_11.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.15695953 -0.41293053 0.26278364
+v -0.15695953 -0.41893037 0.25099995
+v -0.15695953 -0.41853295 0.26278771
+v -0.14156274 -0.41974050 0.28720380
+v 0.00224445 -0.44919250 0.28720369
+v 0.00224445 -0.44909500 0.28223849
+v 0.00224445 -0.44883994 0.26527638
+v 0.00222887 -0.45495978 0.25106952
+v -0.15695953 -0.42212532 0.24956080
+v -0.15695953 -0.45490735 0.26278758
+v -0.14156274 -0.46213728 0.28720364
+v 0.00224445 -0.48954186 0.28720354
+v 0.00224445 -0.44991991 0.26278760
+v 0.00222887 -0.46979451 0.24533342
+v -0.14444575 -0.43564759 0.24661278
+v -0.15695953 -0.43564758 0.24637088
+v -0.15695953 -0.45267233 0.25665796
+v -0.13874209 -0.46226468 0.25522288
+v -0.14156274 -0.46218971 0.26527633
+v -0.14001995 -0.46276721 0.26527633
+v -0.13989528 -0.46275977 0.28720364
+v 0.00224445 -0.48954930 0.27578477
+v -0.00830577 -0.48950434 0.28720354
+v -0.00830577 -0.48951926 0.26527623
+v 0.00224445 -0.48855926 0.26278746
+v 0.00222887 -0.47856187 0.24887587
+v -0.00830577 -0.46979451 0.24532113
+v -0.15695953 -0.44045501 0.24759269
+v -0.11041076 -0.45270981 0.24581730
+v -0.12742825 -0.45270982 0.24728924
+v -0.15695953 -0.45025736 0.25180345
+v -0.12742825 -0.46425963 0.25302933
+v -0.08631822 -0.47867441 0.25614945
+v -0.11042634 -0.47270455 0.26527629
+v -0.13023333 -0.46603716 0.26278754
+v -0.12744384 -0.46727464 0.26527631
+v -0.12744384 -0.46726720 0.28720362
+v 0.00224445 -0.48954178 0.26527623
+v -0.02532327 -0.48854434 0.28720355
+v -0.02532327 -0.48854426 0.26527624
+v -0.01132902 -0.48844678 0.26278746
+v -0.00830577 -0.48854426 0.26278746
+v 0.00222887 -0.48856678 0.26278746
+v 0.00222887 -0.48393931 0.25105301
+v -0.00830577 -0.48393931 0.25104891
+v -0.02533885 -0.46979451 0.24547693
+v -0.04235635 -0.46979451 0.24590334
+v -0.05937385 -0.46979452 0.24689966
+v -0.11041076 -0.46692208 0.25131958
+v -0.07639135 -0.47971689 0.25458732
+v -0.08691040 -0.47881695 0.26278749
+v -0.09563732 -0.47674696 0.26527628
+v -0.04235635 -0.48687932 0.26527624
+v -0.05937385 -0.48438186 0.26527625
+v -0.07637576 -0.48114190 0.26527626
+v -0.11042634 -0.47284710 0.28223840
+v -0.09580875 -0.47687454 0.28223839
+v -0.11042634 -0.47285462 0.28720360
+v -0.12245703 -0.46890969 0.28720362
+v -0.04235635 -0.48693940 0.28720355
+v -0.04570687 -0.48579181 0.26278747
+v -0.05937385 -0.48133686 0.25266026
+v -0.02844003 -0.48745679 0.26278746
+v -0.02533885 -0.48343681 0.25123342
+v -0.04235635 -0.48259684 0.25166803
+v -0.07639135 -0.46979452 0.24883081
+v -0.08712857 -0.47886195 0.26527627
+v -0.05937385 -0.48447193 0.28720356
+v -0.05937385 -0.48445692 0.28223836
+v -0.07637576 -0.48124698 0.28720357
+v -0.08734675 -0.47892203 0.28720358
+v -0.09585549 -0.47688955 0.28720359
+v -0.10620313 -0.47403210 0.28720360
+v -0.09337767 -0.47748204 0.28720359
+f 1 2 9
+f 1 9 16
+f 1 16 28
+f 1 28 31
+f 1 31 17
+f 1 17 10
+f 1 10 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 8 9
+f 3 10 11
+f 3 11 4
+f 4 11 21
+f 4 21 37
+f 4 37 59
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+f 18 20 19
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+f 40 64 41
+f 41 64 45
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+f 47 64 65
+f 47 65 48
+f 48 65 62
+f 48 62 66
+f 48 66 49
+f 49 66 62
+f 49 62 50
+f 50 62 61
+f 50 61 53
+f 51 67 52
+f 51 55 67
+f 52 67 57
+f 53 60 68
+f 53 68 69
+f 53 69 54
+f 54 69 70
+f 54 70 55
+f 55 70 71
+f 55 71 67
+f 56 57 72
+f 56 72 73
+f 56 73 58
+f 57 67 72
+f 62 65 63
+f 63 65 64
+f 67 71 74
+f 67 74 72
+f 68 70 69
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_12.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd9195438af8e26e9cae2d352d340b73e60370a5
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_12.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.28607163 0.28427771 0.26250998
+v 0.28607163 0.28855534 0.25365263
+v 0.28607163 0.28775072 0.26251173
+v 0.27583296 0.25145148 0.26251159
+v 0.27506371 0.25256453 0.24487285
+v 0.28607163 0.29441523 0.25183593
+v 0.28607163 0.31908850 0.26251184
+v 0.25767652 0.20289605 0.26251142
+v 0.26806108 0.24403615 0.24487282
+v 0.27506371 0.26035540 0.24487288
+v 0.28607163 0.31106974 0.24711115
+v 0.28607163 0.31908855 0.24721306
+v 0.26420170 0.31908850 0.26251184
+v 0.24226545 0.18423018 0.26251135
+v 0.25954653 0.23534686 0.24487278
+v 0.26860484 0.26889717 0.24487291
+v 0.26009029 0.27722443 0.24487294
+v 0.24329993 0.29161271 0.24487299
+v 0.23364480 0.29987288 0.24487302
+v 0.22475889 0.30724805 0.24487305
+v 0.22303475 0.30864264 0.24487305
+v 0.21300827 0.30925948 0.24487306
+v 0.28233161 0.31908855 0.24728559
+v 0.21300827 0.30990306 0.26251181
+v 0.26753059 0.31908853 0.25272885
+v 0.20377755 0.30814650 0.24487305
+v 0.22621777 0.18233945 0.26251134
+v 0.21300827 0.19915490 0.24487265
+v 0.22490478 0.20191723 0.24487266
+v 0.23341932 0.21000309 0.24487269
+v 0.28108492 0.31908855 0.24731149
+v 0.20380408 0.30811966 0.24830444
+v 0.20401627 0.30794530 0.26251180
+v 0.27766319 0.31908855 0.24804889
+v 0.16961324 0.27415365 0.24487293
+v 0.16967955 0.27409995 0.26251168
+v 0.21300827 0.18209808 0.26251134
+v 0.21083321 0.19957057 0.24487265
+v 0.19607200 0.18499451 0.26251135
+v 0.16079364 0.26482067 0.26251164
+v 0.16352573 0.26671146 0.24487290
+v 0.20165553 0.20227928 0.24487266
+v 0.18310125 0.22115971 0.24487273
+v 0.19144338 0.21257771 0.24487270
+v 0.19314099 0.21084789 0.24487269
+v 0.19993141 0.20396886 0.24487267
+v 0.15596607 0.23093511 0.26251152
+v 0.16804825 0.23668780 0.24487279
+v 0.17631082 0.22814601 0.24487276
+v 0.15999789 0.26384179 0.26251164
+v 0.16208011 0.26480732 0.24487289
+v 0.15059475 0.24773709 0.26251158
+v 0.16050187 0.24773715 0.24487283
+v 0.16071407 0.25118337 0.24487284
+f 1 2 6
+f 1 6 11
+f 1 11 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 24
+f 3 24 33
+f 3 33 36
+f 3 36 40
+f 3 40 50
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+f 3 52 47
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+f 12 22 23
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+f 26 34 31
+f 27 37 28
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+f 28 39 38
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+f 40 41 50
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+f 47 52 53
+f 47 53 48
+f 50 51 52
+f 51 54 52
+f 52 54 53
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_13.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a6f95be7bf5b391899c3b42d78338a0a7970e3c
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_13.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.18411849 -0.39274058 0.32031770
+v 0.18429978 -0.39274045 0.28721036
+v 0.18365228 -0.39278933 0.32802031
+v 0.24796089 -0.39274058 0.32031770
+v 0.24772779 -0.39274045 0.28721036
+v -0.01660305 -0.44861213 0.28721015
+v -0.01657716 -0.44917752 0.32802010
+v 0.00002446 -0.44731618 0.34361854
+v 0.14884329 -0.41054593 0.34361867
+v 0.24798678 -0.39278933 0.32802031
+v 0.22856213 -0.41686108 0.34361865
+v 0.24306587 -0.39701879 0.28721034
+v -0.01660305 -0.48902723 0.28721000
+v -0.01660305 -0.44915801 0.32031749
+v -0.01657716 -0.48917356 0.32801995
+v 0.00002446 -0.49229223 0.34361837
+v 0.23280963 -0.41054593 0.34361867
+v 0.20999214 -0.43256128 0.34361859
+v 0.22734484 -0.41066266 0.28721029
+v 0.23335353 -0.40556570 0.28721031
+v -0.01660305 -0.48910532 0.32031734
+v -0.00828929 -0.48949503 0.28721000
+v -0.00329068 -0.48951452 0.28721000
+v 0.00875261 -0.48954375 0.28721000
+v 0.00875261 -0.49230198 0.34361837
+v 0.20735038 -0.43422779 0.34361858
+v 0.19595458 -0.43334074 0.28721021
+v 0.20491583 -0.42743488 0.28721023
+v 0.20745399 -0.42564169 0.28721024
+v 0.21346268 -0.42130488 0.28721025
+v 0.22483258 -0.41277746 0.28721028
+v 0.01372533 -0.48930987 0.28721000
+v 0.04006517 -0.49122995 0.34361838
+v 0.02579452 -0.49188291 0.34361837
+v 0.02372255 -0.49195112 0.34361837
+v 0.02312686 -0.49197061 0.34361837
+v 0.17795440 -0.45092205 0.34361852
+v 0.17438026 -0.44646809 0.28721016
+v 0.18292711 -0.44152705 0.28721018
+v 0.02576862 -0.48870564 0.28721000
+v 0.05640779 -0.49007997 0.34361838
+v 0.17502774 -0.45251059 0.34361852
+v 0.16192257 -0.45344597 0.28721013
+v 0.16560031 -0.45139938 0.28721014
+v 0.03076723 -0.48826708 0.28721001
+v 0.07303530 -0.48856939 0.34361839
+v 0.14418138 -0.46775274 0.34361846
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+v 0.04281052 -0.48716583 0.28721001
+v 0.04778324 -0.48646415 0.28721001
+v 0.05982653 -0.48475864 0.28721002
+v 0.07684253 -0.48790669 0.34361839
+v 0.14143601 -0.46869808 0.34361846
+v 0.14884329 -0.45967342 0.28721011
+v 0.07684253 -0.48141592 0.28721003
+v 0.09043980 -0.48521690 0.34361840
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+v 0.11090045 -0.47249867 0.28721006
+v 0.12786466 -0.46687544 0.28721009
+v 0.08766855 -0.47892102 0.28721004
+v 0.09621540 -0.47670876 0.28721005
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
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+f 2 12 20
+f 2 20 19
+f 2 19 31
+f 2 31 30
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+f 2 29 28
+f 2 28 27
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+f 18 30 31
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+f 41 45 46
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+f 53 59 54
+f 55 60 56
+f 56 60 57
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+f 57 61 58
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_14.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dc419a913df1fa59a22eff074dd2520732eb5f4
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_14.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.29303488 0.27926056 0.26290605
+v -0.29303488 0.28478299 0.25292931
+v -0.29303488 0.32596156 0.26290622
+v -0.36779838 -0.00014746 0.26290502
+v -0.29303488 0.29895610 0.24891070
+v -0.36890648 -0.00014744 0.25865381
+v -0.37057995 -0.00014742 0.25227112
+v -0.29303488 0.32596161 0.25105746
+v -0.30757600 0.32596156 0.26290622
+v -0.40853836 -0.00014746 0.26290502
+v -0.29768217 0.29895610 0.24698477
+v -0.29303488 0.31568293 0.24812388
+v -0.37657279 -0.00014741 0.24949429
+v -0.38278047 -0.00014740 0.24661971
+v -0.29753518 0.32596161 0.25026215
+v -0.29303488 0.32318447 0.25026382
+v -0.29768217 0.31606598 0.24740439
+v -0.31287910 0.31842811 0.26290619
+v -0.30716894 0.32596158 0.25831971
+v -0.40852704 0.00585376 0.26290504
+v -0.40852704 -0.00014745 0.26020398
+v -0.31471088 0.28187818 0.24622984
+v -0.40149395 -0.00014742 0.25205545
+v -0.39953779 0.02564507 0.25111532
+v -0.38278047 0.05983291 0.24586675
+v -0.30677321 0.32596159 0.25543672
+v -0.31589815 0.29994569 0.25035810
+v -0.31044804 0.31606596 0.25300020
+v -0.33172827 0.26480022 0.24745813
+v -0.33179612 0.28108014 0.25168410
+v -0.32735238 0.29672157 0.26290611
+v -0.30703325 0.32577004 0.25553107
+v -0.34119243 0.27485544 0.25527645
+v -0.40849313 0.00559842 0.25643135
+v -0.40851575 0.00914166 0.26290505
+v -0.40849313 -0.00014743 0.25643133
+v -0.38278047 0.07691087 0.24569157
+v -0.34874566 0.21353447 0.24572072
+v -0.40590379 -0.00014743 0.25481207
+v -0.40150527 0.01019510 0.25204876
+v -0.39893851 0.04275495 0.25109685
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+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_15.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baa9bc5690cbd74206db4b9d63df3d9ce9d18dfd
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_15.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+v 0.24611885 -0.33816038 0.28720656
+v 0.24923596 -0.33816027 0.25568093
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+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_16.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea623c4c968dd5bf208afecdf14cd92c2cff8dde
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_16.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v -0.31546531 0.19985129 0.32801936
+v -0.31546531 0.31707353 0.33578175
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+v -0.33015081 0.29241039 0.26290609
+v -0.31546531 0.31603144 0.32803405
+v -0.31570341 0.31707353 0.33553921
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+v -0.40853057 -0.00010843 0.26290502
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+v -0.39536888 0.13122977 0.26290550
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+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_17.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be447ed93cc64135a4cb1ea75adeac0814dac42
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_17.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.21257366 -0.18049923 0.26278780
+v -0.21257366 -0.19956292 0.24486946
+v -0.22735714 -0.18108383 0.26278779
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+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_18.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bb392350eb7dbbc353190236e4e1808cd456b3f
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_18.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_19.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21eb236ec46d3abf598cd58907395cb6f6685ef0
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_19.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.30768942 0.32658488 0.32031979
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+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_2.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84b7afe12b7373862d098cbda65ab9e709c7c925
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_2.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_20.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0544ca54a9b6d8253322a74580cfae62158f8357
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_20.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_21.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d472133f31327bbe97ff08c71922ff90b6b24a5e
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_21.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_22.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ad1cdc68231216b260fb28a89dd7efed77d0c5e
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_22.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_23.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..769a70d7bc4e066c74fc07efaed8cd5cc226f86e
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_23.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_24.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a5ad08800272dcb387956806424753e7425470c
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_24.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.41638176 -0.00619545 0.34362016
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+f 18 20 19
+f 20 29 30
+f 20 30 34
+f 20 34 31
+f 26 32 27
+f 27 32 33
+f 28 31 34
+f 28 34 35
+f 28 36 31
+f 29 37 34
+f 29 34 30
+f 31 36 38
+f 32 39 33
+f 33 39 40
+f 34 37 41
+f 34 41 35
+f 36 42 43
+f 36 43 44
+f 36 44 45
+f 36 45 46
+f 36 46 47
+f 36 47 48
+f 36 48 38
+f 39 49 40
+f 40 49 50
+f 40 50 51
+f 42 52 53
+f 42 53 43
+f 50 54 55
+f 50 55 56
+f 50 56 51
+f 52 57 58
+f 52 58 59
+f 52 59 53
+f 54 60 55
+f 55 60 61
+f 55 61 62
+f 55 62 63
+f 57 63 64
+f 57 64 65
+f 57 65 66
+f 57 66 58
+f 62 67 63
+f 63 68 64
+f 63 67 68
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_25.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdef97d5251b74a186e49bd23ead4edcd4d37abc
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_25.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00873791 0.48962898 0.28721360
+v 0.00875021 0.48959746 0.26769293
+v 0.00873791 0.48959746 0.26769535
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+v 0.00162274 0.48961002 0.28431716
+v 0.00375237 0.48961633 0.28721360
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+v 0.00875021 0.48959115 0.26527522
+v 0.02576260 0.48833985 0.26769292
+v 0.00162274 0.48957850 0.26527522
+v 0.00162274 0.48961001 0.28721360
+v 0.03780176 0.48731600 0.28721359
+v 0.04036224 0.48706328 0.26769292
+v 0.02576260 0.48833354 0.26527521
+v 0.02920940 0.48717703 0.26251658
+v 0.01208622 0.48835881 0.26251658
+v 0.00875021 0.48849784 0.26251658
+v 0.00637439 0.48849784 0.26251658
+v 0.00162274 0.48849152 0.26251658
+v 0.00162274 0.44870295 0.28721345
+v 0.04279961 0.48686730 0.28721359
+v 0.04278731 0.48684208 0.26527521
+v 0.04278731 0.48598895 0.26251658
+v 0.00162274 0.44958779 0.26251644
+v 0.00162274 0.44866503 0.28513420
+v 0.12738147 0.42534551 0.28721336
+v 0.05482646 0.48511043 0.28721358
+v 0.05981200 0.48438374 0.26769291
+v 0.05981200 0.48438375 0.26527520
+v 0.05738694 0.48473765 0.26769291
+v 0.06424360 0.48315774 0.26251656
+v 0.04651723 0.48564769 0.26251657
+v 0.00162274 0.44833018 0.26527507
+v 0.12084487 0.42937754 0.26251637
+v 0.12738147 0.42506753 0.26769511
+v 0.00162274 0.44848810 0.27515628
+v 0.12738147 0.46694145 0.28721352
+v 0.05979969 0.48436470 0.28721358
+v 0.07681208 0.48097114 0.26527519
+v 0.07977878 0.48025704 0.26251655
+v 0.12084487 0.46851512 0.26251651
+v 0.12738147 0.46702367 0.26769527
+v 0.12738147 0.46696673 0.28239015
+v 0.11086148 0.47242691 0.28224270
+v 0.11086148 0.47239528 0.28721354
+v 0.07182654 0.48193796 0.28721357
+v 0.07679977 0.48093315 0.28721357
+v 0.08561372 0.47910053 0.26769531
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+v 0.08689396 0.47874664 0.26251655
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+v 0.11086148 0.47241433 0.26527516
+v 0.12084487 0.46878054 0.26365526
+v 0.12084487 0.46915339 0.26527514
+v 0.12544881 0.46765563 0.26769527
+v 0.11086148 0.47242065 0.26769529
+v 0.09549863 0.47666108 0.28224271
+v 0.09544939 0.47665474 0.28721355
+v 0.10633141 0.47365292 0.28721354
+v 0.08400111 0.47939116 0.28721356
+v 0.08694320 0.47875920 0.28721356
+v 0.08704168 0.47879085 0.26769531
+v 0.09558480 0.47660427 0.26527517
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 20
+f 1 20 26
+f 1 26 37
+f 1 37 45
+f 1 45 59
+f 1 59 58
+f 1 58 61
+f 1 61 60
+f 1 60 47
+f 1 47 46
+f 1 46 38
+f 1 38 27
+f 1 27 21
+f 1 21 12
+f 1 12 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 14
+f 2 14 8
+f 3 8 4
+f 4 8 10
+f 4 10 19
+f 4 19 24
+f 4 24 33
+f 4 33 36
+f 4 36 25
+f 4 25 20
+f 4 20 11
+f 4 11 5
+f 5 11 6
+f 7 12 13
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+f 8 15 16
+f 8 16 17
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+f 8 19 10
+f 9 13 14
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+f 15 31 40
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+f 15 34 24
+f 15 24 19
+f 15 19 18
+f 15 18 17
+f 15 17 16
+f 20 25 26
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 22 30 29
+f 22 29 31
+f 22 31 32
+f 22 32 23
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+f 24 35 33
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+f 26 42 43
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+f 26 36 33
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+f 29 40 31
+f 34 41 42
+f 34 42 35
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+f 39 48 49
+f 39 49 50
+f 39 50 40
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+f 41 52 53
+f 41 53 42
+f 42 53 54
+f 42 54 55
+f 42 55 44
+f 42 44 43
+f 44 56 57
+f 44 57 58
+f 44 58 59
+f 44 59 45
+f 44 55 56
+f 47 60 48
+f 48 60 61
+f 48 61 62
+f 48 62 49
+f 49 62 57
+f 49 57 63
+f 49 63 50
+f 50 63 52
+f 50 52 51
+f 52 56 54
+f 52 54 53
+f 52 63 56
+f 54 56 55
+f 56 63 57
+f 57 62 61
+f 57 61 58
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_26.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b718af66f2b60eab0429def94230f7f2c3c67e2
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_26.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.27789237 0.26386119 0.33578869
+v -0.29498738 0.22971133 0.33578856
+v -0.15331320 0.26386119 0.33578869
+v -0.27692634 0.26386122 0.32802475
+v -0.27696834 0.26378213 0.32802475
+v -0.29498738 0.22952674 0.33528306
+v -0.29498738 -0.00554033 0.33578770
+v -0.15541331 0.26386122 0.32802475
+v -0.05859772 0.25940457 0.33578867
+v 0.12726301 0.25871893 0.33578715
+v -0.04650102 0.25682030 0.32032736
+v -0.05830371 0.25679394 0.32032736
+v -0.29498738 0.22230124 0.32802460
+v -0.29498738 0.22607220 0.33152521
+v -0.29498738 0.22723251 0.33269357
+v -0.29498738 0.22934215 0.33485176
+v -0.29498738 -0.00554030 0.32802376
+v -0.05859772 -0.00554033 0.33578770
+v 0.13410940 0.25613467 0.32032736
+v 0.02158490 0.25674118 0.32032736
+v 0.00873216 0.25676758 0.32032736
+v -0.02533181 0.25682030 0.32032736
+v 0.12726301 -0.00554033 0.33578618
+v 0.13410940 0.25660931 0.32802472
+v -0.05830371 -0.00453820 0.32032640
+v 0.12726301 -0.00554030 0.32802376
+v 0.13410940 -0.00453820 0.32032640
+v 0.13410940 -0.00453822 0.32802376
+f 1 2 7
+f 1 7 18
+f 1 18 9
+f 1 9 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 16
+f 2 16 15
+f 2 15 14
+f 2 14 13
+f 2 13 17
+f 2 17 7
+f 2 5 6
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+f 4 11 12
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+f 5 15 16
+f 5 16 6
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+f 8 20 21
+f 8 21 22
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+f 19 24 28
+f 19 28 27
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+f 23 27 28
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_27.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59c9413c15a5c956cae32901217aa951557c4ba3
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_27.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.12085545 0.46916166 0.26769285
+v 0.12085545 0.46914762 0.26527514
+v 0.12085545 0.45064675 0.26769279
+v 0.12738856 0.46694035 0.28721352
+v 0.12790242 0.46679978 0.28224267
+v 0.12792076 0.46684202 0.26769284
+v 0.12792076 0.46684203 0.26527513
+v 0.12085545 0.46878210 0.26365526
+v 0.13091205 0.46552056 0.26251650
+v 0.12085545 0.42794239 0.26764676
+v 0.12738856 0.42532746 0.28721336
+v 0.12790242 0.46675761 0.28721351
+v 0.13950053 0.46246977 0.28721350
+v 0.13953723 0.46248386 0.28224266
+v 0.13966570 0.46249797 0.26769525
+v 0.13799572 0.46311656 0.26769283
+v 0.13968404 0.46249798 0.26527512
+v 0.12085545 0.46850094 0.26251651
+v 0.13939043 0.46238554 0.26251649
+v 0.12085545 0.42792835 0.26523630
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+v 0.23610266 0.34931362 0.28721308
+v 0.14799727 0.45908171 0.28721349
+v 0.14818079 0.45906773 0.26769282
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+v 0.12085545 0.42936232 0.26251637
+v 0.16194438 0.45336002 0.26527509
+v 0.16488061 0.45153244 0.26251645
+v 0.12085545 0.42799864 0.26508157
+v 0.25746378 0.32554093 0.26527462
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+v 0.29033126 0.34931362 0.28721308
+v 0.16194438 0.45341618 0.28721347
+v 0.16194438 0.45341619 0.28224263
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+v 0.30769175 0.32611733 0.26251599
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+v 0.30321398 0.33220463 0.26251601
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+v 0.28746842 0.35213945 0.26251608
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+v 0.27750357 0.36435614 0.28721314
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+v 0.19600471 0.43383279 0.28721339
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+v 0.27713654 0.36399071 0.26251613
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+v 0.21375058 0.42161613 0.26527497
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+v 0.27122737 0.37052786 0.26251615
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+v 0.26131759 0.38184486 0.26769253
+v 0.26126252 0.38184480 0.28224236
+v 0.26124417 0.38183074 0.28721320
+v 0.21380563 0.42165820 0.28721335
+v 0.21378728 0.42165821 0.28224251
+v 0.21376892 0.42161612 0.26769268
+v 0.22533035 0.41308265 0.26769507
+v 0.23384544 0.40617999 0.26527491
+v 0.24425072 0.39763247 0.26527488
+v 0.24377357 0.39728102 0.26251625
+v 0.25276581 0.39040644 0.26527485
+v 0.26010639 0.38308200 0.26769254
+v 0.25428897 0.38794623 0.26251622
+v 0.25876672 0.38433312 0.28721321
+v 0.22538541 0.41311069 0.28721332
+v 0.23388215 0.40625021 0.28224245
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+v 0.25276581 0.39040643 0.26769256
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+v 0.25276581 0.39036420 0.28721323
+v 0.23388215 0.40626425 0.28721329
+v 0.24122273 0.40021915 0.28721327
+v 0.25027000 0.39254325 0.28721324
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+f 29 35 30
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+f 100 106 101
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+f 102 106 103
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_28.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11314ca5e17e6ef75579903f341a2cd6ee117b2f
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_28.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.15591392 -0.25811232 0.28721085
+v 0.15604155 -0.25811231 0.28195511
+v 0.17042174 -0.27337162 0.26299465
+v 0.16324583 -0.26591011 0.28721082
+v 0.30079356 -0.25811232 0.28721085
+v 0.16049458 -0.25811225 0.26567352
+v 0.16425272 -0.26617635 0.26299467
+v 0.16852139 -0.27121041 0.26299465
+v 0.17036500 -0.27341536 0.28721080
+v 0.19987700 -0.30271587 0.26299454
+v 0.30079356 -0.30271595 0.28721069
+v 0.30079356 -0.25811224 0.26299470
+v 0.16079239 -0.25811224 0.26475371
+v 0.16137385 -0.25811224 0.26299470
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_29.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbc5e6d98f641fc20f4ade201d203989c2755a17
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_29.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_3.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff11e4b96b6b8ca92af94cb61cd6d01611249ba
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_3.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_30.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fadda3728a7a5cb8af363acb7cb95fc5f3e27d7a
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_30.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_31.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be585fa92d7eda764c51caf975651029c5634db6
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_31.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_32.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88db38f0656373bc0d422e81b62b500c962eba39
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_32.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_33.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01d420564747e43c835e1790569f5ab13e333733
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_33.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+f 19 31 23
+f 19 23 20
+f 20 23 21
+f 23 32 33
+f 23 33 34
+f 23 31 32
+f 24 36 35
+f 25 29 30
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 28 39 40
+f 28 40 30
+f 28 30 29
+f 30 40 31
+f 31 40 41
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 33 43 44
+f 33 44 45
+f 33 45 34
+f 34 45 47
+f 34 47 46
+f 35 36 46
+f 35 46 47
+f 35 47 48
+f 37 49 38
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 39 56 40
+f 39 55 57
+f 39 57 56
+f 40 56 58
+f 40 58 41
+f 41 58 42
+f 42 58 59
+f 42 59 43
+f 43 59 60
+f 43 60 61
+f 43 61 44
+f 44 61 47
+f 44 47 45
+f 47 61 60
+f 47 60 62
+f 47 62 63
+f 47 63 64
+f 47 64 65
+f 47 65 48
+f 53 66 54
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+f 54 57 55
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+f 57 70 58
+f 58 70 59
+f 59 70 62
+f 59 62 60
+f 62 70 69
+f 62 69 63
+f 63 69 68
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_34.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7d7861427c852fcec39209350f6b09463bcfcbb
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_34.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.32517694 -0.30344910 0.32032309
+v -0.32814774 -0.29890670 0.32032310
+v -0.32517694 -0.30270676 0.28721303
+v -0.32517694 -0.23875708 0.32032332
+v -0.32999937 -0.29463129 0.26527674
+v -0.33450908 -0.28860467 0.32032314
+v -0.33647592 -0.28426991 0.26527678
+v -0.32999937 -0.29270152 0.26278741
+v -0.32517694 -0.20642577 0.28721338
+v -0.32517694 -0.20666340 0.32029529
+v -0.32520984 -0.20666340 0.32032344
+v -0.33763625 -0.28186510 0.26278745
+v -0.34193200 -0.27613535 0.32032319
+v -0.34025321 -0.27845094 0.28721312
+v -0.33658288 -0.28444808 0.28224574
+v -0.34163574 -0.27571949 0.26527681
+v -0.34150406 -0.27548197 0.26278748
+v -0.32999937 -0.20108169 0.26278775
+v -0.32999937 -0.19817219 0.26527709
+v -0.36719627 -0.00014746 0.26527782
+v -0.32517694 -0.20639608 0.28769208
+v -0.32517694 -0.20630706 0.29958109
+v -0.36769827 -0.00014754 0.28721414
+v -0.36793694 -0.00442286 0.32032418
+v -0.35908208 -0.24240880 0.32032331
+v -0.34172627 -0.27589769 0.28224577
+v -0.35869529 -0.24193355 0.26527693
+v -0.35857186 -0.24169605 0.26278760
+v -0.36783816 -0.00014746 0.26278849
+v -0.32517694 -0.20630706 0.29920938
+v -0.40857373 -0.00014754 0.28721414
+v -0.40924853 -0.00442286 0.32032418
+v -0.36314741 -0.23359120 0.32032334
+v -0.36398682 -0.23059242 0.26527697
+v -0.37201049 -0.21165092 0.26278771
+v -0.40854080 -0.00014746 0.26278849
+v -0.40859017 -0.00014753 0.28224678
+v -0.40924032 -0.00854962 0.32032417
+v -0.40854902 -0.00014746 0.26510322
+v -0.40854902 -0.00412576 0.26278847
+v -0.40854902 -0.00712435 0.26278846
+v -0.36448057 -0.23062231 0.32032335
+v -0.37104764 -0.21414479 0.26527703
+v -0.37450398 -0.20553502 0.26278774
+v -0.40882884 -0.01977201 0.32032413
+v -0.40857373 -0.00786657 0.26527779
+v -0.40828569 -0.01641695 0.26527776
+v -0.40834331 -0.01324025 0.26278844
+v -0.37479202 -0.20595088 0.32032344
+v -0.37452045 -0.20559439 0.26527706
+v -0.37771346 -0.19642055 0.26527710
+v -0.38342465 -0.17931975 0.26527716
+v -0.37732667 -0.19642055 0.26278777
+v -0.40787422 -0.02565019 0.26527773
+v -0.40747921 -0.04717483 0.32032403
+v -0.40687025 -0.04272129 0.26527766
+v -0.40303534 -0.07689317 0.26278821
+v -0.40418746 -0.07689317 0.26527754
+v -0.40560290 -0.05982207 0.26527760
+v -0.37729377 -0.19900368 0.32032347
+v -0.37819899 -0.19642076 0.32032348
+v -0.38253590 -0.18350609 0.32032353
+v -0.38862566 -0.16227842 0.28224618
+v -0.38851044 -0.16227835 0.26527722
+v -0.39140719 -0.15031373 0.26278794
+v -0.38257702 -0.17931975 0.26278783
+v -0.40721585 -0.04272136 0.28224662
+v -0.40667273 -0.05997073 0.32032398
+v -0.40607199 -0.05982214 0.28224656
+v -0.40131539 -0.09399396 0.26278814
+v -0.40453309 -0.07689324 0.28224650
+v -0.40228646 -0.09399396 0.26527747
+v -0.38885608 -0.16210041 0.32032360
+v -0.38865034 -0.16227843 0.28721354
+v -0.39069124 -0.15565793 0.32032363
+v -0.39354684 -0.14544497 0.32032367
+v -0.39106978 -0.15295604 0.26527726
+v -0.39312714 -0.14446502 0.26527729
+v -0.39297900 -0.14381187 0.26278796
+v -0.40458246 -0.07689325 0.28721386
+v -0.40489519 -0.07689338 0.32032392
+v -0.39897823 -0.11106506 0.26278808
+v -0.40249219 -0.09399403 0.28224643
+v -0.39976824 -0.11106506 0.26527741
+v -0.39625432 -0.13315378 0.32032371
+v -0.39666579 -0.12813616 0.26527735
+v -0.39611442 -0.12813616 0.26278802
+v -0.40214656 -0.09815061 0.32032384
+v -0.40252510 -0.09399404 0.28721379
+v -0.40260740 -0.09396440 0.29920979
+v -0.39962013 -0.11522170 0.32032378
+v -0.39731590 -0.12816604 0.32032373
+f 1 2 3
+f 1 3 9
+f 1 9 21
+f 1 21 30
+f 1 30 22
+f 1 22 10
+f 1 10 4
+f 1 4 11
+f 1 11 24
+f 1 24 32
+f 1 32 38
+f 1 38 45
+f 1 45 55
+f 1 55 68
+f 1 68 81
+f 1 81 88
+f 1 88 91
+f 1 91 92
+f 1 92 85
+f 1 85 76
+f 1 76 75
+f 1 75 73
+f 1 73 62
+f 1 62 61
+f 1 61 60
+f 1 60 49
+f 1 49 42
+f 1 42 33
+f 1 33 25
+f 1 25 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 3 8 18
+f 3 18 9
+f 4 10 11
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+f 9 18 19
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+f 10 20 23
+f 10 23 24
+f 10 24 11
+f 13 25 26
+f 13 26 14
+f 14 26 16
+f 14 16 15
+f 16 26 25
+f 16 25 27
+f 16 27 28
+f 16 28 17
+f 18 29 20
+f 18 20 19
+f 20 29 36
+f 20 36 39
+f 20 39 37
+f 20 37 31
+f 20 31 23
+f 20 22 30
+f 20 30 21
+f 23 31 32
+f 23 32 24
+f 25 33 34
+f 25 34 27
+f 27 34 28
+f 28 34 35
+f 31 37 32
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+f 32 39 36
+f 32 36 40
+f 32 40 41
+f 32 41 38
+f 33 42 34
+f 34 42 43
+f 34 43 35
+f 35 43 44
+f 38 41 46
+f 38 46 47
+f 38 47 45
+f 41 48 46
+f 42 49 43
+f 43 49 50
+f 43 50 44
+f 44 50 51
+f 44 51 52
+f 44 52 53
+f 45 54 55
+f 45 47 54
+f 46 48 47
+f 47 48 54
+f 48 56 54
+f 48 57 58
+f 48 58 59
+f 48 59 56
+f 49 60 50
+f 50 60 61
+f 50 61 51
+f 51 61 62
+f 51 62 52
+f 52 63 64
+f 52 64 65
+f 52 65 66
+f 52 66 53
+f 52 62 63
+f 54 56 67
+f 54 67 55
+f 55 67 68
+f 56 69 67
+f 56 59 69
+f 57 70 58
+f 58 71 69
+f 58 69 59
+f 58 70 72
+f 58 72 71
+f 62 73 74
+f 62 74 63
+f 63 74 75
+f 63 75 76
+f 63 76 64
+f 64 76 77
+f 64 77 65
+f 65 77 78
+f 65 78 79
+f 67 69 68
+f 68 71 80
+f 68 80 81
+f 68 69 71
+f 70 82 72
+f 71 72 83
+f 71 83 80
+f 72 82 84
+f 72 84 83
+f 73 75 74
+f 76 85 78
+f 76 78 77
+f 78 85 86
+f 78 86 79
+f 79 86 87
+f 80 83 81
+f 81 83 89
+f 81 89 90
+f 81 90 88
+f 82 87 84
+f 83 84 91
+f 83 91 88
+f 83 88 89
+f 84 87 86
+f 84 86 92
+f 84 92 91
+f 85 92 86
+f 88 90 89
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_35.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..925904aa7b64d8871377f532baf2188300c784d5
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_35.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.21331509 0.37175605 0.26251377
+v 0.21605698 0.37175608 0.25303931
+v 0.21621367 0.37136942 0.25314338
+v 0.21427654 0.36977636 0.26251376
+v 0.26926412 0.37175605 0.26251377
+v 0.22337823 0.37175609 0.25018201
+v 0.27766788 0.31908855 0.24804818
+v 0.26753355 0.31908853 0.25273012
+v 0.26420764 0.31908850 0.26251357
+v 0.27125111 0.37050844 0.26251376
+v 0.26295420 0.37175609 0.25141144
+v 0.24263563 0.37175611 0.24592777
+v 0.28109347 0.31908855 0.24731149
+v 0.28606451 0.31908850 0.26251357
+v 0.27715510 0.36396624 0.26251374
+v 0.27589457 0.36253307 0.25349461
+v 0.26081766 0.37175609 0.25047636
+v 0.26467055 0.36786377 0.25046332
+v 0.26406522 0.35023748 0.24590004
+v 0.28109347 0.33315763 0.24608374
+v 0.28606451 0.31908855 0.24721230
+v 0.28606451 0.35310898 0.26251370
+v 0.28606451 0.35251096 0.26136881
+v 0.28606451 0.34773708 0.25225863
+v 0.28137835 0.35026324 0.25083730
+v 0.28606451 0.32816205 0.24642198
+v 0.28606451 0.34507690 0.25119993
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 22
+f 1 22 15
+f 1 15 10
+f 1 10 5
+f 1 5 11
+f 1 11 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 6 12 7
+f 7 13 21
+f 7 21 14
+f 7 14 9
+f 7 9 8
+f 7 12 13
+f 10 15 16
+f 10 16 11
+f 11 16 18
+f 11 18 17
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 14 21 26
+f 14 26 27
+f 14 27 24
+f 14 24 23
+f 14 23 22
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 18
+f 18 25 20
+f 18 20 19
+f 20 25 26
+f 20 26 21
+f 24 27 25
+f 25 27 26
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_36.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0cbc580ec061f6504619562232bf4264283cbbb
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_36.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.32587425 0.30105252 0.32032531
+v 0.32563579 0.30105265 0.28721291
+v 0.32257343 0.30594893 0.32032532
+v 0.19820878 0.30105252 0.32032531
+v 0.32244793 0.30577670 0.28721292
+v 0.19765656 0.30105265 0.28721291
+v 0.31540698 0.31606986 0.32032536
+v 0.31518109 0.31606999 0.28721296
+v 0.20278977 0.30525247 0.32032532
+v 0.20447157 0.30755203 0.29158537
+v 0.20440882 0.30760872 0.28721293
+v 0.20223755 0.30552883 0.28721292
+v 0.30869237 0.32516873 0.28721299
+v 0.30884298 0.32516861 0.31982948
+v 0.30884298 0.32516860 0.32032539
+v 0.20496104 0.30722850 0.32032533
+v 0.21348296 0.31146150 0.32032534
+v 0.21143719 0.31034726 0.29803218
+v 0.21251656 0.31053618 0.28721294
+v 0.25795001 0.32516873 0.28721299
+v 0.25827631 0.32516860 0.32032539
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 21
+f 1 21 17
+f 1 17 16
+f 1 16 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 11
+f 2 11 19
+f 2 19 20
+f 2 20 13
+f 2 13 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 6
+f 7 8 13
+f 7 13 14
+f 7 14 15
+f 9 16 10
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 13 20 21
+f 13 21 15
+f 13 15 14
+f 17 19 18
+f 17 21 20
+f 17 20 19
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_37.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37842430f5e4b883d0bfdae53038c80cc1de10af
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_37.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.32998008 -0.25525216 0.26278755
+v -0.32998008 -0.29272238 0.26278741
+v -0.32998008 -0.25525224 0.28720850
+v -0.15857283 -0.25525216 0.26278755
+v -0.32760761 -0.29738888 0.26278740
+v -0.32998008 -0.29413747 0.26460911
+v -0.32998008 -0.29507876 0.28720836
+v -0.14211259 -0.25525224 0.28720850
+v -0.15064617 -0.25525219 0.27178849
+v -0.16203040 -0.26488135 0.26278752
+v -0.32330403 -0.30413523 0.26278737
+v -0.32249481 -0.30647179 0.26527368
+v -0.32793863 -0.29793518 0.26527372
+v -0.32998008 -0.29465087 0.26527373
+v -0.32998008 -0.29506559 0.28609188
+v -0.32808577 -0.29813270 0.28720834
+v -0.20543395 -0.30686018 0.28720831
+v -0.20547074 -0.30686017 0.28224044
+v -0.20578339 -0.30673507 0.26527368
+v -0.20583856 -0.30671530 0.26278736
+v -0.14275628 -0.25525223 0.28202306
+v -0.16344652 -0.26663211 0.26278751
+v -0.31026458 -0.32249190 0.26278731
+v -0.31123930 -0.32249190 0.26527363
+v -0.31581874 -0.31604172 0.26527365
+v -0.32264192 -0.30663640 0.28224044
+v -0.32998008 -0.29499975 0.28224049
+v -0.32266034 -0.30667591 0.28720831
+v -0.21393075 -0.31005236 0.28720830
+v -0.21396753 -0.30998654 0.28224043
+v -0.19645898 -0.29817212 0.26278739
+v -0.21435375 -0.30977584 0.26278735
+v -0.17297325 -0.27607043 0.26278748
+v -0.16679375 -0.27008756 0.26278750
+v -0.26338504 -0.32249190 0.26278731
+v -0.31140482 -0.32249197 0.28224039
+v -0.31607622 -0.31604180 0.28720828
+v -0.31602107 -0.31604179 0.28224041
+v -0.26130682 -0.32249198 0.28720826
+v -0.26136201 -0.32249198 0.28449721
+v -0.26160111 -0.32249193 0.27319399
+v -0.26180340 -0.32249190 0.26527363
+v -0.31144159 -0.32249198 0.28720826
+f 1 2 6
+f 1 6 14
+f 1 14 27
+f 1 27 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 21
+f 1 21 9
+f 1 9 4
+f 1 4 10
+f 1 10 22
+f 1 22 34
+f 1 34 33
+f 1 33 31
+f 1 31 20
+f 1 20 32
+f 1 32 35
+f 1 35 23
+f 1 23 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 16
+f 3 16 28
+f 3 28 37
+f 3 37 43
+f 3 43 39
+f 3 39 29
+f 3 29 17
+f 3 17 8
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 16
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 9 21 10
+f 10 21 22
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 12 25 26
+f 12 26 13
+f 13 16 27
+f 13 27 14
+f 13 26 16
+f 15 27 16
+f 16 26 28
+f 17 29 18
+f 18 29 19
+f 19 29 30
+f 19 30 20
+f 20 31 21
+f 20 30 32
+f 21 31 33
+f 21 33 34
+f 21 34 22
+f 23 35 42
+f 23 42 41
+f 23 41 40
+f 23 40 39
+f 23 39 43
+f 23 43 36
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 25 38 26
+f 26 38 37
+f 26 37 28
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 30 42 32
+f 32 42 35
+f 36 43 37
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_38.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..986e178f5d53185afa49ab15121ec7e06a4f9908
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_38.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.31007154 -0.25718898 0.33578678
+v -0.34726301 -0.25718898 0.33578678
+v -0.31007154 -0.25718895 0.32802193
+v -0.31007154 -0.17202477 0.33578709
+v -0.34726301 -0.25718895 0.32802193
+v -0.34726301 -0.14592766 0.33578718
+v -0.31007154 -0.18656551 0.32802218
+v -0.34726301 -0.15002300 0.32802232
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_39.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7473cf3d2798c0e9afc00e9caf537f2826abc226
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_39.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+v -0.03290611 -0.26129377 0.34361922
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 15
+f 1 15 13
+f 1 13 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 10
+f 3 10 14
+f 3 14 11
+f 3 11 7
+f 5 9 14
+f 5 14 10
+f 7 11 12
+f 7 12 8
+f 9 13 11
+f 9 11 14
+f 11 13 15
+f 11 15 12
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_4.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edb2896508862d8a3520cd69cce4b6e6aa661144
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_4.obj
@@ -0,0 +1,3253 @@
+# https://github.com/mikedh/trimesh
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+f 1043 1072 1078
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+f 1043 1079 1077
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+f 1047 1053 1065
+f 1047 1065 1054
+f 1052 1080 1053
+f 1053 1080 1065
+f 1056 1066 1064
+f 1056 1064 1063
+f 1056 1063 1081
+f 1056 1081 1060
+f 1056 1060 1057
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+f 1063 1065 1081
+f 1065 1080 1083
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+f 1072 1085 1079
+f 1081 1084 1082
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_40.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9ce3192c00cb36092fdba971ee17d3b0cfe6fdc
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_40.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.30557355 -0.00014754 0.28477331
+v -0.30557355 -0.00014754 0.28720944
+v -0.30554101 -0.00014753 0.28224157
+v -0.32996592 -0.19819321 0.26527408
+v -0.32996592 -0.19786866 0.28224084
+v -0.32996592 -0.19794358 0.28720871
+v 0.00225852 -0.00014754 0.28720944
+v -0.30150816 -0.00014750 0.27544481
+v -0.32996592 -0.20108985 0.26278775
+v -0.32996592 -0.19871761 0.26481983
+v -0.32996592 -0.25525224 0.28720850
+v 0.00225852 -0.25360416 0.28720851
+v 0.00225852 -0.00014746 0.26347939
+v -0.29731264 -0.00014748 0.26838988
+v -0.32996592 -0.25525216 0.26278755
+v -0.28882408 -0.00014747 0.26567405
+v -0.28062825 -0.00014746 0.26306101
+v -0.22088313 -0.00014746 0.26298452
+v -0.21255720 -0.00014746 0.26297496
+v -0.21255720 -0.00853775 0.26296297
+v -0.21255720 -0.02561797 0.26293900
+v -0.19551504 -0.05980340 0.26288629
+v -0.17850541 -0.07688363 0.26285992
+v -0.24358433 -0.18241148 0.26278782
+v -0.14214447 -0.25525224 0.28720850
+v -0.14272989 -0.25525223 0.28224063
+v -0.14276241 -0.25525223 0.28202306
+v -0.15066556 -0.25525219 0.27178849
+v -0.15860121 -0.25525216 0.26278755
+v 0.00225852 -0.25355421 0.28531984
+v 0.00225852 -0.07688363 0.26311095
+v -0.09342473 -0.00014746 0.26306820
+v -0.20387350 -0.00014746 0.26297735
+v -0.17850541 -0.05980340 0.26288389
+v -0.19551504 -0.04269820 0.26291026
+v -0.16152831 -0.07688363 0.26287187
+v -0.14676277 -0.23063067 0.26278764
+v -0.19554756 -0.18076339 0.26278783
+v -0.21255720 -0.18048871 0.26278783
+v -0.22735526 -0.18106304 0.26278782
+v -0.15411301 -0.24791066 0.26278758
+v 0.00225852 -0.23060569 0.26321795
+v 0.00225852 -0.24611277 0.26844157
+v 0.00225852 -0.25345431 0.28224064
+v 0.00225852 -0.09396386 0.26305590
+v -0.10178319 -0.00014746 0.26304666
+v -0.18686387 -0.00014746 0.26298212
+v -0.16152831 -0.00853775 0.26297969
+v -0.16152831 -0.04269820 0.26292221
+v -0.14448614 -0.02561797 0.26296052
+v -0.16152831 -0.05980340 0.26289584
+v -0.09342473 -0.09396386 0.26292439
+v -0.11043436 -0.00853775 0.26301316
+v -0.12747651 -0.05980340 0.26292931
+v -0.05937294 -0.09396386 0.26296026
+v -0.04236330 -0.11104409 0.26297455
+v -0.02532114 -0.11104409 0.26299846
+v -0.00831152 -0.11104409 0.26302237
+v 0.00225852 -0.11104409 0.26303909
+v 0.00225852 -0.12809935 0.26304859
+v 0.00225852 -0.10455161 0.26304391
+v -0.02532114 -0.09396386 0.26301047
+v -0.11043436 -0.00014746 0.26302515
+v -0.12747651 -0.00014746 0.26301319
+v -0.14448614 -0.00853775 0.26298928
+v -0.12747651 -0.00853775 0.26299884
+v -0.04236330 -0.09396386 0.26298417
+f 1 2 7
+f 1 7 13
+f 1 13 32
+f 1 32 46
+f 1 46 63
+f 1 63 64
+f 1 64 47
+f 1 47 33
+f 1 33 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 11
+f 2 11 25
+f 2 25 12
+f 2 12 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 15
+f 4 15 11
+f 4 11 6
+f 4 6 5
+f 7 12 30
+f 7 30 44
+f 7 44 43
+f 7 43 42
+f 7 42 60
+f 7 60 59
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+f 7 61 45
+f 7 45 31
+f 7 31 13
+f 8 14 9
+f 9 14 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 40
+f 9 40 39
+f 9 39 38
+f 9 38 37
+f 9 37 41
+f 9 41 29
+f 9 29 15
+f 11 15 29
+f 11 29 28
+f 11 28 27
+f 11 27 26
+f 11 26 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 13 31 32
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 21
+f 21 35 22
+f 22 35 23
+f 23 34 51
+f 23 51 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 23 35 34
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 31 45 32
+f 32 45 46
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 51
+f 36 52 37
+f 36 51 53
+f 36 53 54
+f 36 54 55
+f 36 55 52
+f 37 52 55
+f 37 55 56
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 37 60 41
+f 41 60 42
+f 45 61 62
+f 45 62 63
+f 45 63 46
+f 47 64 48
+f 48 64 65
+f 48 65 50
+f 48 50 49
+f 50 65 66
+f 50 66 51
+f 51 66 63
+f 51 63 53
+f 53 63 55
+f 53 55 54
+f 55 67 58
+f 55 58 57
+f 55 57 56
+f 55 63 67
+f 58 67 61
+f 58 61 59
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+f 62 67 63
+f 63 66 64
+f 64 66 65
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_41.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aafdc67b7a745a7d92952bf1bf1f01a1dd778e2e
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_41.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.32034205 -0.31317741 0.33578678
+v -0.31913070 -0.31317738 0.32802172
+v -0.32138748 -0.31713658 0.34361902
+v -0.26471969 -0.31317741 0.33578678
+v -0.31775344 -0.31514980 0.32802171
+v -0.31501546 -0.32885669 0.34361897
+v -0.26745767 -0.31317738 0.32802172
+v -0.25916079 -0.31713658 0.34361902
+v -0.25919397 -0.31713658 0.34333503
+v -0.15186537 -0.41318434 0.32802135
+v -0.30854387 -0.32755598 0.32802167
+v -0.31287487 -0.33158663 0.34361896
+v -0.17868092 -0.38808617 0.34361875
+v -0.15186537 -0.41242685 0.33578642
+v -0.15186537 -0.45862125 0.32802119
+v -0.30174044 -0.33610310 0.32802164
+v -0.29322783 -0.34652256 0.32802160
+v -0.28587677 -0.35505538 0.32802157
+v -0.29689505 -0.34975279 0.34361890
+v -0.17363642 -0.39621881 0.34361872
+v -0.15186537 -0.45919301 0.33578624
+v -0.17360322 -0.39680482 0.34361872
+v -0.15309330 -0.45809242 0.32802119
+v -0.17360322 -0.45310428 0.34361852
+v -0.17821630 -0.45137484 0.34361852
+v -0.28078249 -0.36064387 0.32802155
+v -0.27736417 -0.36436002 0.32802153
+v -0.28051700 -0.36734727 0.34361883
+v -0.16150636 -0.45434771 0.32802120
+v -0.21010955 -0.43300855 0.34361859
+v -0.17504688 -0.44725844 0.32802123
+v -0.16688274 -0.45156058 0.32802121
+v -0.16553865 -0.45226095 0.32802121
+v -0.27248560 -0.36949116 0.32802151
+v -0.26921662 -0.37290714 0.32802150
+v -0.26370748 -0.38457015 0.34361877
+v -0.21228335 -0.43137919 0.34361860
+v -0.21744400 -0.41928740 0.32802133
+v -0.20800214 -0.42631945 0.32802130
+v -0.20543010 -0.42813466 0.32802130
+v -0.19555680 -0.43446637 0.32802127
+v -0.17846520 -0.44515741 0.32802123
+v -0.26412233 -0.37812403 0.32802148
+v -0.26070401 -0.38158290 0.32802147
+v -0.25560972 -0.38668542 0.32802145
+v -0.25217480 -0.39010142 0.32802144
+v -0.24791020 -0.39996352 0.34361871
+v -0.23042034 -0.41581429 0.34361865
+v -0.23370592 -0.40635236 0.32802138
+v -0.22776534 -0.41124052 0.32802136
+v -0.22519331 -0.41332728 0.32802135
+v -0.24366219 -0.39780524 0.32802141
+v -0.24664907 -0.40113556 0.34361871
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 10
+f 2 10 15
+f 2 15 23
+f 2 23 29
+f 2 29 33
+f 2 33 32
+f 2 32 31
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+f 2 42 41
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+f 2 51 50
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+f 2 16 11
+f 2 11 5
+f 3 6 12
+f 3 12 19
+f 3 19 28
+f 3 28 36
+f 3 36 47
+f 3 47 53
+f 3 53 48
+f 3 48 37
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+f 3 24 22
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+f 25 30 31
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+f 25 33 29
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+f 28 34 35
+f 28 35 36
+f 30 37 38
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+f 30 41 42
+f 30 42 31
+f 35 43 36
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+f 36 44 45
+f 36 45 46
+f 36 46 47
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+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 46 52 53
+f 46 53 47
+f 48 53 52
+f 48 52 49
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_42.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b15d8d5762ce8a88e27717942a3939ccdcbf5387
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_42.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.32736145 0.25815634 0.28721275
+v -0.32736145 0.20135480 0.28721254
+v -0.32736145 0.25815621 0.32032515
+v -0.14427150 0.25815634 0.28721275
+v -0.30552107 -0.00436446 0.28721178
+v -0.30558259 -0.00436451 0.29922053
+v -0.32736145 0.20166317 0.29922129
+v -0.32736145 0.20251127 0.32032494
+v -0.14451758 0.25815621 0.32032515
+v -0.14439453 0.25815621 0.32029599
+v 0.30114894 0.25777068 0.32032515
+v 0.30114894 0.25777081 0.28721275
+v 0.01888527 -0.00441586 0.28721178
+v 0.01888527 -0.00441599 0.32032418
+v -0.30545956 -0.00436459 0.32032418
+v 0.30114894 0.25520047 0.32032514
+v 0.30114894 0.25756519 0.28721275
+v 0.30028761 -0.00441586 0.28721178
+v 0.30041067 -0.00441599 0.32032418
+v 0.30114894 0.25535471 0.31617962
+v 0.30077981 0.09399725 0.29921768
+v 0.30114894 0.25648566 0.29921827
+v 0.30071829 0.09399730 0.28721215
+v 0.30034916 -0.00441591 0.29921731
+v 0.30041067 -0.00441599 0.32026259
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 12
+f 1 12 17
+f 1 17 23
+f 1 23 18
+f 1 18 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 15
+f 3 15 14
+f 3 14 19
+f 3 19 16
+f 3 16 11
+f 3 11 9
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 8
+f 6 8 7
+f 9 11 10
+f 11 16 20
+f 11 20 22
+f 11 22 17
+f 11 17 12
+f 13 18 24
+f 13 24 25
+f 13 25 19
+f 13 19 14
+f 16 19 21
+f 16 21 20
+f 17 22 21
+f 17 21 23
+f 18 23 21
+f 18 21 24
+f 19 25 21
+f 20 21 22
+f 21 25 24
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_43.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e0f0928d28c714f252ff3e6e203c5af1b978a9c
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_43.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.30086096 -0.30436370 0.32032308
+v 0.20216552 -0.30436370 0.32032308
+v 0.30086096 -0.30436357 0.28721068
+v 0.30086096 -0.25456816 0.32032326
+v 0.20208922 -0.30436357 0.28721068
+v 0.14497466 -0.25497921 0.32032326
+v 0.30086096 -0.25518459 0.28721086
+v 0.30086096 -0.25427453 0.31617775
+v 0.30043372 -0.00441599 0.32032418
+v 0.14497466 -0.25497921 0.32015795
+v 0.14497466 -0.25465616 0.29921314
+v 0.14497466 -0.25424505 0.28721087
+v 0.14497466 -0.00441599 0.32032418
+v 0.30086096 -0.25503781 0.29045211
+v 0.30035741 -0.00441586 0.28721178
+v 0.30037269 -0.00441588 0.29010295
+v 0.30040319 -0.00441591 0.29921406
+v 0.30043372 -0.00441599 0.32026583
+v 0.30086096 -0.25465616 0.29921314
+v 0.14497466 -0.00441586 0.28721178
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 19
+f 1 19 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 5 12
+f 3 12 20
+f 3 20 15
+f 3 15 7
+f 4 8 9
+f 5 6 10
+f 5 10 11
+f 5 11 12
+f 6 13 20
+f 6 20 12
+f 6 12 11
+f 6 11 10
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 14
+f 8 18 9
+f 8 19 18
+f 9 18 17
+f 9 17 16
+f 9 16 15
+f 9 15 20
+f 9 20 13
+f 14 18 19
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_44.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6896bf9e1e592bc05f854caea6903be925eea7d4
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_44.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.28632410 -0.00441586 0.28721178
+v -0.28632410 -0.22420645 0.28721098
+v -0.28632410 -0.00441599 0.32032418
+v 0.14497466 -0.00441586 0.28721178
+v -0.28632410 -0.22479875 0.29123011
+v -0.27644510 -0.25653585 0.28721086
+v -0.28632410 -0.22899430 0.32032336
+v 0.14497466 -0.00441599 0.32032418
+v 0.14497466 -0.25424071 0.28721087
+v -0.15055111 -0.25653585 0.28721086
+v -0.27657175 -0.25653587 0.29049747
+v -0.27686728 -0.25653590 0.29921639
+v -0.27690950 -0.25653598 0.32032326
+v 0.14497466 -0.25495654 0.32032326
+v 0.14497466 -0.25466030 0.29921639
+v -0.14945345 -0.25653598 0.32032326
+v 0.14497466 -0.25488247 0.31453119
+v 0.14497466 -0.25495654 0.32015473
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 7 13
+f 3 13 16
+f 3 16 14
+f 3 14 8
+f 4 8 14
+f 4 14 18
+f 4 18 17
+f 4 17 15
+f 4 15 9
+f 5 6 7
+f 6 10 16
+f 6 16 13
+f 6 13 12
+f 6 12 11
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 9 15 10
+f 10 15 17
+f 10 17 18
+f 10 18 16
+f 14 16 18
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_45.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62e3ab55e8f2db5ed9b019d8b4ce906782bb5202
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_45.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.28632410 -0.30436370 0.32032308
+v -0.32459507 -0.30436370 0.32032308
+v -0.28632410 -0.30436357 0.28721068
+v -0.28632410 -0.00441599 0.32032418
+v -0.32517694 -0.30342414 0.32032309
+v -0.32517694 -0.30271937 0.28721069
+v -0.32414247 -0.30436357 0.28721068
+v -0.28632410 -0.00441586 0.28721178
+v -0.30556798 -0.00441599 0.32032418
+v -0.32517694 -0.23874281 0.32032332
+v -0.32517694 -0.20644604 0.28721104
+v -0.30558317 -0.00441586 0.28721178
+v -0.30560219 -0.00441591 0.29921406
+v -0.32517694 -0.20665168 0.32029750
+v -0.32517694 -0.20641667 0.28768750
+v -0.30559839 -0.00441589 0.29512686
+v -0.32517694 -0.20632864 0.29958607
+v -0.32517694 -0.20632864 0.29921332
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 11
+f 3 11 12
+f 3 12 8
+f 4 8 12
+f 4 12 16
+f 4 16 13
+f 4 13 9
+f 5 10 14
+f 5 14 17
+f 5 17 18
+f 5 18 15
+f 5 15 11
+f 5 11 6
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 13 16 15
+f 13 15 18
+f 13 18 17
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_46.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca14dbb79b9d0be642b1309d676e3dcee007389a
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_46.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.27693063 -0.25654132 0.32031987
+v -0.27687909 -0.25654124 0.29921527
+v -0.32489462 -0.30444599 0.32802169
+v -0.14949028 -0.25654132 0.32031987
+v -0.27658715 -0.25654121 0.29049859
+v -0.32412183 -0.30436018 0.28721068
+v -0.32266214 -0.30667780 0.28721067
+v -0.32041249 -0.31121688 0.32802167
+v -0.20226270 -0.30444599 0.32802169
+v -0.20487299 -0.30700981 0.32802168
+v -0.20543971 -0.30686516 0.28721067
+v -0.15057217 -0.25654119 0.28721086
+v -0.27646695 -0.25654119 0.28721086
+v -0.32075593 -0.30939152 0.28721066
+v -0.31975991 -0.31079387 0.28721066
+v -0.32032662 -0.31121687 0.32508150
+v -0.26901389 -0.31121688 0.32802167
+v -0.21217148 -0.31063345 0.32802167
+v -0.21394030 -0.31005523 0.28721066
+v -0.32003468 -0.31121686 0.32032367
+v -0.27042206 -0.31079387 0.28721066
+v -0.26946040 -0.31121686 0.32032367
+v -0.22566940 -0.31107235 0.32802167
+v -0.21323621 -0.31061737 0.32031569
+v -0.21380292 -0.31060665 0.31617706
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 12
+f 1 12 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 17
+f 3 17 23
+f 3 23 18
+f 3 18 10
+f 3 10 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 13 12
+f 6 12 11
+f 6 11 19
+f 6 19 21
+f 6 21 15
+f 6 15 14
+f 6 14 7
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 20
+f 8 20 22
+f 8 22 17
+f 10 18 11
+f 11 18 19
+f 15 20 16
+f 15 21 22
+f 15 22 20
+f 17 22 23
+f 18 23 24
+f 18 24 19
+f 19 24 25
+f 19 25 23
+f 19 23 21
+f 21 23 22
+f 23 25 24
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_47.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b09543c70b05a1eb4eacfaf0339169c7fef0fe2e
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_47.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.30085356 0.16223706 0.28720767
+v 0.30079500 0.16223707 0.28223928
+v 0.30082428 0.16723402 0.28720768
+v 0.30073640 -0.25523529 0.28720850
+v 0.30073640 -0.25811232 0.28720849
+v 0.30073640 -0.25811224 0.26299470
+v 0.30073640 -0.25796081 0.26299470
+v 0.30067781 0.17929737 0.28223934
+v 0.30073640 0.17929736 0.28720773
+v 0.27056727 -0.23979019 0.28720856
+v 0.30067781 0.18429430 0.28720775
+v 0.30029705 0.19640813 0.28720779
+v 0.29695793 0.21346841 0.28720785
+v 0.28014524 0.25753241 0.28720802
+v 0.15589532 -0.25811232 0.28720849
+v 0.16134333 -0.25811224 0.26299470
+v 0.26763823 -0.23979011 0.26299477
+v 0.22997078 -0.18351134 0.26299738
+v 0.28105323 -0.00013845 0.26313790
+v 0.29203714 0.19640820 0.26769691
+v 0.29326733 0.17929743 0.26769685
+v 0.29508335 0.17929742 0.26839139
+v 0.30020917 0.19640814 0.28223940
+v 0.00229643 -0.23979019 0.28720856
+v 0.29692865 0.21346842 0.28223946
+v 0.27832922 0.25753246 0.27334821
+v 0.14122083 0.25753241 0.28720802
+v 0.15589532 -0.25811232 0.28662537
+v 0.00229643 -0.25356964 0.28720851
+v 0.15680333 -0.24892593 0.26299474
+v 0.16075754 -0.25811224 0.26475592
+v 0.00229643 -0.25346868 0.28223775
+v 0.00229643 -0.24609940 0.26844197
+v 0.00229643 -0.23055332 0.26322001
+v 0.00229643 -0.12804016 0.26304971
+v 0.00229643 -0.11103034 0.26304030
+v 0.15894152 -0.23979011 0.26299477
+v 0.21298233 -0.18174474 0.26299738
+v 0.00229643 -0.10446869 0.26304743
+v 0.00229643 -0.09391957 0.26305934
+v 0.00162274 0.23057925 0.26400395
+v 0.00874031 0.23057925 0.26400158
+v 0.02578733 0.23057925 0.26400395
+v 0.13287306 0.17440143 0.26395631
+v 0.13287306 0.17929744 0.26399903
+v 0.13287306 0.23057925 0.26451831
+v 0.27665968 0.25753248 0.26769714
+v 0.29470259 0.19640819 0.26870909
+v 0.29312089 0.21346847 0.27024756
+v 0.00162274 0.25667435 0.28720801
+v 0.29107056 0.22305856 0.27224110
+v 0.14116225 0.25753242 0.28223963
+v 0.15601249 -0.25811231 0.28195329
+v 0.00162274 -0.00013853 0.28720707
+v 0.00162274 -0.00013845 0.26347924
+v 0.16046462 -0.25811225 0.26567565
+v 0.15059376 -0.21909567 0.26299725
+v 0.19930371 -0.18199710 0.26299738
+v 0.18360405 -0.18401608 0.26299737
+v 0.00162274 0.24769000 0.26829919
+v 0.14951001 0.25753248 0.26769714
+v 0.04280505 0.23057925 0.26407981
+v 0.00162274 0.25667436 0.28223962
+v 0.14602445 0.25753247 0.26977127
+v 0.00162274 0.25642204 0.27326050
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 8
+f 3 8 9
+f 3 9 4
+f 4 10 24
+f 4 24 29
+f 4 29 15
+f 4 15 5
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 10
+f 5 15 28
+f 5 28 53
+f 5 53 56
+f 5 56 31
+f 5 31 16
+f 5 16 6
+f 6 16 30
+f 6 30 37
+f 6 37 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 8 22 23
+f 8 23 11
+f 8 11 9
+f 10 14 27
+f 10 27 24
+f 11 23 12
+f 12 23 25
+f 12 25 13
+f 13 25 14
+f 14 26 47
+f 14 47 61
+f 14 61 64
+f 14 64 52
+f 14 52 27
+f 14 25 26
+f 15 29 28
+f 16 31 29
+f 16 29 32
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 30
+f 17 37 38
+f 17 38 18
+f 18 38 19
+f 19 36 39
+f 19 39 40
+f 19 40 41
+f 19 41 42
+f 19 42 43
+f 19 43 44
+f 19 44 45
+f 19 45 46
+f 19 46 47
+f 19 47 20
+f 19 38 36
+f 20 47 48
+f 20 48 21
+f 21 48 22
+f 22 48 23
+f 23 48 49
+f 23 49 25
+f 24 27 50
+f 24 50 54
+f 24 54 29
+f 25 49 51
+f 25 51 26
+f 26 51 47
+f 27 52 50
+f 28 29 53
+f 29 54 55
+f 29 55 32
+f 29 31 56
+f 29 56 53
+f 30 57 37
+f 30 36 57
+f 32 55 33
+f 33 55 34
+f 34 55 35
+f 35 55 36
+f 36 55 39
+f 36 38 58
+f 36 58 59
+f 36 59 57
+f 37 57 59
+f 37 59 58
+f 37 58 38
+f 39 55 40
+f 40 55 41
+f 41 60 61
+f 41 61 42
+f 41 55 54
+f 41 54 50
+f 41 50 63
+f 41 63 65
+f 41 65 60
+f 42 61 47
+f 42 47 43
+f 43 47 62
+f 43 62 45
+f 43 45 44
+f 45 62 46
+f 46 62 47
+f 47 51 49
+f 47 49 48
+f 50 52 63
+f 52 64 63
+f 60 65 61
+f 61 65 63
+f 61 63 64
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_48.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ddbb7d9ac25343b370497c2ee89142fa7455520
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_48.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.19766989 0.30105027 0.28721291
+v 0.14341214 0.25779018 0.28721275
+v 0.14331945 0.25779013 0.29921503
+v 0.19821062 0.30105014 0.32032531
+v 0.30114894 0.30105027 0.28721291
+v 0.30114894 0.25779018 0.28721275
+v 0.14381384 0.25779005 0.32032515
+v 0.30114894 0.30105014 0.32032531
+v 0.30114894 0.25779005 0.32032515
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 9
+f 2 9 7
+f 2 7 3
+f 3 7 4
+f 4 7 9
+f 4 9 8
+f 5 8 9
+f 5 9 6
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_49.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94767087112ab411fece25dee7dfcbedd8172dce
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_49.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.30759240 0.24715705 0.32802393
+v 0.30531609 0.24889387 0.33578860
+v 0.30116936 -0.00554033 0.33578767
+v 0.30759240 0.24715705 0.32738671
+v 0.30759240 0.31666304 0.32802418
+v 0.30531609 0.31707353 0.33578885
+v 0.12734146 -0.00554033 0.33578767
+v 0.30046352 -0.00554030 0.32802300
+v 0.30042824 -0.00452974 0.32032640
+v 0.30759240 0.24725181 0.32032733
+v 0.30759240 0.31666306 0.32032758
+v 0.30531609 0.31707356 0.32802418
+v 0.26263112 0.31707353 0.33578885
+v 0.12734146 -0.00554030 0.32802300
+v 0.12734146 0.25868343 0.33578864
+v 0.13413506 -0.00452974 0.32032640
+v 0.26441335 0.31666306 0.32032758
+v 0.26384867 0.31707356 0.32802418
+v 0.21297609 0.31271561 0.33578884
+v 0.12734146 0.25656768 0.32802396
+v 0.20277687 0.30636816 0.33578882
+v 0.20498258 0.30718924 0.32032755
+v 0.13413506 0.25615715 0.32032736
+v 0.21348782 0.31142087 0.32032756
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 19
+f 2 19 21
+f 2 21 15
+f 2 15 7
+f 2 7 3
+f 3 7 14
+f 3 14 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 11 12
+f 5 12 6
+f 6 12 18
+f 6 18 13
+f 7 15 20
+f 7 20 14
+f 8 14 16
+f 8 16 9
+f 9 16 23
+f 9 23 22
+f 9 22 24
+f 9 24 17
+f 9 17 11
+f 9 11 10
+f 11 17 18
+f 11 18 12
+f 13 18 19
+f 14 20 23
+f 14 23 16
+f 15 21 22
+f 15 22 20
+f 17 24 19
+f 17 19 18
+f 19 24 22
+f 19 22 21
+f 20 22 23
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_5.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93c85e742d1c6bd7a8f1c388a703ff8a1cffcf40
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_5.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.13129141 0.46509123 0.28721351
+v -0.13129141 0.42318204 0.28721335
+v -0.13129141 0.46507761 0.28388357
+v -0.13898393 0.46231280 0.26527460
+v -0.14750620 0.45928913 0.26527459
+v -0.13903579 0.46233997 0.28721350
+v -0.13129141 0.42292334 0.26527445
+v -0.25756972 0.32597510 0.28721300
+v -0.13129141 0.46499597 0.26527461
+v -0.13799859 0.46198595 0.25555488
+v -0.16150831 0.45286042 0.26527456
+v -0.14754078 0.45931630 0.28721349
+v -0.25769071 0.32597511 0.28224228
+v -0.25820933 0.32597518 0.26527410
+v -0.13129141 0.42496640 0.25405907
+v -0.30787360 0.32597510 0.28721300
+v -0.13129141 0.46311642 0.25420031
+v -0.16150831 0.44851565 0.25234985
+v -0.17246799 0.44560091 0.25471628
+v -0.16150831 0.45288759 0.28721346
+v -0.17372991 0.44630912 0.26527454
+v -0.25883162 0.32597518 0.26358895
+v -0.13129141 0.43456863 0.24935849
+v -0.26543510 0.32597522 0.25194223
+v -0.30752788 0.32645179 0.28721300
+v -0.30130471 0.33495084 0.26527413
+v -0.30747601 0.32639740 0.26527410
+v -0.30776987 0.32597518 0.26527410
+v -0.13129141 0.45294220 0.24856034
+v -0.14399703 0.45363681 0.25144281
+v -0.16150831 0.43565825 0.24662117
+v -0.17829356 0.43621668 0.25105168
+v -0.19554554 0.43003312 0.25391799
+v -0.20422340 0.42721372 0.25661097
+v -0.18223489 0.44137866 0.26527452
+v -0.17376449 0.44630905 0.28224272
+v -0.17376449 0.44630904 0.28721344
+v -0.18226947 0.44141943 0.28224270
+v -0.14448104 0.43565826 0.24617771
+v -0.28007682 0.32597524 0.24791485
+v -0.30311978 0.33249915 0.28721302
+v -0.30128742 0.33499163 0.28721303
+v -0.29278242 0.34613298 0.26527417
+v -0.30676727 0.32597521 0.25543746
+v -0.30714758 0.32597520 0.25832395
+v -0.17853558 0.41856497 0.24602850
+v -0.21257280 0.40148530 0.24660895
+v -0.19554554 0.41856496 0.24819739
+v -0.21096516 0.41791117 0.25305523
+v -0.22322132 0.41176848 0.25456698
+v -0.21283210 0.42120723 0.26527445
+v -0.20432712 0.42728181 0.26527447
+v -0.19554554 0.43301587 0.26527449
+v -0.22436224 0.41266738 0.26527442
+v -0.19554554 0.43308392 0.28224267
+v -0.17625375 0.44487893 0.28721343
+v -0.18615894 0.43898140 0.28721341
+v -0.18226947 0.44141942 0.28721342
+v -0.19554554 0.43309751 0.28721339
+v -0.28064728 0.33316666 0.24641116
+v -0.29751896 0.32597523 0.25026516
+v -0.29527171 0.34286408 0.28721306
+v -0.29278242 0.34610565 0.28721307
+v -0.28543565 0.35467280 0.26527420
+v -0.29157238 0.34466206 0.25394188
+v -0.29741522 0.33215877 0.25205110
+v -0.26362000 0.35024634 0.24631044
+v -0.24659274 0.36732600 0.24625407
+v -0.22958278 0.38441926 0.24629040
+v -0.24692120 0.38493683 0.25068464
+v -0.22916790 0.40145807 0.25137408
+v -0.24147593 0.39575122 0.25377676
+v -0.25172686 0.38998984 0.26527433
+v -0.24322188 0.39720852 0.26527436
+v -0.23286722 0.40574836 0.26527439
+v -0.21288397 0.42126163 0.28224263
+v -0.22444867 0.41270818 0.28224260
+v -0.20436170 0.42732259 0.28224265
+v -0.19813852 0.43140861 0.28721338
+v -0.23298823 0.40587085 0.28721329
+v -0.22695522 0.41073325 0.28721331
+v -0.28087198 0.35031441 0.25091431
+v -0.26412133 0.36770736 0.25060395
+v -0.28540108 0.35464550 0.28721310
+v -0.28541836 0.35465914 0.28224238
+v -0.27693066 0.36397536 0.26527424
+v -0.27534029 0.36225929 0.25363554
+v -0.25876249 0.37959770 0.25340179
+v -0.25184787 0.39001701 0.28721323
+v -0.24332558 0.39733103 0.28721326
+v -0.24330831 0.39730379 0.28224254
+v -0.26056028 0.38145003 0.26527430
+v -0.22446596 0.41272180 0.28721332
+v -0.21628941 0.41876913 0.28721334
+v -0.21288397 0.42127524 0.28721335
+v -0.20437897 0.42732258 0.28721337
+v -0.27689608 0.36392081 0.28721314
+v -0.26906527 0.37251521 0.26527427
+v -0.26050844 0.38147717 0.28721320
+v -0.26901341 0.37246063 0.28721317
+f 1 2 7
+f 1 7 15
+f 1 15 23
+f 1 23 29
+f 1 29 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
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+f 1 5 6
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+f 1 41 25
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+f 1 16 8
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+f 8 16 28
+f 8 28 45
+f 8 45 44
+f 8 44 61
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+f 8 22 14
+f 8 14 13
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 20 12
+f 11 19 21
+f 11 21 20
+f 14 22 15
+f 15 22 24
+f 15 24 23
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 17 29 30
+f 17 30 18
+f 18 30 29
+f 18 29 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 21
+f 20 21 36
+f 20 36 37
+f 21 35 38
+f 21 38 36
+f 23 39 29
+f 23 24 40
+f 23 40 39
+f 25 41 26
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 27 45 28
+f 29 39 31
+f 31 39 46
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 33
+f 33 49 50
+f 33 50 34
+f 34 51 52
+f 34 52 53
+f 34 53 35
+f 34 50 54
+f 34 54 51
+f 35 53 55
+f 35 55 38
+f 36 38 56
+f 36 56 37
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+f 38 58 56
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+f 38 59 57
+f 39 40 60
+f 39 60 46
+f 40 61 60
+f 42 62 43
+f 43 63 64
+f 43 64 65
+f 43 65 44
+f 43 62 63
+f 44 65 66
+f 44 66 61
+f 46 60 67
+f 46 67 68
+f 46 68 69
+f 46 69 47
+f 47 69 70
+f 47 70 71
+f 47 71 48
+f 48 71 49
+f 49 71 50
+f 50 71 72
+f 50 72 73
+f 50 73 74
+f 50 74 75
+f 50 75 54
+f 51 76 52
+f 51 54 77
+f 51 77 76
+f 52 78 79
+f 52 79 55
+f 52 55 53
+f 52 76 78
+f 54 75 80
+f 54 80 81
+f 54 81 77
+f 55 79 59
+f 60 82 83
+f 60 83 67
+f 60 61 82
+f 61 66 82
+f 63 84 85
+f 63 85 64
+f 64 85 86
+f 64 86 65
+f 65 86 87
+f 65 87 82
+f 65 82 66
+f 67 83 68
+f 68 83 69
+f 69 83 70
+f 70 88 72
+f 70 72 71
+f 70 83 88
+f 72 88 73
+f 73 89 90
+f 73 90 91
+f 73 91 74
+f 73 88 92
+f 73 92 89
+f 74 91 80
+f 74 80 75
+f 76 77 93
+f 76 93 94
+f 76 94 95
+f 76 95 78
+f 77 81 93
+f 78 95 96
+f 78 96 79
+f 80 91 90
+f 82 87 83
+f 83 87 88
+f 84 97 85
+f 85 97 86
+f 86 97 98
+f 86 98 87
+f 87 98 92
+f 87 92 88
+f 89 92 99
+f 92 98 99
+f 97 100 98
+f 98 100 99
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_50.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5272829da4f8405a733b6e2bad85659ca6cd77e2
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_50.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.23554950 0.34928846 0.26769392
+v 0.15113446 0.25987023 0.26769359
+v 0.14602883 0.25758113 0.26976878
+v 0.14115814 0.25758108 0.28224267
+v 0.14122078 0.25758107 0.28721275
+v 0.23567480 0.34928844 0.27196847
+v 0.29038014 0.34928846 0.26769392
+v 0.14950567 0.25758114 0.26769359
+v 0.23612898 0.34928839 0.28721308
+v 0.28015321 0.25758107 0.28721275
+v 0.29034879 0.34928840 0.28224300
+v 0.29305822 0.34602089 0.26769391
+v 0.27667639 0.25758114 0.26769359
+v 0.29033314 0.34928839 0.28721308
+v 0.27835214 0.25758112 0.27334393
+v 0.30113953 0.25761697 0.28721275
+v 0.29099093 0.34848944 0.28721308
+v 0.29304257 0.34598492 0.28721307
+v 0.30113953 0.33540123 0.28721303
+v 0.30113953 0.33540124 0.28224295
+v 0.30113953 0.33537435 0.26843721
+v 0.30113953 0.33536538 0.26769387
+v 0.30113953 0.25977150 0.26769359
+v 0.30113953 0.25795812 0.28262294
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 9
+f 1 9 14
+f 1 14 11
+f 1 11 7
+f 1 7 12
+f 1 12 22
+f 1 22 23
+f 1 23 13
+f 1 13 8
+f 1 8 2
+f 2 8 3
+f 3 8 13
+f 3 13 15
+f 3 15 10
+f 3 10 5
+f 3 5 4
+f 5 9 6
+f 5 10 16
+f 5 16 19
+f 5 19 18
+f 5 18 17
+f 5 17 14
+f 5 14 9
+f 7 11 12
+f 10 15 16
+f 11 14 17
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 13 23 24
+f 13 24 16
+f 13 16 15
+f 16 24 23
+f 16 23 22
+f 16 22 21
+f 16 21 20
+f 16 20 19
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_51.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6302fc1feebc60691bb33141534e546c9815e89
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_51.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.26657125 -0.31311810 0.32031799
+v 0.26671985 -0.31311797 0.28721065
+v 0.26596028 -0.31350905 0.32802060
+v 0.31744514 -0.31311810 0.32031799
+v 0.18434080 -0.39269927 0.28721036
+v 0.14887273 -0.41053044 0.34361867
+v 0.15158072 -0.40802268 0.34361868
+v 0.31680117 -0.31311797 0.28721065
+v 0.24337169 -0.33667983 0.34361894
+v 0.31756072 -0.31350905 0.32802060
+v 0.24774740 -0.39269927 0.28721036
+v 0.15440430 -0.41053041 0.33578357
+v 0.23283694 -0.41053044 0.34361867
+v 0.30473078 -0.33667983 0.34361894
+v 0.29690402 -0.34935218 0.34361890
+v 0.31481969 -0.31605481 0.28721064
+v 0.24642643 -0.40063284 0.34361871
+v 0.24446149 -0.40234917 0.34361870
+v 0.22869240 -0.41053041 0.33578357
+v 0.25156170 -0.38919984 0.28721037
+v 0.29535188 -0.35118294 0.34361889
+v 0.28797096 -0.35199325 0.28721051
+v 0.29305669 -0.34594787 0.28721053
+v 0.29555004 -0.34270590 0.28721054
+v 0.30156047 -0.33482023 0.28721057
+v 0.30340982 -0.33232197 0.28721058
+v 0.30781856 -0.32627662 0.28721060
+v 0.30988256 -0.32327303 0.28721061
+v 0.26072595 -0.38066579 0.28721040
+v 0.26386325 -0.38401288 0.34361877
+v 0.28065610 -0.36709732 0.34361883
+v 0.27733716 -0.36397908 0.28721046
+v 0.28584091 -0.35448195 0.28721050
+v 0.26924619 -0.37252265 0.28721043
+v 0.27923603 -0.36859434 0.34361883
+v 0.27162396 -0.37001489 0.28721044
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 16
+f 2 16 28
+f 2 28 27
+f 2 27 26
+f 2 26 25
+f 2 25 24
+f 2 24 23
+f 2 23 22
+f 2 22 33
+f 2 33 32
+f 2 32 36
+f 2 36 34
+f 2 34 29
+f 2 29 20
+f 2 20 11
+f 2 11 5
+f 3 7 9
+f 3 9 14
+f 3 14 10
+f 4 10 8
+f 5 11 19
+f 5 19 12
+f 5 12 6
+f 6 12 19
+f 6 19 13
+f 6 13 18
+f 6 18 17
+f 6 17 30
+f 6 30 35
+f 6 35 31
+f 6 31 21
+f 6 21 15
+f 6 15 14
+f 6 14 9
+f 6 9 7
+f 8 10 14
+f 8 14 15
+f 8 15 16
+f 11 17 18
+f 11 18 13
+f 11 13 19
+f 11 20 17
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 17 20 29
+f 17 29 30
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 29 34 30
+f 30 34 35
+f 31 35 34
+f 31 34 36
+f 31 36 32
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_52.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec2a9cd2851711fc5d5eb15a6b8a14fd01837179
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_52.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.14633995 0.26512842 0.34362115
+v 0.15557618 0.26512845 0.33578945
+v -0.05511667 0.26417224 0.34362115
+v 0.30346260 0.26512842 0.34362115
+v -0.05934402 0.25941777 0.33578943
+v -0.05937954 0.25944434 0.33582624
+v -0.05937954 0.26414566 0.34362115
+v 0.30346260 0.26512845 0.33578945
+v 0.30346260 0.24605741 0.34362108
+v -0.05937954 0.25936467 0.33578943
+v -0.05937954 -0.00619545 0.34362016
+v 0.30346260 0.25067910 0.33578940
+v 0.30332051 0.04092433 0.34362033
+v 0.30346260 0.24964321 0.33753727
+v -0.05937954 -0.00619542 0.33578846
+v 0.30324947 -0.00619545 0.34362016
+v 0.30118906 -0.00619542 0.33578846
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 13
+f 1 13 9
+f 1 9 4
+f 1 4 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 12
+f 2 12 17
+f 2 17 15
+f 2 15 10
+f 2 10 5
+f 4 9 14
+f 4 14 12
+f 4 12 8
+f 5 10 6
+f 6 10 15
+f 6 15 11
+f 6 11 7
+f 9 13 14
+f 11 15 17
+f 11 17 16
+f 12 14 13
+f 12 13 16
+f 12 16 17
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_53.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..194717984503b49828a30a3a3b1ac3f26d20dc12
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_53.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.32035864 -0.31079455 0.32031967
+v -0.31976487 -0.31079442 0.28721066
+v -0.32044347 -0.31122271 0.32802167
+v -0.26978990 -0.31079455 0.32031967
+v -0.31606885 -0.31604638 0.28721064
+v -0.31775325 -0.31514030 0.32802165
+v -0.31951037 -0.31263563 0.32802166
+v -0.31997085 -0.31194345 0.32802166
+v -0.27044428 -0.31079442 0.28721066
+v -0.26901432 -0.31122271 0.32802167
+v -0.26995954 -0.31079451 0.31011292
+v -0.30809514 -0.32716401 0.28721060
+v -0.30854350 -0.32754950 0.32802161
+v -0.27016555 -0.31079447 0.29921507
+v -0.19708139 -0.38369407 0.28721039
+v -0.21187758 -0.37203426 0.32802144
+v -0.19665727 -0.38369420 0.32031940
+v -0.19705716 -0.38369408 0.28899607
+v -0.30164833 -0.33570560 0.28721057
+v -0.29312930 -0.34656634 0.28721053
+v -0.30174528 -0.33609109 0.32802158
+v -0.25870183 -0.38369407 0.28721039
+v -0.27002014 -0.37203426 0.32802144
+v -0.25859277 -0.38369420 0.32031940
+v -0.28591905 -0.35510081 0.28721050
+v -0.29322625 -0.34650227 0.32802154
+v -0.26084674 -0.38156760 0.28721040
+v -0.27248009 -0.36947250 0.32802145
+v -0.27003226 -0.37203426 0.32701475
+v -0.26072556 -0.38153919 0.32031941
+v -0.26081039 -0.38155338 0.29921481
+v -0.27741217 -0.36439884 0.29921487
+v -0.28588271 -0.35503671 0.32802151
+v -0.27741217 -0.36442020 0.28721046
+v -0.26685733 -0.37548788 0.28721042
+v -0.27736368 -0.36433472 0.32802147
+v -0.26934151 -0.37296179 0.28721043
+v -0.26930516 -0.37294043 0.29921484
+v -0.26923244 -0.37289056 0.32031944
+v -0.26716025 -0.37500277 0.32031943
+v -0.28078100 -0.36062407 0.32802149
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 14
+f 1 14 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 15
+f 2 15 22
+f 2 22 27
+f 2 27 35
+f 2 35 37
+f 2 37 34
+f 2 34 25
+f 2 25 20
+f 2 20 19
+f 2 19 12
+f 2 12 5
+f 3 8 7
+f 3 7 6
+f 3 6 13
+f 3 13 21
+f 3 21 26
+f 3 26 33
+f 3 33 41
+f 3 41 36
+f 3 36 28
+f 3 28 23
+f 3 23 16
+f 3 16 10
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 9 14 10
+f 9 10 15
+f 10 16 17
+f 10 17 18
+f 10 18 15
+f 10 14 11
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 15 18 17
+f 15 17 24
+f 15 24 22
+f 16 23 24
+f 16 24 17
+f 20 25 26
+f 20 26 21
+f 22 24 27
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 24 30 31
+f 24 31 27
+f 25 32 33
+f 25 33 26
+f 25 34 32
+f 27 31 35
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 30 40 38
+f 30 38 35
+f 30 35 31
+f 32 41 33
+f 32 34 37
+f 32 37 36
+f 32 36 41
+f 35 38 37
+f 38 40 39
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_54.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b90a6e8d2c42c04d100dbfb2393e318580d60e71
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_54.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.31695536 0.32044560 0.34362136
+v -0.31649972 0.31606526 0.33578964
+v -0.32449091 0.30506641 0.33578960
+v -0.34467915 0.28226928 0.34362122
+v -0.25821319 0.32044560 0.34362136
+v -0.31331027 0.32044563 0.33578966
+v -0.33854555 0.28405981 0.33578952
+v -0.34625634 0.27987125 0.34362121
+v -0.21145777 0.31539380 0.34362134
+v -0.26101710 0.32044563 0.33578966
+v -0.34310195 0.27705761 0.33578950
+v -0.36024092 0.24354942 0.33578937
+v -0.36339533 0.24617122 0.34362108
+v -0.21289479 0.31261211 0.33578963
+v -0.05941507 0.26414032 0.34362115
+v -0.37643356 0.20786701 0.33578924
+v -0.37860663 0.21467734 0.34362097
+v -0.05941507 0.25944025 0.33582624
+v -0.05941507 0.25934433 0.33578943
+v -0.05941507 -0.00619545 0.34362016
+v -0.39122426 0.16176127 0.33578907
+v -0.39602596 0.16233675 0.34362078
+v -0.38011372 0.21135209 0.34362096
+v -0.05941507 -0.00619542 0.33578846
+v -0.41740589 -0.00619545 0.34362016
+v -0.39602596 0.14619018 0.33578902
+v -0.40051223 0.14551870 0.34362071
+v -0.41270932 -0.00619542 0.33578846
+v -0.41744095 -0.00334981 0.34362017
+v -0.41663481 -0.00619545 0.34229853
+v -0.39914534 0.12815713 0.33578895
+v -0.41341029 0.06011754 0.34362040
+v -0.41274435 0.00531503 0.33578850
+v -0.41747599 0.00857629 0.34362021
+v -0.40881889 0.06011757 0.33578870
+v -0.41554829 0.04272397 0.34362034
+v -0.41274435 0.00857632 0.33578851
+v -0.41740589 0.01218930 0.34362022
+v -0.41256911 0.02056638 0.33578856
+v -0.41246398 0.02494675 0.33578857
+v -0.41702035 0.02542632 0.34362027
+v -0.41737082 0.01350021 0.34362023
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 17
+f 1 17 23
+f 1 23 22
+f 1 22 27
+f 1 27 32
+f 1 32 36
+f 1 36 41
+f 1 41 42
+f 1 42 38
+f 1 38 34
+f 1 34 29
+f 1 29 25
+f 1 25 20
+f 1 20 15
+f 1 15 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 19
+f 2 19 24
+f 2 24 28
+f 2 28 33
+f 2 33 37
+f 2 37 39
+f 2 39 40
+f 2 40 35
+f 2 35 31
+f 2 31 26
+f 2 26 21
+f 2 21 16
+f 2 16 12
+f 2 12 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 9 14 10
+f 9 15 14
+f 12 16 17
+f 12 17 13
+f 14 15 18
+f 14 18 19
+f 15 20 24
+f 15 24 19
+f 15 19 18
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 20 25 30
+f 20 30 28
+f 20 28 24
+f 21 26 22
+f 22 26 27
+f 25 29 30
+f 26 31 27
+f 27 31 32
+f 28 30 29
+f 28 29 33
+f 29 34 33
+f 31 35 32
+f 32 35 36
+f 33 34 37
+f 34 38 39
+f 34 39 37
+f 35 40 36
+f 36 40 41
+f 38 42 40
+f 38 40 39
+f 40 42 41
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_55.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f164ce01477ce42f02c759dda277b1e9d143179
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_55.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.13026455 0.46597083 0.32802483
+v -0.13044730 0.46570779 0.32032892
+v -0.13479666 0.46437779 0.32802483
+v -0.22964221 0.41443865 0.34361942
+v -0.14009632 0.41443865 0.34361942
+v -0.13026455 0.42310534 0.32802467
+v -0.13026455 0.46576623 0.32032892
+v -0.13936533 0.46252172 0.32032891
+v -0.13954808 0.46268248 0.32802482
+v -0.19775291 0.43166971 0.32032880
+v -0.20440489 0.42734368 0.32032878
+v -0.21292089 0.42132234 0.32032876
+v -0.21575346 0.41924703 0.32032875
+v -0.22456185 0.41278726 0.32032873
+v -0.22664517 0.41115039 0.32032872
+v -0.23309612 0.40603516 0.32032870
+v -0.24435332 0.40254212 0.34361938
+v -0.14806407 0.45937951 0.32802481
+v -0.15736589 0.45508272 0.32802479
+v -0.16151423 0.45315355 0.32802478
+v -0.17386792 0.44648916 0.32802476
+v -0.17383136 0.44638687 0.32032885
+v -0.18234736 0.44137399 0.32032883
+v -0.18554543 0.43937175 0.32032882
+v -0.19555995 0.43307272 0.32032880
+v -0.25820552 0.32046485 0.34361908
+v -0.26452857 0.31666508 0.32032837
+v -0.13026455 0.42319304 0.32625292
+v -0.13026455 0.42352919 0.32032877
+v -0.14786305 0.45935029 0.32032890
+v -0.23565457 0.40394522 0.32032869
+v -0.24643662 0.40084678 0.34361937
+v -0.15113423 0.45784497 0.32032889
+v -0.16151423 0.45300743 0.32032887
+v -0.31695858 0.32046485 0.34361908
+v -0.26315796 0.31708886 0.33578861
+v -0.26440063 0.31666506 0.32802428
+v -0.31480217 0.31666508 0.32032837
+v -0.24349441 0.39748544 0.32032867
+v -0.25201040 0.39017800 0.32032864
+v -0.26206146 0.38599807 0.34361932
+v -0.31200614 0.33076838 0.34361911
+v -0.31577074 0.31708886 0.33578861
+v -0.31500319 0.31666506 0.32802428
+v -0.31500319 0.31666506 0.32744965
+v -0.30957563 0.32404560 0.32032840
+v -0.26061778 0.38164289 0.32032861
+v -0.26356000 0.38450734 0.34361931
+v -0.31017868 0.33319445 0.34361912
+v -0.30288710 0.33310682 0.32032843
+v -0.30767505 0.32664705 0.32032841
+v -0.26913376 0.37253782 0.32032858
+v -0.27858179 0.36869402 0.34361925
+v -0.29636304 0.34931466 0.34361918
+v -0.29276294 0.34608487 0.32032848
+v -0.29484624 0.34343955 0.32032847
+v -0.30127892 0.33518216 0.32032844
+v -0.27103434 0.37046251 0.32032857
+v -0.29464522 0.35131690 0.34361919
+v -0.28543477 0.35461996 0.32032851
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 28
+f 1 28 29
+f 1 29 7
+f 1 7 2
+f 2 7 29
+f 2 29 27
+f 2 27 38
+f 2 38 46
+f 2 46 51
+f 2 51 50
+f 2 50 57
+f 2 57 56
+f 2 56 55
+f 2 55 60
+f 2 60 58
+f 2 58 52
+f 2 52 47
+f 2 47 40
+f 2 40 39
+f 2 39 31
+f 2 31 16
+f 2 16 15
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 11
+f 2 11 10
+f 2 10 25
+f 2 25 24
+f 2 24 23
+f 2 23 22
+f 2 22 34
+f 2 34 33
+f 2 33 30
+f 2 30 8
+f 2 8 9
+f 2 9 3
+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 32
+f 4 32 41
+f 4 41 48
+f 4 48 53
+f 4 53 59
+f 4 59 54
+f 4 54 49
+f 4 49 42
+f 4 42 35
+f 4 35 26
+f 4 26 5
+f 4 9 18
+f 4 18 19
+f 4 19 20
+f 4 20 21
+f 4 21 22
+f 4 22 23
+f 4 23 24
+f 4 24 25
+f 4 25 10
+f 5 26 27
+f 5 27 28
+f 5 28 6
+f 8 30 9
+f 9 30 18
+f 16 31 32
+f 16 32 17
+f 18 30 33
+f 18 33 19
+f 19 33 20
+f 20 33 34
+f 20 34 22
+f 20 22 21
+f 26 35 43
+f 26 43 36
+f 26 36 27
+f 27 36 37
+f 27 37 44
+f 27 44 45
+f 27 45 38
+f 27 29 28
+f 31 39 32
+f 32 40 41
+f 32 39 40
+f 35 42 38
+f 35 38 43
+f 36 43 44
+f 36 44 37
+f 38 45 43
+f 38 42 46
+f 40 47 41
+f 41 47 48
+f 42 49 50
+f 42 50 51
+f 42 51 46
+f 43 45 44
+f 47 52 53
+f 47 53 48
+f 49 54 55
+f 49 55 56
+f 49 56 57
+f 49 57 50
+f 52 58 59
+f 52 59 53
+f 54 59 55
+f 55 59 60
+f 58 60 59
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_56.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61fb171f55a9804af46eb5219052cf4a58deb10c
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_56.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.30555175 0.17243616 0.28667386
+v -0.30555175 0.17243616 0.28721007
+v -0.30549161 0.17243617 0.28224186
+v -0.30555175 0.02564880 0.28224132
+v -0.30558183 -0.00014754 0.28720944
+v 0.00162274 0.17243616 0.28721007
+v -0.30176281 0.17243620 0.27518105
+v -0.30555175 -0.00014753 0.28224123
+v 0.00162274 -0.00014754 0.28720944
+v 0.00162274 0.17243624 0.26401565
+v -0.29815431 0.17243622 0.26900282
+v -0.30152225 -0.00014750 0.27544378
+v 0.00162274 -0.00014746 0.26347882
+v 0.00162274 0.04272817 0.26358576
+v -0.07641132 0.14522087 0.26353630
+v -0.07641132 0.16230016 0.26360043
+v -0.07641132 0.17243624 0.26364789
+v -0.29731234 0.04272815 0.26839499
+v -0.29731234 0.02564885 0.26839016
+v -0.29731234 -0.00014748 0.26839007
+v -0.28065303 0.17243624 0.26315440
+v -0.29698153 0.16230014 0.26844999
+v -0.09343146 -0.00014746 0.26306836
+v -0.09343146 0.00856957 0.26308262
+v -0.09343146 0.02564887 0.26311117
+v 0.00162274 0.03277792 0.26355959
+v -0.09343146 0.04272817 0.26315630
+v -0.07641132 0.12814156 0.26348165
+v -0.09343146 0.12814156 0.26341997
+v -0.09343146 0.14522087 0.26347935
+v -0.09343146 0.16230016 0.26354347
+v -0.09343146 0.17243624 0.26359806
+v -0.28065303 0.04272817 0.26307565
+v -0.28065303 0.02564887 0.26306608
+v -0.28065303 0.00856957 0.26306129
+v -0.28883230 -0.00014747 0.26567347
+v -0.16984168 -0.00014746 0.26299007
+v -0.18686182 -0.00014746 0.26298294
+v -0.21254238 -0.00014746 0.26297347
+v -0.11045160 0.04272817 0.26311124
+v -0.11045160 0.02564887 0.26306135
+v -0.11045160 0.00856957 0.26303516
+v -0.12747175 -0.00014746 0.26301380
+v -0.10176110 -0.00014746 0.26304463
+v -0.28065303 -0.00014746 0.26306126
+v -0.11045160 -0.00014746 0.26302566
+f 1 2 6
+f 1 6 10
+f 1 10 17
+f 1 17 32
+f 1 32 21
+f 1 21 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 7 4
+f 4 7 8
+f 4 8 5
+f 5 8 12
+f 5 12 20
+f 5 20 36
+f 5 36 45
+f 5 45 39
+f 5 39 38
+f 5 38 37
+f 5 37 43
+f 5 43 46
+f 5 46 44
+f 5 44 23
+f 5 23 13
+f 5 13 9
+f 6 9 13
+f 6 13 26
+f 6 26 14
+f 6 14 10
+f 7 11 8
+f 8 11 12
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 11 21 22
+f 11 22 18
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 14 26 25
+f 14 25 27
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 16 31 17
+f 17 31 32
+f 18 22 21
+f 18 21 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 35 36
+f 19 36 20
+f 21 37 38
+f 21 38 39
+f 21 39 33
+f 21 32 31
+f 21 31 30
+f 21 30 29
+f 21 29 40
+f 21 40 41
+f 21 41 42
+f 21 42 43
+f 21 43 37
+f 23 44 41
+f 23 41 24
+f 24 41 25
+f 25 41 27
+f 27 41 40
+f 27 40 29
+f 27 29 28
+f 33 39 34
+f 34 39 35
+f 35 45 36
+f 35 39 45
+f 41 44 42
+f 42 46 43
+f 42 44 46
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_57.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..056d5e56cf72b25d5adf3cf15b0b93950d682e1f
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_57.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.29431361 -0.00456769 0.32032491
+v 0.29431361 -0.00456771 0.32802279
+v 0.30044507 -0.00456769 0.32032491
+v 0.29431361 -0.30444857 0.32032381
+v 0.30047727 -0.00456771 0.32802279
+v 0.29431361 -0.30444859 0.32802169
+v 0.30051919 -0.25513378 0.32032399
+v 0.30051919 -0.30444857 0.32032381
+v 0.30051919 -0.25492833 0.32802187
+v 0.30051919 -0.25504572 0.32321853
+v 0.30051919 -0.30444859 0.32802169
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 9
+f 2 9 5
+f 3 5 7
+f 4 8 11
+f 4 11 6
+f 5 9 10
+f 5 10 7
+f 7 10 9
+f 7 9 11
+f 7 11 8
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_58.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50388375bce55a7e578066bda172be230d73d71a
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_58.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.14913411 -0.25599079 0.32802318
+v 0.14918780 -0.25599079 0.32767887
+v 0.14349560 -0.25658304 0.33578472
+v 0.28032331 -0.25599079 0.32802318
+v 0.14954581 -0.25599079 0.32582058
+v 0.15001120 -0.25599078 0.32448214
+v 0.15149690 -0.25599077 0.32032776
+v 0.14365670 -0.25658304 0.33546550
+v 0.14371041 -0.25678833 0.33578472
+v 0.19715984 -0.30980341 0.34361904
+v 0.19572784 -0.30671599 0.34361905
+v 0.30148112 -0.25658304 0.33578472
+v 0.28130779 -0.25599079 0.32553328
+v 0.20227924 -0.30444182 0.32032758
+v 0.28182690 -0.25599077 0.32032776
+v 0.24656388 -0.33665044 0.33578669
+v 0.24566887 -0.33665045 0.33799840
+v 0.24339557 -0.33665047 0.34361894
+v 0.32636213 -0.30671599 0.34361905
+v 0.30148112 -0.25658301 0.32802318
+v 0.28198801 -0.25599078 0.32378669
+v 0.29428530 -0.30444182 0.32032758
+v 0.24982168 -0.33361037 0.32802289
+v 0.28193429 -0.25599077 0.32252350
+v 0.29428530 -0.26402910 0.32032773
+v 0.30148112 -0.33665044 0.33578669
+v 0.30473890 -0.33665047 0.34361894
+v 0.32518073 -0.30894273 0.34361905
+v 0.32317593 -0.30524723 0.32802300
+v 0.32457214 -0.30524726 0.33578681
+v 0.32269262 -0.30604477 0.32802300
+v 0.32052671 -0.30921901 0.32802298
+v 0.31358153 -0.31919191 0.32802295
+v 0.31284762 -0.32022632 0.32802294
+v 0.30821150 -0.32665381 0.32802292
+v 0.30627832 -0.32923589 0.32802291
+v 0.30293102 -0.33361037 0.32802289
+v 0.31095021 -0.33312876 0.34361896
+v 0.31266861 -0.33090203 0.34361896
+f 1 2 3
+f 1 3 12
+f 1 12 4
+f 1 4 13
+f 1 13 21
+f 1 21 24
+f 1 24 15
+f 1 15 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 19
+f 3 19 12
+f 4 12 13
+f 7 14 8
+f 7 15 25
+f 7 25 22
+f 7 22 14
+f 8 14 9
+f 9 14 10
+f 10 14 16
+f 10 16 17
+f 10 17 18
+f 10 18 27
+f 10 27 38
+f 10 38 39
+f 10 39 28
+f 10 28 19
+f 10 19 11
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 14 22 37
+f 14 37 23
+f 14 23 16
+f 15 24 20
+f 15 20 25
+f 16 23 37
+f 16 37 26
+f 16 26 27
+f 16 27 18
+f 16 18 17
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 20 24 21
+f 20 30 29
+f 20 29 25
+f 22 25 29
+f 22 29 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 26 37 38
+f 26 38 27
+f 28 39 29
+f 29 39 31
+f 31 39 32
+f 32 39 33
+f 33 39 34
+f 34 39 35
+f 35 39 36
+f 36 39 37
+f 37 39 38
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_59.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ec8a52b614c7907ac444b485e45a2d04ba5a827
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_59.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.11556073 0.47086106 0.28721353
+v 0.11556073 0.47070406 0.32032593
+v 0.12789828 0.46665389 0.32032591
+v 0.12292163 0.46842240 0.28721352
+v 0.11556073 0.43013109 0.28721338
+v 0.11556073 0.43000262 0.32032578
+v 0.12789828 0.46676809 0.28721351
+v 0.13650808 0.46348789 0.32032590
+v 0.25793445 0.32516873 0.28721299
+v 0.25825616 0.32516860 0.32032539
+v 0.13928969 0.46246108 0.32032590
+v 0.13611070 0.46373046 0.28721350
+v 0.30868491 0.32516873 0.28721299
+v 0.30883629 0.32516860 0.32032539
+v 0.13949785 0.46247548 0.28721350
+v 0.14572338 0.45990833 0.32032589
+v 0.30787125 0.32632388 0.28721300
+v 0.30874168 0.32516868 0.29921527
+v 0.30883629 0.32516861 0.31982948
+v 0.30796585 0.32640931 0.32032540
+v 0.14551522 0.46007959 0.28721349
+v 0.16194006 0.45340524 0.32032587
+v 0.30155110 0.33486635 0.28721303
+v 0.30155110 0.33495179 0.32032543
+v 0.14799409 0.45908132 0.28721349
+v 0.17522374 0.44714458 0.32032584
+v 0.16194006 0.45341958 0.29921575
+v 0.29303593 0.34600432 0.28721307
+v 0.29948853 0.33763288 0.32032544
+v 0.16194006 0.45341963 0.28721347
+v 0.18165743 0.44315144 0.32032583
+v 0.18118436 0.44337974 0.28721343
+v 0.17516697 0.44707338 0.28721344
+v 0.29305484 0.34597569 0.32032547
+v 0.28601563 0.35454680 0.28721310
+v 0.18373891 0.44182513 0.32032582
+v 0.18366321 0.44183953 0.28721342
+v 0.28603456 0.35451814 0.32032550
+v 0.27750046 0.36434422 0.28721314
+v 0.27751937 0.36435836 0.32032554
+v 0.28395306 0.35694253 0.32032551
+v 0.19598184 0.43389592 0.32032579
+v 0.19598184 0.43388174 0.29921567
+v 0.19238655 0.43617784 0.28721340
+v 0.27522975 0.36685418 0.28721315
+v 0.27564603 0.36645475 0.32032555
+v 0.20538638 0.42772083 0.32032577
+v 0.20534853 0.42767812 0.29921565
+v 0.19598184 0.43383902 0.28721339
+v 0.26976110 0.37288667 0.28721317
+v 0.26979893 0.37290080 0.32032557
+v 0.21182007 0.42317149 0.32032575
+v 0.21132807 0.42342833 0.28721336
+v 0.20531068 0.42764966 0.28721337
+v 0.26726331 0.37551072 0.28721318
+v 0.26128377 0.38188535 0.32032560
+v 0.26771746 0.37512556 0.32032558
+v 0.21386371 0.42168835 0.32032575
+v 0.21384479 0.42167416 0.29921563
+v 0.21380694 0.42165994 0.28721335
+v 0.26124593 0.38181418 0.28721320
+v 0.25878598 0.38432414 0.28721321
+v 0.25924013 0.38396750 0.32032561
+v 0.22264380 0.41522802 0.32032573
+v 0.22542543 0.41313172 0.29921560
+v 0.22538758 0.41311750 0.28721332
+v 0.25276861 0.39035663 0.28721323
+v 0.25286321 0.39042780 0.32032563
+v 0.22546326 0.41314590 0.32032572
+v 0.23397844 0.40638608 0.32032569
+v 0.23397844 0.40637183 0.31618017
+v 0.23394060 0.40630059 0.29921557
+v 0.23390275 0.40625787 0.28721329
+v 0.25027082 0.39253861 0.28721324
+v 0.24434803 0.39785790 0.32032566
+v 0.24124472 0.40021112 0.28721327
+v 0.24425343 0.39772966 0.28721326
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 12
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+f 1 37 44
+f 1 44 49
+f 1 49 54
+f 1 54 53
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+f 1 60 66
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+f 1 77 74
+f 1 74 67
+f 1 67 62
+f 1 62 61
+f 1 61 55
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+f 1 45 39
+f 1 39 35
+f 1 35 28
+f 1 28 23
+f 1 23 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
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+f 2 10 14
+f 2 14 20
+f 2 20 24
+f 2 24 29
+f 2 29 34
+f 2 34 38
+f 2 38 41
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+f 2 46 51
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+f 2 31 26
+f 2 26 22
+f 2 22 16
+f 2 16 11
+f 2 11 8
+f 2 8 3
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+f 5 9 6
+f 6 9 10
+f 7 8 11
+f 7 11 12
+f 9 13 18
+f 9 18 19
+f 9 19 14
+f 9 14 10
+f 11 15 12
+f 11 16 15
+f 13 17 18
+f 14 19 20
+f 15 16 21
+f 16 22 21
+f 17 20 18
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+f 18 20 19
+f 20 23 24
+f 21 22 25
+f 22 26 27
+f 22 27 25
+f 23 28 24
+f 24 28 29
+f 25 27 30
+f 26 31 32
+f 26 32 33
+f 26 33 30
+f 26 30 27
+f 28 34 29
+f 28 35 38
+f 28 38 34
+f 31 36 37
+f 31 37 32
+f 35 39 40
+f 35 40 41
+f 35 41 38
+f 36 42 43
+f 36 43 37
+f 37 43 44
+f 39 45 46
+f 39 46 40
+f 42 47 43
+f 43 47 48
+f 43 48 49
+f 43 49 44
+f 45 50 46
+f 46 50 51
+f 47 52 53
+f 47 53 48
+f 48 54 49
+f 48 53 54
+f 50 55 56
+f 50 56 57
+f 50 57 51
+f 52 58 59
+f 52 59 53
+f 53 59 60
+f 55 61 56
+f 56 61 62
+f 56 62 63
+f 58 64 59
+f 59 64 65
+f 59 65 66
+f 59 66 60
+f 62 67 68
+f 62 68 63
+f 64 69 65
+f 65 69 70
+f 65 70 71
+f 65 71 66
+f 66 71 72
+f 66 72 73
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+f 68 74 75
+f 70 75 71
+f 71 75 72
+f 72 75 76
+f 72 76 73
+f 74 77 75
+f 75 77 76
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_6.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b68bd9cb69a3f85274536bf6a11e3256c1b2942e
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_6.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.32367848 -0.30445042 0.32802169
+v 0.32268045 -0.30604950 0.32802169
+v 0.32359328 -0.30271587 0.26527467
+v 0.32378803 -0.30271595 0.28721051
+v 0.20203914 -0.30445042 0.32802169
+v 0.32203539 -0.30510232 0.26527466
+v 0.32052614 -0.30921987 0.32802167
+v 0.30714994 -0.32536280 0.25594678
+v 0.31044836 -0.31604941 0.25330150
+v 0.31509775 -0.30271582 0.25093297
+v 0.20042036 -0.30271595 0.28721051
+v 0.19950752 -0.30271581 0.24785625
+v 0.19944667 -0.30271580 0.24486908
+v 0.20429082 -0.30769334 0.24486906
+v 0.20491155 -0.30720456 0.32802168
+v 0.31450139 -0.31604945 0.26527462
+v 0.31754419 -0.31349326 0.32802166
+v 0.30780721 -0.32623702 0.28223721
+v 0.30760028 -0.32596986 0.26527458
+v 0.30147817 -0.33450974 0.26527455
+v 0.29873964 -0.33815184 0.26527454
+v 0.29789980 -0.33815183 0.26118039
+v 0.29475963 -0.33815180 0.25327700
+v 0.29771726 -0.33188739 0.25239795
+v 0.29810672 -0.31604939 0.24757946
+v 0.29810672 -0.30271581 0.24643185
+v 0.23227249 -0.30271580 0.24486908
+v 0.21121625 -0.30949359 0.24486905
+v 0.28109134 -0.33312220 0.24624453
+v 0.26318745 -0.33815178 0.24878402
+v 0.25076061 -0.33815180 0.25300839
+v 0.24926354 -0.33815181 0.25568627
+v 0.24597731 -0.33815184 0.26527454
+v 0.24614770 -0.33815192 0.28721038
+v 0.20935405 -0.30987890 0.32802167
+v 0.29901955 -0.33815192 0.28721038
+v 0.30157551 -0.33480813 0.28721039
+v 0.30342556 -0.33230722 0.28721040
+v 0.26597465 -0.31349326 0.32802166
+v 0.30156333 -0.33477690 0.28223718
+v 0.29893436 -0.33815189 0.27706047
+v 0.28114001 -0.33815178 0.24766078
+v 0.23120142 -0.30367314 0.24486907
+v 0.21300542 -0.30987166 0.24486905
+v 0.22220688 -0.30975026 0.24486905
+v 0.22440988 -0.30968088 0.24486905
+v 0.22342401 -0.31206070 0.32802166
+v 0.21223864 -0.31147104 0.32802167
+v 0.29901955 -0.33815192 0.28572086
+v 0.29899520 -0.33815191 0.28223717
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 15
+f 1 15 35
+f 1 35 48
+f 1 48 47
+f 1 47 39
+f 1 39 17
+f 1 17 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 26
+f 3 26 27
+f 3 27 13
+f 3 13 12
+f 3 12 11
+f 3 11 4
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 6 7 16
+f 6 16 8
+f 7 17 18
+f 7 18 16
+f 8 16 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 9 23 24
+f 9 24 10
+f 10 24 25
+f 10 25 26
+f 13 27 43
+f 13 43 46
+f 13 46 45
+f 13 45 44
+f 13 44 28
+f 13 28 14
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 34
+f 14 34 15
+f 15 34 35
+f 16 18 19
+f 17 36 37
+f 17 37 38
+f 17 38 18
+f 17 39 34
+f 17 34 36
+f 18 38 40
+f 18 40 20
+f 18 20 19
+f 20 40 21
+f 21 40 41
+f 21 41 50
+f 21 50 49
+f 21 49 36
+f 21 36 34
+f 21 34 33
+f 21 33 32
+f 21 32 31
+f 21 31 30
+f 21 30 42
+f 21 42 23
+f 21 23 22
+f 23 42 24
+f 24 42 25
+f 25 42 29
+f 25 29 26
+f 26 29 27
+f 27 29 43
+f 28 44 29
+f 29 42 30
+f 29 44 45
+f 29 45 46
+f 29 46 43
+f 34 39 47
+f 34 47 48
+f 34 48 35
+f 36 49 37
+f 37 40 38
+f 37 49 50
+f 37 50 40
+f 40 50 41
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_60.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40fad555f732f4ec98571873e660c41689f6bf50
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_60.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.34701832 -0.25660804 0.32032627
+v -0.34701832 -0.26595469 0.32032623
+v -0.34724594 -0.25719445 0.32802218
+v -0.34701832 -0.25660806 0.32802218
+v -0.14987241 -0.25660804 0.32032627
+v -0.34616989 -0.26766054 0.32032623
+v -0.32969794 -0.31086963 0.34361676
+v -0.34256921 -0.28362928 0.34361686
+v -0.34724594 -0.26986991 0.33578646
+v -0.34724594 -0.26617979 0.32802214
+v -0.34724594 -0.25719448 0.33578651
+v -0.14548542 -0.25660806 0.32802218
+v -0.13584230 -0.25719448 0.33578651
+v -0.20268194 -0.30444298 0.32032609
+v -0.34190704 -0.27616611 0.32032620
+v -0.33447812 -0.28861053 0.32032615
+v -0.32812525 -0.29891082 0.32032611
+v -0.32452460 -0.30444298 0.32032609
+v -0.31910294 -0.31315588 0.32802197
+v -0.31810966 -0.31711846 0.33578629
+v -0.32133783 -0.31711849 0.34361674
+v -0.34256921 -0.26435553 0.34361693
+v -0.14500946 -0.26435553 0.34361693
+v -0.20092300 -0.31344025 0.34361675
+v -0.21215951 -0.31063263 0.32802198
+v -0.26743156 -0.31315588 0.32802197
+v -0.26248581 -0.31711846 0.33578629
+v -0.25915418 -0.31711849 0.34361674
+v -0.21238714 -0.31681643 0.34361674
+v -0.21501519 -0.31701780 0.34361674
+v -0.25950597 -0.31711849 0.34249711
+v -0.25915418 -0.31711849 0.34349361
+v -0.25921628 -0.31711849 0.34324733
+f 1 2 10
+f 1 10 3
+f 1 3 11
+f 1 11 4
+f 1 4 12
+f 1 12 5
+f 1 5 14
+f 1 14 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 10 9
+f 3 9 11
+f 4 11 13
+f 4 13 12
+f 5 12 13
+f 5 13 14
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 28
+f 7 28 30
+f 7 30 29
+f 7 29 24
+f 7 24 23
+f 7 23 22
+f 7 22 8
+f 8 22 11
+f 8 11 9
+f 11 22 23
+f 11 23 13
+f 13 23 24
+f 13 24 14
+f 14 25 26
+f 14 26 19
+f 14 19 18
+f 14 24 25
+f 19 26 27
+f 19 27 20
+f 20 27 31
+f 20 31 33
+f 20 33 32
+f 20 32 28
+f 20 28 21
+f 24 29 25
+f 25 29 30
+f 25 30 27
+f 25 27 26
+f 27 30 31
+f 28 32 30
+f 30 32 33
+f 30 33 31
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_61.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c36abcda2f7cf8caa8aa4c1a7854fd2ad155026a
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_61.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.29359087 0.27080258 0.26769175
+v 0.29359087 0.27102574 0.26624409
+v 0.29359087 0.32550906 0.26769196
+v 0.29308729 0.02564362 0.26769085
+v 0.29359087 0.27118515 0.26527341
+v 0.29359087 0.32550908 0.26251360
+v 0.25747370 0.32550906 0.26769196
+v 0.29305581 0.01091497 0.26769080
+v 0.29359087 0.27408626 0.26251341
+v 0.29359087 0.27335302 0.26320326
+v 0.25934645 0.32550908 0.26251360
+v 0.25745796 0.32550906 0.26644856
+v 0.20401401 0.30794304 0.26251353
+v 0.20404549 0.30791117 0.26527354
+v 0.20409270 0.30787930 0.26769189
+v 0.29302431 -0.00011559 0.26769076
+v 0.25767828 0.20286584 0.26251315
+v 0.28814574 -0.00011559 0.26582947
+v 0.28107971 -0.00011558 0.26313536
+v 0.25904745 0.32550907 0.26294800
+v 0.25745796 0.32550907 0.26527361
+v 0.13443930 0.24772129 0.26769167
+v 0.16967518 0.27408626 0.26251341
+v 0.13281836 -0.00011559 0.26769076
+v 0.24225572 0.18421590 0.26251308
+v 0.21301577 -0.00011558 0.26326007
+v 0.19608241 0.18498102 0.26251308
+v 0.21301577 0.18207992 0.26251307
+v 0.22621938 0.18230308 0.26251307
+v 0.16079933 0.26480912 0.26251337
+v 0.15999672 0.26382083 0.26251337
+v 0.13281836 0.23063349 0.26451597
+v 0.13281836 0.24265233 0.26769165
+v 0.13281836 -0.00011558 0.26364173
+v 0.15596796 0.23092043 0.26251325
+v 0.15058580 0.24772131 0.26251331
+v 0.13281836 0.17937009 0.26399772
+v 0.13281836 0.00855584 0.26362911
+v 0.13281836 0.02564363 0.26362459
+v 0.13281836 0.09399484 0.26368669
+v 0.13281836 0.11108264 0.26372477
+v 0.13281836 0.15737274 0.26386434
+v 0.13281836 0.16231417 0.26388108
+v 0.13281836 0.17442865 0.26395413
+f 1 2 5
+f 1 5 10
+f 1 10 9
+f 1 9 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 22
+f 1 22 33
+f 1 33 24
+f 1 24 16
+f 1 16 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 11
+f 3 11 20
+f 3 20 21
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+f 3 12 7
+f 4 8 9
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+f 4 10 5
+f 6 9 17
+f 6 17 25
+f 6 25 29
+f 6 29 28
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+f 6 27 35
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+f 6 31 30
+f 6 30 23
+f 6 23 13
+f 6 13 11
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+f 8 16 9
+f 9 16 18
+f 9 18 19
+f 9 19 17
+f 11 13 20
+f 12 21 13
+f 13 22 14
+f 13 21 20
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+f 14 22 15
+f 16 24 34
+f 16 34 26
+f 16 26 19
+f 16 19 18
+f 17 19 25
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 25
+f 22 23 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 24 33 32
+f 24 32 37
+f 24 37 44
+f 24 44 43
+f 24 43 42
+f 24 42 41
+f 24 41 40
+f 24 40 39
+f 24 39 38
+f 24 38 34
+f 26 34 27
+f 27 34 35
+f 31 36 32
+f 32 36 37
+f 34 38 36
+f 34 36 35
+f 36 38 39
+f 36 39 40
+f 36 40 41
+f 36 41 42
+f 36 42 43
+f 36 43 44
+f 36 44 37
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_62.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad29e0b174cee4e13909ed3d1313158e606209ce
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_62.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00235250 0.49233781 0.34361971
+v 0.00235250 0.44680806 0.34361954
+v 0.00877193 0.49232235 0.34361971
+v 0.00879446 0.48966877 0.32032901
+v 0.00174434 0.48971519 0.32802492
+v 0.00174434 0.49039597 0.33578925
+v 0.00174434 0.44851788 0.33578910
+v 0.00174434 0.44910589 0.32802477
+v 0.15117083 0.41330103 0.32032873
+v 0.14394051 0.41371874 0.34361942
+v 0.02580034 0.49157962 0.34361971
+v 0.00879446 0.48926648 0.32032901
+v 0.04282874 0.49058162 0.34361970
+v 0.02577782 0.48848507 0.32032900
+v 0.00879446 0.44922196 0.32035850
+v 0.22525339 0.41330103 0.32032873
+v 0.15081044 0.41330101 0.32632128
+v 0.01291641 0.44881191 0.32032886
+v 0.15074286 0.41330101 0.32789922
+v 0.15074286 0.41330101 0.32802464
+v 0.23180798 0.41371874 0.34361942
+v 0.05983462 0.48891050 0.34361970
+v 0.04280622 0.48696098 0.32032900
+v 0.22264057 0.41524290 0.32032874
+v 0.21232443 0.43051482 0.34361948
+v 0.23086197 0.41526604 0.34361943
+v 0.23140253 0.41371874 0.34178607
+v 0.23160526 0.41371874 0.34266853
+v 0.22525339 0.41330101 0.32802464
+v 0.23122235 0.41469352 0.34361942
+v 0.07684050 0.48690674 0.34361969
+v 0.05981210 0.48444660 0.32032899
+v 0.21385608 0.42169522 0.32032876
+v 0.21178383 0.42318836 0.32032876
+v 0.20975665 0.43234839 0.34361949
+v 0.09199938 0.48408289 0.34361968
+v 0.07684050 0.48105796 0.32032898
+v 0.20536440 0.42773748 0.32032878
+v 0.19594922 0.43390353 0.32032880
+v 0.19297601 0.43582994 0.32032881
+v 0.18369598 0.44183353 0.32032883
+v 0.18162374 0.44316421 0.32032884
+v 0.17520430 0.44716404 0.32032885
+v 0.17820004 0.45110959 0.34361956
+v 0.09407163 0.48344848 0.34361968
+v 0.11089730 0.47226147 0.32032894
+v 0.10729341 0.47332140 0.32032895
+v 0.09348599 0.47722835 0.32032896
+v 0.08702150 0.47884531 0.32032897
+v 0.08440868 0.47942555 0.32032897
+v 0.16191495 0.45340743 0.32032888
+v 0.14524694 0.46615724 0.34361961
+v 0.12788066 0.46665245 0.32032892
+v 0.14301703 0.46714751 0.34361962
+v 0.14569742 0.45990616 0.32032890
+v 0.13927799 0.46245922 0.32032891
+f 1 2 10
+f 1 10 21
+f 1 21 30
+f 1 30 26
+f 1 26 25
+f 1 25 35
+f 1 35 44
+f 1 44 52
+f 1 52 54
+f 1 54 45
+f 1 45 36
+f 1 36 31
+f 1 31 22
+f 1 22 13
+f 1 13 11
+f 1 11 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 3 11 4
+f 4 12 8
+f 4 8 5
+f 4 11 13
+f 4 13 14
+f 4 14 23
+f 4 23 32
+f 4 32 37
+f 4 37 50
+f 4 50 49
+f 4 49 48
+f 4 48 47
+f 4 47 46
+f 4 46 53
+f 4 53 56
+f 4 56 55
+f 4 55 51
+f 4 51 43
+f 4 43 42
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+f 4 41 40
+f 4 40 39
+f 4 39 38
+f 4 38 34
+f 4 34 33
+f 4 33 24
+f 4 24 16
+f 4 16 9
+f 4 9 18
+f 4 18 12
+f 5 8 7
+f 5 7 6
+f 8 12 15
+f 8 15 9
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+f 9 20 19
+f 9 19 17
+f 9 17 10
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+f 10 17 19
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+f 12 18 15
+f 13 22 23
+f 13 23 14
+f 16 24 25
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+f 36 50 37
+f 43 51 44
+f 44 51 52
+f 45 53 46
+f 45 54 53
+f 51 55 54
+f 51 54 52
+f 53 54 56
+f 54 55 56
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_63.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ab3e4e191bbc7e1236a516a5a8e1a1e0d035449
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_63.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.30336669 -0.30672228 0.34361905
+v 0.19569357 -0.30672228 0.34361905
+v 0.30336669 -0.30672225 0.33578735
+v 0.30336669 -0.24435767 0.34361928
+v 0.19665302 -0.30672227 0.34129698
+v 0.05837376 -0.25844854 0.34361923
+v 0.20509609 -0.30672225 0.33578735
+v 0.30336669 -0.24815247 0.33578757
+v 0.30336669 -0.24488718 0.34076134
+v 0.30324676 -0.00622487 0.34362016
+v 0.19682092 -0.30672227 0.34092135
+v 0.05837376 -0.00622487 0.34362016
+v 0.05837376 -0.25485960 0.33578754
+v 0.30118397 -0.00622484 0.33578846
+v 0.30151978 -0.00622485 0.33703344
+v 0.30336669 -0.24550494 0.33909858
+v 0.30336669 -0.24512251 0.33959228
+v 0.05837376 -0.00622484 0.33578846
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 13
+f 3 13 18
+f 3 18 14
+f 3 14 8
+f 4 9 10
+f 5 6 11
+f 6 12 18
+f 6 18 13
+f 6 13 11
+f 7 11 13
+f 8 14 15
+f 8 15 10
+f 8 10 16
+f 9 17 10
+f 10 15 14
+f 10 14 18
+f 10 18 12
+f 10 17 16
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_64.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6c4887ae5f1a1a6bc98434e47c892b4964b98b8
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_64.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.34262668 -0.28361590 0.34361914
+v -0.34679285 -0.28033813 0.34361915
+v -0.34703448 -0.26591583 0.32032772
+v -0.34262668 -0.27818022 0.33578691
+v -0.34262668 -0.15589183 0.34361961
+v -0.36388957 -0.24641313 0.34361927
+v -0.35908640 -0.24242508 0.32032781
+v -0.34703448 -0.15179454 0.32032814
+v -0.34262668 -0.16192838 0.33578734
+v -0.34686609 -0.11374508 0.34361976
+v -0.38042246 -0.21158674 0.34361940
+v -0.36315736 -0.23357509 0.32032784
+v -0.36795322 -0.00456769 0.32032868
+v -0.36282055 -0.00623399 0.34362016
+v -0.38185756 -0.20757145 0.34361942
+v -0.37822590 -0.19639962 0.32032798
+v -0.37480654 -0.20595981 0.32032794
+v -0.36969585 -0.21819684 0.32032790
+v -0.36448264 -0.23057045 0.32032785
+v -0.40924156 -0.00456769 0.32032868
+v -0.36781412 -0.00456770 0.32288469
+v -0.36755785 -0.00456771 0.32802410
+v -0.41742016 -0.00623399 0.34362016
+v -0.39797314 -0.15684786 0.34361960
+v -0.38253118 -0.18350704 0.32032803
+v -0.41002503 -0.00456771 0.32566189
+v -0.40923426 -0.00858298 0.32032867
+v -0.41742016 -0.00855573 0.34362015
+v -0.41036184 -0.00456771 0.32802410
+v -0.40059439 -0.14553952 0.34361965
+v -0.39355067 -0.14537556 0.32032817
+v -0.39068050 -0.15561861 0.32032813
+v -0.38885002 -0.16206490 0.32032810
+v -0.40882422 -0.01978205 0.32032863
+v -0.41696620 -0.02535435 0.34362009
+v -0.40142908 -0.14089601 0.34361966
+v -0.39731417 -0.12813991 0.32032823
+v -0.39624515 -0.13316583 0.32032821
+v -0.40747699 -0.04715148 0.32032853
+v -0.41637313 -0.03647148 0.34362005
+v -0.41563361 -0.04272657 0.34362002
+v -0.40213931 -0.09817556 0.32032834
+v -0.39962056 -0.11522000 0.32032828
+v -0.40666424 -0.05996214 0.32032848
+v -0.41629258 -0.03789185 0.34362004
+v -0.40489236 -0.07689732 0.32032842
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 14
+f 1 14 23
+f 1 23 28
+f 1 28 35
+f 1 35 40
+f 1 40 45
+f 1 45 41
+f 1 41 36
+f 1 36 30
+f 1 30 24
+f 1 24 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 19
+f 3 19 18
+f 3 18 17
+f 3 17 16
+f 3 16 25
+f 3 25 33
+f 3 33 32
+f 3 32 31
+f 3 31 38
+f 3 38 37
+f 3 37 43
+f 3 43 42
+f 3 42 46
+f 3 46 44
+f 3 44 39
+f 3 39 34
+f 3 34 27
+f 3 27 20
+f 3 20 13
+f 3 13 8
+f 3 8 9
+f 3 9 4
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 8 13 10
+f 8 10 9
+f 10 13 14
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 20 26
+f 13 26 29
+f 13 29 22
+f 13 22 21
+f 13 21 14
+f 14 21 22
+f 14 22 29
+f 14 29 23
+f 15 24 25
+f 15 25 16
+f 20 23 26
+f 20 27 28
+f 20 28 23
+f 23 29 26
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 27 34 35
+f 27 35 28
+f 30 36 37
+f 30 37 38
+f 30 38 31
+f 34 39 35
+f 35 39 40
+f 36 41 42
+f 36 42 43
+f 36 43 37
+f 39 44 45
+f 39 45 40
+f 41 45 42
+f 42 45 46
+f 44 46 45
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_65.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c11bfe8882f458d17c94570c7d38c8980414a14f
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_65.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.30717801 -0.25660806 0.32802187
+v -0.34703162 -0.25660806 0.32802187
+v -0.30717801 -0.25660804 0.32032399
+v -0.30717801 -0.17591966 0.32802216
+v -0.34703162 -0.25660804 0.32032399
+v -0.34703162 -0.15079128 0.32802226
+v -0.30717801 -0.17991781 0.32032427
+v -0.30717801 -0.17605431 0.32653006
+v -0.34703162 -0.15183741 0.32032437
+v -0.30717801 -0.17623040 0.32469131
+v -0.30717801 -0.17692438 0.32386842
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 10
+f 1 10 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 6
+f 6 8 10
+f 6 10 9
+f 7 9 11
+f 9 10 11
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_66.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37b60111eb62195ccce2671a317fa56605a61e9f
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_66.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.17359397 -0.39624844 0.34359735
+v -0.17359397 -0.39684075 0.34361872
+v -0.17340709 -0.39632365 0.34361872
+v -0.00003072 -0.44731022 0.34361854
+v -0.00086320 -0.44988629 0.32802122
+v -0.17359397 -0.39861769 0.33578799
+v -0.17359397 -0.45310183 0.34361852
+v -0.00003072 -0.49229840 0.34361837
+v -0.00003072 -0.44841966 0.33911613
+v -0.00003072 -0.44926581 0.33578780
+v -0.00086320 -0.48959999 0.32802107
+v -0.15186458 -0.41320942 0.32802135
+v -0.17359397 -0.44922820 0.33578780
+v -0.15186458 -0.45863008 0.32802119
+v -0.14583337 -0.46749616 0.34361846
+v -0.00830453 -0.49227958 0.34361837
+v -0.00003072 -0.49029577 0.33578765
+v -0.00830453 -0.48958117 0.32802107
+v -0.14916328 -0.45979592 0.32802118
+v -0.14428733 -0.46816368 0.34361846
+v -0.02532787 -0.49182831 0.34361837
+v -0.02532787 -0.48879142 0.32802107
+v -0.14321700 -0.46230624 0.32802117
+v -0.14065161 -0.46327464 0.32802117
+v -0.12743390 -0.46790038 0.32802115
+v -0.09483132 -0.48453242 0.34361840
+v -0.04235120 -0.49090693 0.34361838
+v -0.05939153 -0.48963765 0.34361838
+v -0.07639787 -0.48832139 0.34361839
+v -0.04235120 -0.48733412 0.32802108
+v -0.11041056 -0.47325007 0.32802113
+v -0.10290126 -0.47557234 0.32802112
+v -0.10167803 -0.47594840 0.32802112
+v -0.09328529 -0.48499312 0.34361840
+v -0.07638088 -0.48236992 0.32802110
+v -0.05937454 -0.48511529 0.32802109
+v -0.09143345 -0.47899464 0.32802111
+v -0.08885107 -0.47962456 0.32802111
+v -0.08106995 -0.48136392 0.32802110
+v -0.07979574 -0.48164598 0.32802110
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 7
+f 1 7 2
+f 2 7 15
+f 2 15 20
+f 2 20 26
+f 2 26 34
+f 2 34 29
+f 2 29 28
+f 2 28 27
+f 2 27 21
+f 2 21 16
+f 2 16 8
+f 2 8 4
+f 2 4 3
+f 4 8 17
+f 4 17 10
+f 4 10 9
+f 4 9 5
+f 5 9 10
+f 5 10 17
+f 5 17 11
+f 5 11 18
+f 5 18 22
+f 5 22 30
+f 5 30 36
+f 5 36 35
+f 5 35 40
+f 5 40 39
+f 5 39 38
+f 5 38 37
+f 5 37 33
+f 5 33 32
+f 5 32 31
+f 5 31 25
+f 5 25 24
+f 5 24 23
+f 5 23 19
+f 5 19 14
+f 5 14 12
+f 5 12 6
+f 6 12 14
+f 6 14 13
+f 7 13 14
+f 7 14 15
+f 8 16 11
+f 8 11 17
+f 11 16 18
+f 14 19 20
+f 14 20 15
+f 16 21 18
+f 18 21 22
+f 19 23 20
+f 20 23 24
+f 20 24 25
+f 20 25 26
+f 21 27 22
+f 22 27 28
+f 22 28 29
+f 22 29 30
+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 26 33 34
+f 29 34 35
+f 29 35 36
+f 29 36 30
+f 33 37 34
+f 34 37 38
+f 34 38 39
+f 34 39 40
+f 34 40 35
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_67.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbd83ca6924617c35b4200b8b9ed73bf896852ef
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_67.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.25824292 0.32044560 0.34362136
+v 0.25848902 0.32044561 0.34098499
+v 0.21166480 0.31550429 0.34362134
+v 0.30349812 0.32044560 0.34362136
+v 0.25859671 0.32044561 0.33996616
+v 0.26028878 0.32044563 0.33578966
+v 0.21295693 0.31272248 0.33578963
+v 0.20277375 0.30637943 0.33578961
+v 0.20251225 0.30954552 0.34362132
+v 0.30349812 0.26515500 0.34362115
+v 0.30349812 0.32044563 0.33578966
+v 0.19320586 0.29888359 0.33578958
+v 0.18497623 0.29800137 0.34362127
+v 0.30349812 0.26515503 0.33578945
+v 0.14635086 0.26515500 0.34362115
+v 0.15559572 0.26515503 0.33578945
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 15
+f 1 15 10
+f 1 10 4
+f 1 4 11
+f 1 11 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 14
+f 4 14 11
+f 6 11 14
+f 6 14 16
+f 6 16 12
+f 6 12 8
+f 6 8 7
+f 8 12 13
+f 8 13 9
+f 10 15 16
+f 10 16 14
+f 12 16 15
+f 12 15 13
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_68.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e86966336eef2a25a329d2d6af84062b64e6173
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_68.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.30594095 -0.00456771 0.32802416
+v -0.30552189 -0.00456769 0.32032491
+v -0.30803618 -0.00555686 0.33578694
+v 0.29431041 -0.00456771 0.32802416
+v -0.30713823 -0.17988920 0.32032427
+v -0.31007154 -0.18654105 0.32802349
+v -0.30965248 -0.09400892 0.33578661
+v 0.29431041 -0.00456769 0.32032491
+v 0.30113488 -0.00555686 0.33578694
+v -0.30713823 -0.25659546 0.32032399
+v -0.31007154 -0.25718895 0.32802324
+v -0.31007154 -0.17200102 0.33578633
+v 0.30041652 -0.00555683 0.32802416
+v 0.30149406 -0.25330664 0.32802325
+v 0.29431041 -0.21235707 0.32032415
+v 0.30149406 -0.25093280 0.33578604
+v -0.14975706 -0.25659546 0.32032399
+v -0.31007154 -0.25718898 0.33578602
+v -0.14772170 -0.25718895 0.32802324
+v 0.30149406 -0.25657073 0.32802324
+v 0.28179896 -0.25592781 0.32032399
+v 0.30149406 -0.25657076 0.33578602
+v -0.13574900 -0.25718898 0.33578602
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 15
+f 2 15 21
+f 2 21 17
+f 2 17 10
+f 2 10 5
+f 3 7 12
+f 3 12 18
+f 3 18 23
+f 3 23 22
+f 3 22 16
+f 3 16 9
+f 4 9 8
+f 5 10 11
+f 5 11 6
+f 6 11 18
+f 6 18 12
+f 6 12 7
+f 8 9 13
+f 8 13 14
+f 8 14 20
+f 8 20 15
+f 9 16 14
+f 9 14 13
+f 10 17 19
+f 10 19 11
+f 11 19 23
+f 11 23 18
+f 14 16 22
+f 14 22 20
+f 15 20 21
+f 17 21 20
+f 17 20 19
+f 19 20 23
+f 20 22 23
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_69.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6bde598998aad49192a7a5ee5d78bd76d659371
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_69.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.00833605 0.49233641 0.34361971
+v 0.00228366 0.49233641 0.34361971
+v -0.00831271 0.48968313 0.32032901
+v -0.02280688 0.49169595 0.34361971
+v 0.00228366 0.44680232 0.34361954
+v 0.00877218 0.44955486 0.32802477
+v 0.00877218 0.48971360 0.32799985
+v 0.00877218 0.48967550 0.32032901
+v 0.00454764 0.48968313 0.32032901
+v -0.01246724 0.48938577 0.32032901
+v -0.03902820 0.49075813 0.34361970
+v -0.14004384 0.41444354 0.34361942
+v 0.00877218 0.44921940 0.32035850
+v 0.00877218 0.44923462 0.32802477
+v 0.00877218 0.48927139 0.32032901
+v -0.02532760 0.48840219 0.32032900
+v -0.05531953 0.48939333 0.34361970
+v -0.22966955 0.41444354 0.34361942
+v -0.14650903 0.41444357 0.33578897
+v -0.14606557 0.41567117 0.32802465
+v 0.00870217 0.44921940 0.32032886
+v -0.02948212 0.48802861 0.32032900
+v -0.07193763 0.48760154 0.34361969
+v -0.04236581 0.48684679 0.32032900
+v -0.22803576 0.41668515 0.34361943
+v -0.22068363 0.41567117 0.32802465
+v -0.22602851 0.41444356 0.33751287
+v -0.22460477 0.41444357 0.33578897
+v -0.13026437 0.42355501 0.32032877
+v -0.04649700 0.48625207 0.32032900
+v -0.05938070 0.48432303 0.32032899
+v -0.08876580 0.48455170 0.34361968
+v -0.20901363 0.43209447 0.34361949
+v -0.21989009 0.41626587 0.32802465
+v -0.13026437 0.46577240 0.32032892
+v -0.06351188 0.48353007 0.32032899
+v -0.08608170 0.47869607 0.32032897
+v -0.09133320 0.48398749 0.34361968
+v -0.07637224 0.48080810 0.32032898
+v -0.20625950 0.43384813 0.34361949
+v -0.19549976 0.43314672 0.32802471
+v -0.20175488 0.42915906 0.32802470
+v -0.20441565 0.42742828 0.32802469
+v -0.21291141 0.42137435 0.32802467
+v -0.12744022 0.46676359 0.32032892
+v -0.19150861 0.43567046 0.32802472
+v -0.18231263 0.44138893 0.32802474
+v -0.17379353 0.44652026 0.32802476
+v -0.16146999 0.45317656 0.32802478
+v -0.17400359 0.45238354 0.34361956
+v -0.14319474 0.46735823 0.34361962
+v -0.09457746 0.47656120 0.32032896
+v -0.11042534 0.47224568 0.32032894
+v -0.11455653 0.47097237 0.32032894
+v -0.14018387 0.46841043 0.34361962
+v -0.17717782 0.45065273 0.34361956
+f 1 2 9
+f 1 9 3
+f 1 3 4
+f 1 4 11
+f 1 11 17
+f 1 17 23
+f 1 23 32
+f 1 32 38
+f 1 38 55
+f 1 55 51
+f 1 51 50
+f 1 50 56
+f 1 56 40
+f 1 40 33
+f 1 33 25
+f 1 25 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 5 14
+f 2 14 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 11
+f 3 11 4
+f 3 9 8
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+f 3 21 29
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+f 3 45 54
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+f 3 53 52
+f 3 52 37
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+f 3 24 22
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+f 3 16 10
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+f 5 13 14
+f 6 14 13
+f 6 13 15
+f 6 15 8
+f 6 8 7
+f 10 16 11
+f 11 16 17
+f 12 18 27
+f 12 27 28
+f 12 28 19
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 15
+f 16 22 17
+f 17 22 24
+f 17 24 23
+f 18 25 26
+f 18 26 27
+f 19 28 26
+f 19 26 20
+f 20 26 29
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+f 23 30 31
+f 23 31 32
+f 25 33 26
+f 26 28 27
+f 26 33 34
+f 26 34 35
+f 26 35 29
+f 31 36 32
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+f 32 36 39
+f 32 39 37
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 34 44 35
+f 35 44 43
+f 35 43 42
+f 35 42 41
+f 35 41 46
+f 35 46 47
+f 35 47 48
+f 35 48 49
+f 35 49 50
+f 35 50 51
+f 35 51 45
+f 37 52 38
+f 38 52 53
+f 38 53 54
+f 38 54 55
+f 40 46 41
+f 40 56 48
+f 40 48 47
+f 40 47 46
+f 45 51 55
+f 45 55 54
+f 48 56 50
+f 48 50 49
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_7.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a116c5e884098cab69cd5bbe86a262e4263537e
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_7.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00162274 0.48962265 0.28721360
+v 0.00162274 0.44869537 0.28721345
+v 0.00162274 0.48959658 0.27235766
+v -0.00830290 0.48960961 0.28721360
+v 0.00162274 0.44861051 0.28223957
+v -0.13127413 0.42319496 0.28721335
+v 0.00162274 0.48958357 0.26527443
+v -0.00830290 0.48956399 0.26527443
+v -0.01328523 0.48921788 0.28721360
+v 0.00162274 0.44849302 0.27515634
+v -0.13127413 0.46510152 0.28721351
+v -0.13127413 0.42292737 0.26527418
+v 0.00162274 0.44832984 0.26527428
+v 0.00162274 0.48396256 0.25104224
+v -0.00830290 0.48395603 0.25105456
+v -0.02531828 0.48320526 0.25136233
+v -0.04234666 0.48225860 0.25187942
+v -0.02531828 0.48812770 0.26527442
+v -0.02531828 0.48824515 0.28223971
+v -0.02531828 0.48826473 0.28721359
+v -0.13127413 0.46499062 0.26527434
+v -0.12744957 0.46646599 0.28721351
+v -0.13127413 0.42497737 0.25406246
+v 0.00162274 0.45474091 0.25104213
+v 0.00162274 0.47572357 0.24768937
+v 0.00162274 0.46982181 0.24528860
+v -0.00830290 0.46982181 0.24530911
+v -0.02531828 0.46982181 0.24562511
+v -0.04234666 0.46982181 0.24614630
+v -0.05936204 0.46982180 0.24721331
+v -0.05936204 0.48101165 0.25295463
+v -0.04234666 0.48639766 0.26527442
+v -0.04234666 0.48668484 0.28223971
+v -0.04234666 0.48670441 0.28721359
+v -0.12744957 0.46632246 0.26527434
+v -0.13127413 0.46312351 0.25420213
+v -0.11540351 0.47047449 0.28721353
+v -0.11042118 0.47210013 0.28223965
+v -0.13127413 0.43458085 0.24935950
+v -0.09339280 0.45274972 0.24628577
+v -0.11042118 0.45274972 0.24590000
+v -0.12744957 0.45274971 0.24769339
+v -0.11042118 0.46648570 0.25147309
+v -0.07637742 0.47937300 0.25513376
+v -0.08522333 0.47844594 0.25663577
+v -0.05936204 0.48391681 0.26527441
+v -0.05936204 0.48419095 0.28223970
+v -0.05936204 0.48419745 0.28721358
+v -0.11042118 0.47185862 0.26527436
+v -0.12744957 0.46376983 0.25343061
+v -0.13127413 0.45295864 0.24855930
+v -0.11042118 0.47212621 0.28721353
+v -0.09432942 0.47653299 0.28223967
+v -0.09405624 0.47640249 0.26527438
+v -0.08554855 0.47852426 0.26527439
+v -0.07637742 0.48050240 0.26527439
+v -0.07637742 0.48064594 0.28223969
+v -0.06435739 0.48315943 0.28721357
+v -0.09903857 0.47525991 0.28721355
+v -0.09436845 0.47653948 0.28721355
+v -0.08582173 0.47858948 0.28223968
+v -0.07637742 0.48065246 0.28721357
+v -0.07917429 0.48005184 0.28721356
+v -0.08834542 0.47799535 0.28721356
+v -0.08584776 0.47859597 0.28721356
+f 1 2 5
+f 1 5 10
+f 1 10 13
+f 1 13 24
+f 1 24 26
+f 1 26 25
+f 1 25 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 20
+f 1 20 34
+f 1 34 48
+f 1 48 58
+f 1 58 62
+f 1 62 63
+f 1 63 65
+f 1 65 64
+f 1 64 60
+f 1 60 59
+f 1 59 52
+f 1 52 37
+f 1 37 22
+f 1 22 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 4 8 9
+f 4 7 8
+f 5 6 10
+f 6 11 21
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+f 18 33 19
+f 19 33 34
+f 19 34 20
+f 21 22 35
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+f 22 37 38
+f 22 38 35
+f 23 39 24
+f 24 39 26
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+f 30 43 31
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+f 31 44 32
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+f 33 47 34
+f 34 47 48
+f 35 38 49
+f 35 49 36
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+f 38 53 54
+f 38 54 49
+f 39 51 42
+f 39 42 41
+f 39 41 40
+f 42 51 43
+f 43 51 50
+f 43 50 45
+f 43 45 44
+f 45 54 55
+f 45 55 56
+f 45 56 46
+f 45 49 54
+f 46 56 47
+f 47 56 57
+f 47 57 58
+f 47 58 48
+f 52 59 53
+f 53 59 60
+f 53 60 61
+f 53 61 55
+f 53 55 54
+f 55 61 57
+f 55 57 56
+f 57 62 58
+f 57 61 63
+f 57 63 62
+f 60 64 61
+f 61 64 65
+f 61 65 63
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_70.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af5016e5ac8b5352cdf24d74d1fda3820205fb6a
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_70.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.11358654 0.43000263 0.33578903
+v 0.11474444 0.43000266 0.32802470
+v 0.26441237 0.31666508 0.32032837
+v 0.26261565 0.31707554 0.33578861
+v 0.25820366 0.32045953 0.34361908
+v 0.14401124 0.41370374 0.34361942
+v 0.20394230 0.43000263 0.33578903
+v 0.20198585 0.43000266 0.32802470
+v 0.15119817 0.41329330 0.32032873
+v 0.31496050 0.31666508 0.32032837
+v 0.26415285 0.31666506 0.32802428
+v 0.31615830 0.31707554 0.33578861
+v 0.31753582 0.32045953 0.34361908
+v 0.23181165 0.41370374 0.34361942
+v 0.20655755 0.42893749 0.33578903
+v 0.22528350 0.41329330 0.32032873
+v 0.30795322 0.32641775 0.32032841
+v 0.31448136 0.32754938 0.34361910
+v 0.31510025 0.31666506 0.32802428
+v 0.23141236 0.41370374 0.34178607
+v 0.24716374 0.40106627 0.34361937
+v 0.23191146 0.40802307 0.32032871
+v 0.31228535 0.33056730 0.34361911
+v 0.30154489 0.33494999 0.32032844
+v 0.24434885 0.39783767 0.32032867
+v 0.23396773 0.40638097 0.32032870
+v 0.24868098 0.39975704 0.34361937
+v 0.29667375 0.34924052 0.34361918
+v 0.29304035 0.34597862 0.32032848
+v 0.28601313 0.35452192 0.32032851
+v 0.25285339 0.39040388 0.32032864
+v 0.26419279 0.38472305 0.34361931
+v 0.28393689 0.35695178 0.32032852
+v 0.27750856 0.36436340 0.32032855
+v 0.28064289 0.36725917 0.34361925
+v 0.25922181 0.38395754 0.32032862
+v 0.26549043 0.38335834 0.34361931
+v 0.26770638 0.37510356 0.32032859
+v 0.26127808 0.38186055 0.32032861
+v 0.27563200 0.36644931 0.32032856
+v 0.26978262 0.37289561 0.32032858
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 7
+f 1 7 8
+f 1 8 2
+f 2 8 16
+f 2 16 9
+f 2 9 3
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+f 14 20 15
+f 14 21 20
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+f 16 20 22
+f 17 23 18
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+f 20 21 25
+f 20 25 26
+f 20 26 22
+f 21 27 25
+f 23 24 29
+f 23 29 30
+f 23 30 28
+f 25 27 31
+f 27 32 31
+f 28 30 33
+f 28 33 34
+f 28 34 35
+f 31 32 36
+f 32 37 38
+f 32 38 39
+f 32 39 36
+f 34 40 35
+f 35 40 41
+f 35 41 38
+f 35 38 37
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_71.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d570a27f22461003a7a9084b9ed7fdc2451c45e
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_71.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.27005554 -0.37205648 0.32032356
+v -0.26715271 -0.37502629 0.32032355
+v -0.26923680 -0.37289357 0.32802144
+v -0.27003074 -0.37205650 0.32802144
+v -0.21197398 -0.37205648 0.32032356
+v -0.26072678 -0.38156217 0.32032353
+v -0.26328225 -0.37897079 0.32802142
+v -0.26412583 -0.37811080 0.32802142
+v -0.21184993 -0.37205650 0.32802144
+v -0.21187473 -0.37205650 0.32551880
+v -0.01659065 -0.44916834 0.32032328
+v -0.25864269 -0.38364908 0.32032352
+v -0.25561578 -0.38671062 0.32802139
+v -0.01659065 -0.44917985 0.32802116
+v -0.01659065 -0.44915690 0.32570089
+v -0.01659065 -0.44914544 0.32445221
+v -0.01659065 -0.48910599 0.32032313
+v -0.25216711 -0.39010467 0.32032350
+v -0.25219192 -0.39011618 0.32802138
+v -0.01659065 -0.48917481 0.32802101
+v -0.02532398 -0.48879640 0.32802101
+v -0.02532398 -0.48869319 0.32032313
+v -0.24365709 -0.39782159 0.32032347
+v -0.24368190 -0.39783310 0.32802135
+v -0.04234404 -0.48734017 0.32802102
+v -0.04234404 -0.48716816 0.32032314
+v -0.23365843 -0.40635265 0.32032344
+v -0.23671013 -0.40379563 0.32802133
+v -0.05936410 -0.48511569 0.32802103
+v -0.05936410 -0.48478314 0.32032315
+v -0.23159915 -0.40807261 0.32032343
+v -0.23368324 -0.40637558 0.32802132
+v -0.07638415 -0.48237521 0.32802104
+v -0.07638415 -0.48174451 0.32032316
+v -0.22514840 -0.41327838 0.32032341
+v -0.22517320 -0.41334720 0.32802129
+v -0.22775351 -0.41126028 0.32802130
+v -0.07980801 -0.48165282 0.32802104
+v -0.08491899 -0.47993284 0.32032317
+v -0.22244404 -0.41536527 0.32032340
+v -0.21849915 -0.41847269 0.32802127
+v -0.08888868 -0.47962324 0.32802105
+v -0.08811955 -0.47922190 0.32032317
+v -0.21160182 -0.42338032 0.32032337
+v -0.20797947 -0.42635015 0.32802124
+v -0.21740749 -0.41930973 0.32802127
+v -0.09146899 -0.47899259 0.32802105
+v -0.09454549 -0.47766247 0.32032318
+v -0.20515107 -0.42789810 0.32032336
+v -0.20539918 -0.42815036 0.32802124
+v -0.10171576 -0.47595399 0.32802106
+v -0.10737257 -0.47399322 0.32032319
+v -0.19552457 -0.43415876 0.32032334
+v -0.19552457 -0.43447985 0.32802121
+v -0.11044908 -0.47324791 0.32802107
+v -0.11044908 -0.47304150 0.32032319
+v -0.18341700 -0.44189862 0.32032331
+v -0.17843007 -0.44516658 0.32802117
+v -0.12746913 -0.46790454 0.32802109
+v -0.12746913 -0.46754905 0.32032321
+v -0.18133291 -0.44319432 0.32032330
+v -0.17503102 -0.44726495 0.32802117
+v -0.14066837 -0.46327211 0.32802111
+v -0.14029621 -0.46298542 0.32032323
+v -0.17488216 -0.44716171 0.32032329
+v -0.16684353 -0.45157631 0.32802115
+v -0.14324866 -0.46230890 0.32802111
+v -0.14669734 -0.46056601 0.32032324
+v -0.17155755 -0.44890461 0.32032328
+v -0.16550377 -0.45227576 0.32802115
+v -0.14915358 -0.45980924 0.32802112
+v -0.14878142 -0.45969454 0.32032324
+v -0.16148444 -0.45413333 0.32032326
+v -0.16148444 -0.45436268 0.32802114
+v -0.15307366 -0.45811219 0.32802113
+v -0.15853199 -0.45545197 0.32032326
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 11
+f 1 11 17
+f 1 17 22
+f 1 22 26
+f 1 26 30
+f 1 30 34
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+f 1 27 23
+f 1 23 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
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+f 3 7 13
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+f 3 24 28
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+f 40 45 46
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+f 47 52 48
+f 49 53 50
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+f 51 55 56
+f 51 56 52
+f 53 57 54
+f 54 57 58
+f 55 59 56
+f 56 59 60
+f 57 61 58
+f 58 61 62
+f 59 63 60
+f 60 63 64
+f 61 65 62
+f 62 65 66
+f 63 67 64
+f 64 67 68
+f 65 69 66
+f 66 69 70
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+f 67 72 68
+f 69 73 74
+f 69 74 70
+f 71 75 72
+f 72 75 76
+f 73 76 74
+f 74 76 75
+
diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_8.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f03a20aa4b92da4e6fc382c3642be1e930277ac
--- /dev/null
+++ b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_8.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.21301244 -0.18188472 0.26299262
+v 0.22997460 -0.18359973 0.26299262
+v 0.21301244 -0.19973255 0.24486946
+v 0.19939372 -0.18208579 0.26299262
+v 0.22601148 -0.20404965 0.24486944
+v 0.22429652 -0.20247656 0.24486945
+v 0.21507327 -0.20018201 0.24486945
+v 0.24216660 -0.19652733 0.26299257
+v 0.26777554 -0.24399158 0.24486929
+v 0.24346361 -0.22053737 0.24486938
+v 0.23465828 -0.21209243 0.24486941
+v 0.20158424 -0.20226367 0.24486945
+v 0.18364213 -0.18407282 0.26299261
+v 0.24700880 -0.20183795 0.26299255
+v 0.27508209 -0.25253114 0.24486926
+v 0.19306715 -0.21082687 0.24486942
+v 0.16967754 -0.23495526 0.24486933
+v 0.15052486 -0.21917726 0.26299248
+v 0.29720351 -0.26516311 0.26299232
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_9.obj b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/mjcf/mesh/table_collision_9.obj
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index 0000000000000000000000000000000000000000..a72d394ab1d14e64dca847a0cfc858c134226484
--- /dev/null
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/textures/material_0.png b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/textures/material_0.png
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diff --git a/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/video.mp4 b/dataset/furniture/table/31326f5a0f095e99bd51f854101910d7/video.mp4
new file mode 100644
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