diff --git a/.gitattributes b/.gitattributes
index 26ca2c2eacde3ee20647d896bdb94a05feca731d..e2d9957255c6a1bf77659111bb1732ecb72a92df 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3789,3 +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
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/2a842458f7855996b2183eb6253166be.urdf b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/2a842458f7855996b2183eb6253166be.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2efb44027c058919f9e0dbc08b791fab570752a0
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/2a842458f7855996b2183eb6253166be.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_striped_table">
+   <link name="wooden_striped_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_striped_table.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_striped_table_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="25.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.484438</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with vertical striped legs and polished surface</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>30.0</max_mass>
+         <generate_time>20251009092456</generate_time>
+         <gs_model>mesh/wooden_striped_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.217182159423828</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>7</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/2a842458f7855996b2183eb6253166be/2a842458f7855996b2183eb6253166be.usd b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/2a842458f7855996b2183eb6253166be.usd
new file mode 100644
index 0000000000000000000000000000000000000000..357495dd8060c951668048b6c5b3af8ff9306697
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/2a842458f7855996b2183eb6253166be.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5993f28c801c364c34db9b35e4196f84a108637bb06c9387b84b6942b3f25ef1
+size 602730
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/material.mtl b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/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/2a842458f7855996b2183eb6253166be/mesh/material_0.png b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..169a05c5ab43941282363acc9be018db29f5cc72
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12c823040a0371106fcedceab163c74c1feae189f14b5b71d74ec2704bcd4181
+size 898970
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/wooden_striped_table.glb b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/wooden_striped_table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..390d4bd622e65b5fe1d4170ca5d4b18a6dddad98
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/wooden_striped_table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:324a2e1d1f35155ced558e9c4ee1cf8ad154b2af3d440a432b295883acbb33d7
+size 1320784
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/wooden_striped_table.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/wooden_striped_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca7a27279efdae67514d315e0c2be760d968b832
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/wooden_striped_table.obj
@@ -0,0 +1,38700 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/wooden_striped_table_collision.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/wooden_striped_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cad95a4db0ac6589de0665385ce2e9efa98e3601
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/wooden_striped_table_collision.obj
@@ -0,0 +1,9537 @@
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/wooden_striped_table_gs.ply b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/wooden_striped_table_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f127103cd3b0d1638b51e59bd223ef8e9da698c4
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/2a842458f7855996b2183eb6253166be.xml b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/2a842458f7855996b2183eb6253166be.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c033badf282353fcbab1190093e8335491e7925f
--- /dev/null
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+<?xml version='1.0' encoding='utf-8'?>
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+  </asset>
+  <worldbody>
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/material_0.png b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..169a05c5ab43941282363acc9be018db29f5cc72
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12c823040a0371106fcedceab163c74c1feae189f14b5b71d74ec2704bcd4181
+size 898970
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..175a7a7f00474eec5c8b3abfcf0902037261ab89
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3a5e2c361c495deac1fa1e619d174ee728f7552
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision.obj
@@ -0,0 +1,9537 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_0.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49a71ca2ddd34fd13d178df9f008914aa5638d94
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_0.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_1.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d7b77b28d50c440f82442fa4cb3613c5cffc87
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_1.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_10.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6370203658272234a918eed7a549f04f5db46e0c
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_10.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_11.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142dde0af0aac6fce238565f540fefb11571a4b9
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_11.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_12.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..058dec62c9a5a45ff4e6bf2238996fce6ce2ffc5
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_12.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v -0.11712525 -0.13439213 -0.33730243
+v -0.11700274 -0.15880962 -0.33735619
+v -0.11678224 -0.41950095 -0.33741082
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+f 1 52 41
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+f 1 18 17
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+f 1 4 2
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+f 32 43 44
+f 32 44 45
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+f 32 46 40
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+f 44 53 45
+f 45 54 46
+f 45 53 54
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+f 54 60 58
+f 55 58 56
+f 58 60 59
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_13.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642770c59adcc7a961492c99e4770ec669e6746f
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_13.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.09471252 0.00988297 0.20905750
+v -0.09393179 0.43494157 0.11328508
+v -0.09471252 0.01075678 0.20905750
+v -0.12546460 0.00988297 0.20905750
+v -0.09798212 0.00988484 -0.29964093
+v -0.09514217 0.43494149 0.13618055
+v -0.09435621 0.40294245 0.13757780
+v -0.09773061 0.32966678 -0.29963976
+v -0.09768869 0.43494309 -0.29963937
+v -0.09471776 0.01217158 0.20905750
+v -0.12565322 0.03659734 0.20905759
+v -0.14746106 0.01433580 0.08662590
+v -0.14746106 0.00988345 0.07786543
+v -0.10650195 0.00988493 -0.32393377
+v -0.10880220 0.43494147 0.14037266
+v -0.09586526 0.41659089 0.15117539
+v -0.09550372 0.40294240 0.15354013
+v -0.09518934 0.08544887 0.20905777
+v -0.09501119 0.06102310 0.20905768
+v -0.09485923 0.03659734 0.20905759
+v -0.10644955 0.18315389 -0.32393314
+v -0.10644431 0.20757965 -0.32393305
+v -0.10646003 0.23196381 -0.32393296
+v -0.10714119 0.43494318 -0.32393221
+v -0.12560083 0.06102310 0.20905768
+v -0.14746106 0.40431582 0.08700356
+v -0.14746106 0.37939072 0.08700346
+v -0.14746106 0.00988498 -0.33823001
+v -0.10758658 0.00988493 -0.32522366
+v -0.11884155 0.43494148 0.13790040
+v -0.12150859 0.41625801 0.15085292
+v -0.10857689 0.41704860 0.15165908
+v -0.10857689 0.40294238 0.15832346
+v -0.09582859 0.10833502 0.20905786
+v -0.09570283 0.10434035 0.20905784
+v -0.11767833 0.18315394 -0.33720821
+v -0.11767833 0.20757970 -0.33720812
+v -0.11769929 0.23196386 -0.33720803
+v -0.11502702 0.43494321 -0.33285392
+v -0.12540696 0.08544887 0.20905777
+v -0.14746106 0.43494170 0.07958683
+v -0.12539124 0.08686365 0.20905778
+v -0.12368308 0.11257936 0.20905787
+v -0.12336870 0.40294239 0.15445379
+v -0.14746106 0.43494324 -0.34000203
+v -0.13268497 0.00988498 -0.33806876
+v -0.11790363 0.00988498 -0.33699385
+v -0.11769405 0.13430241 -0.33715465
+v -0.12332678 0.43494150 0.13467568
+v -0.10791668 0.12497949 0.20905792
+v -0.10370916 0.11919555 0.20905790
+v -0.12122564 0.17636934 0.19884652
+v -0.14014637 0.43494324 -0.33957207
+v -0.11856909 0.43494323 -0.33683109
+v -0.12331106 0.11744787 0.20905789
+f 1 2 3
+f 1 3 10
+f 1 10 20
+f 1 20 19
+f 1 19 18
+f 1 18 35
+f 1 35 34
+f 1 34 51
+f 1 51 50
+f 1 50 55
+f 1 55 43
+f 1 43 42
+f 1 42 40
+f 1 40 25
+f 1 25 11
+f 1 11 4
+f 1 4 13
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+f 1 46 47
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+f 1 29 14
+f 1 14 5
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+f 3 7 10
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+f 17 34 35
+f 17 35 18
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+f 21 36 22
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+f 22 37 23
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+f 23 38 24
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+f 25 40 26
+f 26 40 42
+f 26 42 43
+f 26 43 44
+f 26 44 41
+f 28 45 46
+f 29 47 48
+f 29 48 36
+f 30 49 31
+f 31 49 41
+f 31 41 44
+f 31 44 33
+f 31 33 32
+f 33 50 51
+f 33 51 34
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+f 33 52 50
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+f 38 54 39
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+f 45 53 46
+f 46 53 47
+f 47 53 48
+f 50 52 55
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_14.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b13d88eae3e0edc8b014500030373ce844da3292
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_14.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.18029862 -0.44197945 -0.34666737
+v 0.19760384 -0.44197945 -0.34508987
+v 0.17056143 -0.44197945 -0.34650417
+v 0.18078755 0.42002693 -0.34258443
+v 0.20123978 -0.44197945 -0.34454588
+v 0.18547710 0.42002693 -0.34214926
+v 0.14786427 -0.44197947 -0.34111886
+v 0.14417323 0.42002692 -0.33921180
+v 0.20351913 -0.44197947 -0.34090128
+v 0.19809275 0.42002692 -0.34024531
+v 0.14786427 -0.44198101 0.07861101
+v 0.14417323 0.00986508 -0.33790773
+v 0.14417323 0.13423835 -0.33845127
+v 0.14417323 0.42002675 -0.29297406
+v 0.20970990 -0.44197953 -0.32398369
+v 0.20633563 0.42002686 -0.32392615
+v 0.15605894 -0.44198149 0.20905584
+v 0.14786427 -0.42907118 0.09052406
+v 0.14417323 0.00986392 -0.02218560
+v 0.14417323 0.41310722 -0.15388007
+v 0.15345592 0.42002505 0.16913133
+v 0.21068087 -0.44197954 -0.32082865
+v 0.20941380 0.42002677 -0.29961050
+v 0.21214076 0.30518820 -0.29961092
+v 0.15301521 -0.03662925 0.20905733
+v 0.14786427 -0.40299844 0.09683426
+v 0.21452340 -0.44198149 0.20905584
+v 0.14417323 0.23194667 0.07486006
+v 0.14417323 0.20587386 0.06631959
+v 0.14417323 0.40450052 -0.12793257
+v 0.15438557 0.42002490 0.20905900
+v 0.21400694 -0.44197962 -0.29966809
+v 0.20993026 0.42002659 -0.25108811
+v 0.21016438 0.42002650 -0.22677248
+v 0.21306352 0.42002538 0.07991971
+v 0.21420664 0.42002490 0.20905900
+v 0.21439945 -0.44197971 -0.27535248
+v 0.21402071 -0.44197962 -0.29890651
+v 0.15391043 0.40289616 0.20905894
+v 0.14417323 0.25793514 0.06631978
+v 0.15393797 0.40433052 0.20905895
+f 1 2 5
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+f 1 9 15
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+f 1 22 32
+f 1 32 38
+f 1 38 37
+f 1 37 27
+f 1 27 17
+f 1 17 11
+f 1 11 7
+f 1 7 3
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+f 17 39 25
+f 18 26 28
+f 18 28 29
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+f 20 30 31
+f 20 31 21
+f 22 24 32
+f 23 33 24
+f 24 33 34
+f 24 34 35
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+f 24 38 32
+f 25 39 28
+f 25 28 26
+f 27 37 36
+f 28 39 40
+f 30 40 31
+f 31 40 41
+f 39 41 40
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_15.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..136f7262fd5d4188d74666fb45a0d3bc781d0587
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_15.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.12622260 -0.47672708 0.30635056
+v -0.14945337 -0.47672712 0.31774807
+v -0.12622260 -0.47672706 0.30245820
+v -0.16238180 0.00022177 0.28334942
+v -0.16558505 0.00022170 0.30334881
+v -0.17274186 0.00022165 0.31549182
+v -0.18480455 0.00022162 0.32382131
+v -0.16212208 -0.40305591 0.32198476
+v -0.16212208 -0.42747293 0.32185565
+v -0.16114090 -0.47672713 0.32128918
+v -0.13366799 -0.47672699 0.28234411
+v -0.16246838 0.00022179 0.27881192
+v -0.20503407 0.00022160 0.32878174
+v -0.18096642 -0.20767313 0.32495314
+v -0.18093755 -0.40305593 0.32571224
+v -0.18096642 -0.23209014 0.32514660
+v -0.20503407 -0.18320945 0.32987065
+v -0.16148720 -0.47672713 0.32137521
+v -0.13386999 -0.47672699 0.28214340
+v -0.22941917 0.00022179 0.27881192
+v -0.14131538 -0.47672697 0.27678155
+v -0.15011710 -0.37859203 0.27678191
+v -0.15257005 -0.35557563 0.27678199
+v -0.15591758 -0.33129869 0.27678208
+v -0.20503407 -0.15883912 0.32972737
+v -0.38937961 0.00022154 0.34443719
+v -0.38808102 -0.33129896 0.35001286
+v -0.38842731 -0.47672724 0.35001233
+v -0.18093755 -0.47672714 0.32447187
+v -0.20503407 -0.23209016 0.32994932
+v -0.20503407 -0.25646049 0.32979869
+v -0.39792164 0.00022176 0.28594431
+v -0.22200264 -0.33129869 0.27678208
+v -0.34851656 -0.45338373 0.27678163
+v -0.36239730 -0.46949053 0.27678158
+v -0.36487910 -0.47672697 0.27678155
+v -0.42028664 0.00022154 0.34443719
+v -0.38808102 -0.33456700 0.35001285
+v -0.42086384 -0.33129896 0.35001286
+v -0.38834073 -0.45501804 0.35001241
+v -0.42086384 -0.47672724 0.35001233
+v -0.40623275 0.00022175 0.28863240
+v -0.39792164 -0.13442195 0.28575028
+v -0.41439959 -0.13442197 0.29098311
+v -0.39745991 -0.47672700 0.28553397
+v -0.42034438 0.00022159 0.33192142
+v -0.42089269 -0.32975828 0.34443598
+v -0.42103697 -0.47672717 0.33191967
+v -0.41413988 0.00022174 0.29122015
+v -0.39792164 -0.30529434 0.28570664
+v -0.41442848 -0.18320931 0.29098293
+v -0.41994035 -0.32975814 0.30764138
+v -0.41991150 -0.30529442 0.30764147
+v -0.41965179 -0.13442203 0.30764210
+v -0.41667942 0.00022171 0.29924859
+v -0.41419762 -0.47672702 0.29088865
+v -0.41448617 -0.30529436 0.29098248
+v -0.41445733 -0.23209002 0.29098275
+v -0.41930549 0.00022168 0.30764259
+v -0.42095038 -0.33129889 0.33192020
+v -0.41994035 -0.47672708 0.30764084
+v -0.42002693 -0.33129881 0.30917539
+v -0.41445733 -0.47672702 0.29098185
+v -0.41448617 -0.33129874 0.29098955
+f 1 2 10
+f 1 10 18
+f 1 18 29
+f 1 29 28
+f 1 28 41
+f 1 41 48
+f 1 48 61
+f 1 61 63
+f 1 63 56
+f 1 56 45
+f 1 45 36
+f 1 36 21
+f 1 21 19
+f 1 19 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
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+f 21 24 23
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+f 46 60 47
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+f 50 58 51
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+f 57 63 64
+f 57 64 61
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_16.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c3b1290bad35364300d559f661a3b229fa349bd
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_16.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.24789164 0.55752371 0.20905951
+v 0.25518560 0.57275675 0.20905956
+v 0.16135309 0.55752371 0.20905951
+v 0.24977362 0.55752386 0.16777875
+v 0.25572786 0.57394169 0.20905957
+v 0.23411182 0.66883362 0.20905992
+v 0.16123614 0.55752375 0.19813226
+v 0.26857202 0.55752574 -0.34210231
+v 0.26857202 0.61337413 0.20905971
+v 0.16090652 0.55752402 0.12551510
+v 0.16108728 0.55752384 0.17396508
+v 0.25313351 0.68032864 0.20905996
+v 0.23329313 0.66972741 -0.34823041
+v 0.23328248 0.66965404 -0.32394760
+v 0.26857202 0.55752588 -0.38049226
+v 0.26857202 0.68159909 0.20905996
+v 0.15996023 0.55752562 -0.31036123
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+v 0.23589810 0.66630711 -0.36713631
+v 0.16746682 0.56413456 -0.36245358
+v 0.16049186 0.55752572 -0.33799734
+v 0.25313351 0.55752588 -0.38141730
+v 0.26857202 0.62277022 -0.38141706
+v 0.26857202 0.68228485 -0.25109915
+v 0.26857202 0.68230940 -0.27538193
+v 0.26857202 0.68228512 -0.32394755
+v 0.26857202 0.68223634 -0.34823036
+v 0.25313351 0.67037493 -0.37077873
+v 0.25313351 0.64720171 -0.38130134
+v 0.18118285 0.57294213 -0.36817737
+v 0.16674381 0.55752581 -0.36308959
+v 0.16364973 0.55752579 -0.35603600
+v 0.17350613 0.55752583 -0.36673202
+v 0.25313351 0.57394386 -0.38147506
+v 0.26857202 0.64720171 -0.38159042
+v 0.22901882 0.55752588 -0.38083917
+v 0.26857202 0.67080250 -0.37095218
+v 0.25313351 0.62277022 -0.38141706
+v 0.22901882 0.57394386 -0.38049220
+v 0.20491477 0.57394385 -0.37806394
+v 0.18093829 0.55752584 -0.37060568
+v 0.25313351 0.59836316 -0.38147497
+v 0.22111883 0.55752588 -0.38002972
+v 0.20491477 0.55752587 -0.37817959
+f 1 2 5
+f 1 5 9
+f 1 9 16
+f 1 16 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 10
+f 1 10 17
+f 1 17 22
+f 1 22 33
+f 1 33 32
+f 1 32 34
+f 1 34 42
+f 1 42 45
+f 1 45 44
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+f 1 37 23
+f 1 23 15
+f 1 15 8
+f 1 8 4
+f 1 4 2
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+f 4 8 5
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+f 6 14 10
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+f 8 36 38
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+f 12 16 18
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+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 17
+f 13 17 14
+f 15 23 24
+f 16 25 18
+f 18 25 26
+f 18 26 19
+f 19 26 27
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+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 21 32 33
+f 21 33 22
+f 21 31 34
+f 21 34 32
+f 23 35 36
+f 23 36 24
+f 23 37 35
+f 28 38 29
+f 29 38 30
+f 30 36 39
+f 30 39 37
+f 30 37 40
+f 30 40 41
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+f 31 41 42
+f 31 42 34
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+f 35 37 43
+f 36 43 39
+f 37 39 43
+f 37 44 41
+f 37 41 40
+f 41 44 45
+f 41 45 42
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_17.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcf6e36c11e70cba5376c352fcc6ee7621106c51
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_17.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.08879186 -0.51040420 -0.33648025
+v 0.07496498 -0.51276649 -0.33615987
+v -0.08879186 -0.51227977 -0.33648026
+v -0.08879186 -0.50805491 -0.33562586
+v 0.07496498 -0.51327272 -0.33615988
+v -0.08879186 -0.49136973 -0.32483896
+v -0.08879186 -0.48403630 -0.31864453
+v 0.07496498 -0.50076693 -0.32521279
+v -0.08879186 -0.51464204 -0.33642688
+v 0.07496498 -0.52457791 -0.32948490
+v -0.08879186 -0.47961677 -0.31100829
+v 0.07496498 -0.49632145 -0.31576096
+v -0.08879186 -0.52685584 -0.32916450
+v 0.07496498 -0.53891392 -0.31677571
+v -0.08879186 -0.47450286 -0.29963404
+v 0.07496498 -0.48993559 -0.29963410
+v -0.08879186 -0.53708377 -0.31923211
+v -0.01210698 -0.53896581 -0.31688253
+v -0.08879186 -0.53895935 -0.31704271
+v 0.07496498 -0.54043255 -0.29963429
+v -0.03623130 -0.54052344 -0.29963429
+v -0.08879186 -0.47430179 -0.27533697
+v 0.07496498 -0.48981239 -0.27533703
+v -0.03623130 -0.53897883 -0.31688253
+v -0.06033960 -0.53898529 -0.31693591
+v -0.06033960 -0.54052990 -0.29963429
+v -0.08879186 -0.54051047 -0.29963429
+v 0.07496498 -0.54059021 0.20905541
+v -0.08879186 -0.47461387 -0.12474859
+v -0.08879186 -0.47560747 0.06535589
+v 0.07496498 -0.49400000 0.19084614
+v -0.08444788 -0.54060318 0.20900202
+v -0.08879186 -0.54059019 0.20483680
+v 0.07496498 -0.49431156 0.20905558
+v 0.03469901 -0.54057724 0.20905541
+v -0.08879186 -0.47616568 0.08911895
+v -0.01782950 -0.54055125 0.20905541
+v -0.08879186 -0.54059021 0.20900202
+v -0.08879186 -0.47712625 0.11202760
+v -0.08879186 -0.47718469 0.11320241
+v -0.08879186 -0.48244805 0.16174313
+v -0.08879186 -0.49126136 0.20627880
+v -0.08879186 -0.49185193 0.20857500
+v -0.08879186 -0.49196876 0.20900220
+v -0.01782950 -0.49758244 0.20905557
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+f 1 13 17
+f 1 17 19
+f 1 19 27
+f 1 27 33
+f 1 33 38
+f 1 38 44
+f 1 44 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 36
+f 1 36 30
+f 1 30 29
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+f 1 22 15
+f 1 15 11
+f 1 11 7
+f 1 7 6
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+f 1 4 2
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+f 2 23 31
+f 2 31 34
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+f 2 28 20
+f 2 20 14
+f 2 14 10
+f 2 10 5
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+f 7 11 8
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+f 9 10 13
+f 10 14 13
+f 11 15 12
+f 12 15 16
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+f 14 18 19
+f 14 19 17
+f 14 20 21
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+f 15 22 16
+f 16 22 23
+f 18 24 25
+f 18 25 19
+f 18 21 24
+f 19 25 26
+f 19 26 27
+f 20 28 21
+f 21 26 25
+f 21 25 24
+f 21 28 26
+f 22 29 23
+f 23 29 30
+f 23 30 31
+f 26 28 32
+f 26 32 27
+f 27 32 33
+f 28 34 45
+f 28 45 37
+f 28 37 35
+f 28 35 32
+f 30 36 34
+f 30 34 31
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+f 32 38 33
+f 34 36 39
+f 34 39 40
+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 34 43 44
+f 34 44 45
+f 37 45 44
+f 37 44 38
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_18.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea10d534690dfb1997f3764e48f18520ab66aca6
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_18.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.25327059 0.44335032 0.26900794
+v 0.24090340 0.44335054 0.20905909
+v 0.15346541 0.44335032 0.26900794
+v 0.21538028 0.00026521 0.26900631
+v 0.21257241 0.00026543 0.20905746
+v 0.09328574 0.44335054 0.20905909
+v 0.10301860 0.44335033 0.26664873
+v 0.09991103 0.44248277 0.26900794
+v 0.09339616 0.00026521 0.26900631
+v 0.09314377 0.00026543 0.20905746
+v 0.09219729 0.42877624 0.20905903
+v 0.09229194 0.42734476 0.23476398
+v 0.09344349 0.44335050 0.21988685
+v 0.09489473 0.44335035 0.26182464
+v 0.09533642 0.44191893 0.26900793
+v 0.09311222 0.00026525 0.25904713
+v 0.09339616 0.00217376 0.26900632
+v 0.09265476 0.20760218 0.25904789
+v 0.09270208 0.18313816 0.25904780
+v 0.09311222 0.01219381 0.20905750
+v 0.09218153 0.42734485 0.20905903
+v 0.09218153 0.42734485 0.21046751
+v 0.09295447 0.42734467 0.25904870
+v 0.09221307 0.40292411 0.23476389
+v 0.09276518 0.40292402 0.25904861
+v 0.09467390 0.44335036 0.25904876
+v 0.09442150 0.42734463 0.26900788
+v 0.09304912 0.03661446 0.20905759
+v 0.09211843 0.40435559 0.20905895
+v 0.09342771 0.20760214 0.26900707
+v 0.09421644 0.40292398 0.26900779
+v 0.09347504 0.22182945 0.26900712
+f 1 2 6
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+f 1 26 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 27
+f 1 27 31
+f 1 31 32
+f 1 32 30
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+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
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+f 2 21 11
+f 2 11 6
+f 3 7 8
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+f 4 10 5
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+f 7 14 8
+f 8 14 15
+f 9 17 18
+f 9 18 19
+f 9 19 16
+f 10 16 20
+f 11 21 22
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+f 12 22 24
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+f 14 26 23
+f 14 23 15
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+f 16 19 29
+f 16 29 28
+f 17 30 18
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+f 18 25 24
+f 18 24 29
+f 18 29 19
+f 21 29 22
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+f 23 25 31
+f 23 31 27
+f 25 30 32
+f 25 32 31
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_19.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..524f67d8e2de2fe74f194a8231750023f8027612
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_19.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.30177335 0.44073487 0.32980390
+v -0.37672142 0.44073475 0.36286134
+v -0.30177335 0.44073505 0.27972416
+v -0.30177335 0.64389939 0.32892420
+v -0.37686139 0.64389927 0.36286209
+v -0.37680309 0.62765167 0.36286203
+v -0.37673311 0.60331011 0.36286194
+v -0.37670974 0.57892877 0.36286185
+v -0.37670974 0.57391728 0.36286183
+v -0.42013883 0.44073475 0.36286134
+v -0.31939928 0.44073506 0.27891484
+v -0.30177335 0.44079472 0.27836344
+v -0.30177335 0.64389960 0.27200528
+v -0.42036046 0.64389927 0.36286209
+v -0.42030212 0.44073476 0.35922386
+v -0.32560510 0.44073506 0.27902157
+v -0.30177335 0.44612443 0.27200455
+v -0.35417284 0.64389960 0.27200528
+v -0.42060543 0.64389929 0.35621859
+v -0.42043045 0.44073477 0.35621784
+v -0.35002008 0.44073505 0.28151178
+v -0.32560510 0.44715856 0.27200455
+v -0.41409628 0.64389953 0.29160674
+v -0.35994704 0.62277970 0.27200520
+v -0.42094370 0.64389938 0.33193022
+v -0.42068705 0.44073486 0.33192947
+v -0.39794018 0.44073503 0.28699912
+v -0.34857361 0.45413885 0.27200458
+v -0.41962553 0.64389947 0.30764185
+v -0.36106691 0.59833870 0.27200511
+v -0.36191846 0.52509527 0.27200484
+v -0.36217506 0.50210605 0.27200475
+v -0.36218675 0.50067418 0.27200475
+v -0.41396800 0.44073501 0.29169491
+v -0.41981219 0.64389946 0.31093249
+v -0.41934560 0.44073495 0.30764110
+v -0.35902551 0.47623318 0.27200466
+v -0.35213146 0.45972706 0.27200460
+v -0.35934048 0.47822186 0.27200467
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+f 1 27 21
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+f 23 34 29
+f 25 35 26
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+f 27 34 37
+f 27 37 38
+f 27 38 28
+f 29 34 36
+f 29 36 35
+f 33 39 34
+f 34 39 37
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_2.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f2a8e4a09c4958ac30502b7297214d438ef9a1c
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_2.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.42031139 0.00022158 0.34444816
+v -0.42091455 -0.32976640 0.34444695
+v -0.42051242 -0.13439591 0.35622509
+v -0.42026111 0.00022154 0.35622558
+v -0.38939807 0.00022158 0.34444816
+v -0.42086427 -0.33132416 0.34444694
+v -0.42081400 -0.33132420 0.35622436
+v -0.42081400 -0.30532889 0.35622446
+v -0.41960768 0.00022150 0.36810544
+v -0.38939807 -0.13439587 0.34444767
+v 0.00086364 0.00022150 0.36820785
+v 0.00433197 -0.33132424 0.36731052
+v -0.38954886 -0.33132416 0.34444694
+v -0.41925578 -0.33132429 0.38050893
+v -0.41925578 -0.32976653 0.38050894
+v -0.41910499 -0.13439600 0.38050966
+v -0.41890392 0.00022145 0.38051015
+v 0.09259826 0.00022147 0.37626004
+v 0.09259826 -0.01227317 0.37625999
+v 0.09259826 -0.03671071 0.37627269
+v 0.09259826 -0.04505128 0.37627907
+v 0.09259826 -0.06111579 0.37629180
+v 0.09259826 -0.33132427 0.37671329
+v -0.41387737 -0.33132435 0.39830950
+v -0.41387737 -0.10999095 0.39837431
+v -0.41387737 -0.08555342 0.39838083
+v -0.41387737 -0.06111587 0.39838092
+v -0.41387737 -0.01227325 0.39836827
+v -0.41387737 0.00022139 0.39836194
+v 0.09259826 0.00022135 0.40891683
+v 0.09259826 -0.33132439 0.40761625
+v -0.39794320 -0.33132438 0.40672014
+v -0.39794320 -0.13439609 0.40693207
+v -0.39794320 -0.10999098 0.40695779
+v -0.39794320 -0.08555345 0.40697065
+v -0.39794320 -0.06111590 0.40697074
+v -0.39794320 0.00022136 0.40695176
+v -0.40573433 0.00022137 0.40275287
+v 0.08430444 0.00022135 0.40894880
+v 0.09259826 -0.00798941 0.40891037
+v 0.09259826 -0.33077267 0.40762265
+v -0.30148363 -0.33132439 0.40953649
+v -0.37532370 -0.33132439 0.40932524
+v -0.37381571 -0.32976663 0.40950448
+v -0.37381571 -0.23208136 0.40969684
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+v -0.37381571 -0.15883364 0.40977396
+v -0.37381571 -0.10999100 0.40979972
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+v -0.37381571 0.00022134 0.40981932
+v 0.08430444 -0.03671083 0.40889750
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+v -0.13269192 0.00022135 0.40945448
+v -0.13269192 -0.03671083 0.40944796
+v 0.09259826 -0.06111591 0.40880136
+v -0.22910123 -0.06111591 0.40965269
+v -0.25322869 -0.06111591 0.40971029
+v -0.32556081 -0.20764381 0.40972256
+v -0.32556081 -0.32976663 0.40958128
+v -0.32556081 -0.33132439 0.40957489
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+v 0.09259826 -0.03671083 0.40887187
+v -0.37381571 -0.33132439 0.40949804
+v -0.35119624 -0.33132439 0.40953649
+v -0.32711905 -0.33132439 0.40957489
+v -0.32556081 -0.15883364 0.40977396
+v -0.34968827 -0.08555347 0.40981901
+v -0.32556081 -0.13439611 0.40979325
+v -0.34968827 -0.03671084 0.40983201
+v -0.36150067 0.00022134 0.40982571
+v -0.32556081 0.00022134 0.40981932
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+v -0.32556081 -0.03671084 0.40983839
+v -0.34968827 0.00022134 0.40982571
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_20.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..622913d9a6fc3b78c9c4d6ca2683353f46ca63e8
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_20.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.13709734 -0.54278443 0.16670725
+v 0.13709734 -0.54278441 0.16184587
+v 0.13709734 -0.54277463 0.18615285
+v 0.07496499 -0.54059383 0.20905543
+v 0.13709734 -0.54273346 -0.27535581
+v 0.13709734 -0.54272537 0.20905543
+v 0.07496499 -0.49430243 0.20905560
+v 0.07496499 -0.54043408 -0.29966277
+v 0.13709734 -0.54272352 -0.29474739
+v 0.13709734 -0.48510530 0.20905564
+v 0.07496499 -0.49399642 0.19085240
+v 0.08917970 -0.48787825 0.20905563
+v 0.10870440 -0.44198150 0.18982629
+v 0.10110741 -0.44198148 0.18388456
+v 0.09507361 -0.44198145 0.17805089
+v 0.09347392 -0.44198139 0.16184624
+v 0.09323670 -0.44198131 0.13753926
+v 0.07496499 -0.53984195 -0.30636071
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+v 0.13599641 -0.48405930 0.20905564
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+v 0.07496499 -0.53891432 -0.31678568
+v 0.13709734 -0.54144060 -0.31338274
+v 0.13709734 -0.44198114 0.09249030
+v 0.10010988 -0.44197966 -0.30954724
+v 0.07496499 -0.50075422 -0.32526598
+v 0.07496499 -0.49631359 -0.31581326
+v 0.07496499 -0.52457590 -0.32953329
+v 0.13709734 -0.53306249 -0.32791286
+v 0.13709734 -0.54074982 -0.31824412
+v 0.13709734 -0.44197955 -0.33925579
+v 0.10534081 -0.44197961 -0.32396940
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+v 0.07496499 -0.51326700 -0.33617717
+v 0.13709734 -0.51848718 -0.33947214
+v 0.13709734 -0.45633766 -0.34082232
+v 0.11714078 -0.44197956 -0.33704117
+v 0.11013986 -0.44197959 -0.32931696
+v 0.13709734 -0.48188629 -0.34228080
+v 0.13709734 -0.50074428 -0.34276704
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+f 13 24 23
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+f 41 48 42
+f 41 46 45
+f 42 48 43
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_21.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc8bae8a6b01d66597075c3e0e3bb187dfdf437b
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_21.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.15164936 -0.54984561 0.07034636
+v -0.08879187 -0.54058324 0.20488916
+v -0.08879187 -0.54058326 0.20905545
+v -0.15164936 -0.54983337 0.20905542
+v -0.15164936 -0.54918079 -0.29967403
+v -0.08879187 -0.54050488 -0.29967400
+v -0.08879187 -0.49467738 0.20905562
+v -0.15164936 -0.46922373 0.20905572
+v -0.15164936 -0.54690967 -0.32439389
+v -0.08879187 -0.53896101 -0.31706124
+v -0.08879187 -0.54022417 -0.30289591
+v -0.08879187 -0.49195977 0.20900007
+v -0.08897032 -0.49193426 0.20905563
+v -0.10862444 -0.41950293 0.20027894
+v -0.11830382 -0.41950293 0.20016784
+v -0.12345426 -0.41950292 0.19983455
+v -0.13010613 -0.41950287 0.18611363
+v -0.15164936 -0.41950267 0.12956345
+v -0.15164936 -0.54239300 -0.34011461
+v -0.08879187 -0.53708543 -0.31928324
+v -0.08879187 -0.49124528 0.20633367
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+v -0.15164936 -0.52923874 -0.35028026
+v -0.08879187 -0.52685292 -0.32922671
+v -0.08879187 -0.48244158 0.16178237
+v -0.09516685 -0.41950281 0.16978185
+v -0.13268443 -0.41950095 -0.33883650
+v -0.15164936 -0.50045501 -0.35844606
+v -0.15164936 -0.52699316 -0.35094686
+v -0.08879187 -0.51464278 -0.33644819
+v -0.08879187 -0.47718483 0.11328700
+v -0.09516069 -0.41950272 0.14550636
+v -0.08879187 -0.47712101 0.11206490
+v -0.08879187 -0.47616402 0.08912263
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+v -0.08879187 -0.47460666 -0.12474594
+v -0.11678391 -0.41950095 -0.33744775
+v -0.08879187 -0.51040687 -0.33650373
+v -0.08879187 -0.51228243 -0.33650374
+v -0.09519762 -0.41950270 0.13756267
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+v -0.08879187 -0.47450396 -0.29967375
+v -0.11307338 -0.41950097 -0.33305927
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+v -0.10540618 -0.41950100 -0.32394902
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+v -0.08879187 -0.48403464 -0.31872754
+v -0.10290788 -0.41950103 -0.31600533
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_22.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9ecb8777aee9b4f2d493edb79a67c3fa699aee7
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_22.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00504956 0.49668084 0.28334729
+v -0.00504956 0.49692026 0.27200474
+v -0.00504956 0.49916457 0.30763569
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+v -0.13173761 0.64389955 0.28677572
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+v -0.00504956 0.58108566 0.33304907
+v -0.00504956 0.54951421 0.33292930
+v -0.00504956 0.57391849 0.33312083
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+f 26 30 29
+f 30 34 32
+f 30 32 31
+f 30 33 34
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_23.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..789c2b9b0e961c2226303754afc5372768487598
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_23.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.07434214 0.49010681 -0.29966649
+v 0.07472833 0.49010654 -0.22675543
+v 0.08471399 0.49010690 -0.32414717
+v 0.09638231 0.42003368 -0.31199558
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+v 0.07861777 0.49010503 0.18617132
+v 0.07825917 0.49010512 0.16186762
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+v 0.09861667 0.49010694 -0.33511921
+v 0.11549850 0.42003377 -0.33742006
+v 0.11185732 0.42003375 -0.33340878
+v 0.32547319 0.45067137 0.04040804
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+v 0.32547319 0.44996539 -0.12959983
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+v 0.34213433 0.45991934 0.04040807
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+v 0.35614737 0.49010685 -0.31016665
+v 0.35609220 0.49010619 -0.12959968
+v 0.35603702 0.49010605 -0.09155142
+v 0.35584393 0.49010556 0.04040818
+v 0.34671341 0.49010707 -0.36986403
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_24.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a18ff29c6ebeb10331b2861092f677fffbab380
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_24.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_25.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3ba88fb677b982df93508bd46d2a0085bdf3e84
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_25.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_26.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c48b73b344983983a24d8e17955e3c5c1c53212c
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_26.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+f 71 75 73
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_27.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88aa27ad70834ba29852445a1e00cbb5ebaa8102
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_27.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00501381 0.74591555 0.38051302
+v 0.18077664 0.74573744 0.33446037
+v 0.10847713 0.74574792 0.33446037
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+v -0.00501381 0.73930812 0.39968782
+v 0.01200627 0.73930812 0.39968782
+v 0.01200627 0.74590507 0.38051302
+v 0.34958277 0.74571631 0.35623162
+v 0.20491223 0.74572696 0.33446037
+v 0.01200627 0.74575840 0.33446037
+v -0.00501381 0.74575840 0.33446037
+v -0.00501381 0.72598857 0.40499571
+v 0.30134734 0.72047198 0.40707430
+v 0.32548293 0.72047198 0.40705988
+v 0.27724750 0.73914033 0.39957992
+v 0.34958277 0.74562188 0.38051302
+v 0.36020243 0.74518142 0.36980361
+v 0.36020243 0.74523388 0.35623162
+v 0.36020243 0.74520247 0.34550782
+v 0.34958277 0.74564301 0.33446037
+v -0.00501381 0.66521196 0.33446007
+v -0.00501381 0.72047198 0.40718938
+v 0.36020243 0.69604587 0.40778623
+v 0.34958277 0.72047199 0.40699516
+v 0.32548293 0.73910888 0.39955115
+v 0.34958277 0.73907743 0.39947921
+v 0.36020243 0.73879425 0.39922748
+v 0.36020243 0.74508695 0.38051302
+v 0.36020243 0.74516058 0.33446037
+v -0.00501381 0.63878257 0.36379039
+v 0.01200627 0.66490781 0.33446007
+v -0.00501381 0.70320903 0.40757770
+v 0.34958277 0.67163024 0.40789404
+v 0.36020243 0.67163024 0.40789404
+v 0.36020243 0.72047199 0.40674343
+v -0.00501381 0.69604587 0.40772150
+v 0.36020243 0.67697930 0.33446012
+v 0.01082630 0.63878257 0.36379039
+v -0.00501381 0.63878241 0.40777164
+v 0.36020243 0.63878254 0.37401072
+v 0.36020243 0.64720409 0.40792271
+v -0.00501381 0.67879340 0.40779337
+v -0.00501381 0.67163024 0.40781494
+v -0.00501381 0.64720409 0.40780764
+v 0.36020243 0.63878241 0.40792989
+f 1 2 3
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+f 1 44 43
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+f 23 35 24
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+f 24 26 25
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+f 30 31 38
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+f 33 41 34
+f 33 36 42
+f 33 42 43
+f 33 43 41
+f 39 45 44
+f 41 43 45
+f 43 44 45
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_28.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b49b73137dfb897d874c390a5ff00d12fb216c48
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_28.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.15148647 0.44073504 0.28335273
+v -0.15298850 0.44073507 0.27522947
+v -0.15446419 0.44073495 0.30764536
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+v -0.16236967 0.00026492 0.28335111
+v -0.16252778 0.00026495 0.27522785
+v -0.23407235 0.44073507 0.27522947
+v -0.16516294 0.44073490 0.32174744
+v -0.16521565 0.42736772 0.32170452
+v -0.16550551 0.40291872 0.32158432
+v -0.16824608 0.20758542 0.32026261
+v -0.16853594 0.19163103 0.32004811
+v -0.16558457 0.00026485 0.30334622
+v -0.22297833 0.00026495 0.27522785
+v -0.32559143 0.44073506 0.27902090
+v -0.18092120 0.44073488 0.32630232
+v -0.18092120 0.40291870 0.32622496
+v -0.18092120 0.23194816 0.32536656
+v -0.18092120 0.20758541 0.32516917
+v -0.18479487 0.00026477 0.32382168
+v -0.17272584 0.00026480 0.31549253
+v -0.39792655 0.00026491 0.28594166
+v -0.34999300 0.44073505 0.28150850
+v -0.39792655 0.03661501 0.28594179
+v -0.39792655 0.06102089 0.28595044
+v -0.37671353 0.44073475 0.36286134
+v -0.37658176 0.33504779 0.36286095
+v -0.37655541 0.31064190 0.36286086
+v -0.37639729 0.00298116 0.36285973
+v -0.37639729 0.00026463 0.36285972
+v -0.20503291 0.20758539 0.33006715
+v -0.20503291 0.10987561 0.32953496
+v -0.20503291 0.03661485 0.32909721
+v -0.20503291 0.01216583 0.32892558
+v -0.20503291 0.00026475 0.32878830
+v -0.41418550 0.00026489 0.29121707
+v -0.39792655 0.44073503 0.28700694
+v -0.39792655 0.08546988 0.28599343
+v -0.39792655 0.13432478 0.28612227
+v -0.41415915 0.03661499 0.29121720
+v -0.41413276 0.08546986 0.29122596
+v -0.41413276 0.10987575 0.29124320
+v -0.41410646 0.13432476 0.29126903
+v -0.41394834 0.44073501 0.29169046
+v -0.42014094 0.44073475 0.36286134
+v -0.41990378 0.00026463 0.36285972
+v -0.41415915 0.06102087 0.29122587
+v -0.41668890 0.00026486 0.29924598
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+v -0.41932404 0.44073495 0.30764536
+v -0.41639901 0.44073498 0.29892163
+v -0.42043083 0.44073477 0.35622205
+v -0.42014094 0.42736757 0.36286129
+v -0.42027271 0.00026465 0.35622043
+v -0.41993013 0.03661473 0.36285985
+v -0.41929769 0.00026483 0.30764374
+v -0.42069434 0.44073486 0.33192943
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+v -0.42029906 0.06102063 0.35622065
+v -0.42011459 0.37851268 0.36286111
+v -0.42035175 0.00026474 0.33192781
+v -0.42066799 0.37851279 0.33192920
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_29.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d381aaf0684431c03583c9c64cab027094172f78
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_29.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.23145366 -0.06358192 0.27950600
+v 0.21240049 -0.13582332 0.20905696
+v 0.21260362 -0.03671010 0.20905733
+v 0.21260362 -0.01227256 0.20905741
+v 0.23144012 -0.03914438 0.27950609
+v 0.23108803 -0.11206756 0.27950582
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+v 0.22990991 -0.23295714 0.27950537
+v 0.22720156 -0.33132392 0.27950501
+v 0.09844713 -0.33132366 0.20905624
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+v 0.23114221 -0.01227282 0.27950618
+v 0.15679830 -0.33132392 0.27950501
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+v 0.09315233 -0.03671028 0.25904389
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+v 0.10846799 -0.23208088 0.27828467
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+v 0.09473672 -0.25648571 0.20905652
+v 0.09408671 -0.10612855 0.27950584
+v 0.09374817 -0.08169101 0.27950593
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_3.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07c9eabe6c42401df2306c8b44a4cbe4b43cc8b9
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_3.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.14826575 0.50064812 -0.35006925
+v -0.14826575 0.49600019 -0.34985034
+v -0.14826575 0.52344297 -0.34492448
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+v -0.01686068 0.51011074 -0.33742642
+v -0.14826575 0.46693390 -0.34722336
+v -0.01686068 0.51971792 -0.33578446
+v -0.14826575 0.54293530 -0.32516663
+v -0.01686068 0.52952525 -0.32910727
+v -0.11855297 0.43495432 -0.33682466
+v -0.01686068 0.49959167 -0.32396273
+v -0.14014939 0.43495433 -0.33956117
+v -0.14826575 0.43495433 -0.33999904
+v -0.14826575 0.54541496 -0.32177331
+v -0.01686068 0.53897673 -0.31695704
+v -0.10713092 0.43495427 -0.32396297
+v -0.01686068 0.49196363 -0.29966231
+v -0.14826575 0.43495278 0.08191968
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+v -0.01686068 0.54062238 -0.29966213
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+v -0.09392095 0.43495266 0.11328037
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+v -0.01686068 0.49313057 -0.12961413
+v -0.01686068 0.49769938 0.20905925
+v -0.09513005 0.43495258 0.13615778
+v -0.11883595 0.43495257 0.13790915
+v -0.10879020 0.43495256 0.14037203
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_30.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92fc35ff41d3589408a6d25550bcf5c2aac43203
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_30.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.14518436 -0.47333625 0.27678154
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+v -0.14518436 -0.55609612 0.27678124
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+v 0.14124281 -0.48255492 0.21029536
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_31.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d436ac00a8fc8db6dc44f03f763a78d49a082fd3
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_31.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.09844664 -0.33132368 0.20905622
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_32.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb67764c770b2ce10b2c7a1d8c751853eaf54033
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_32.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_33.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ee4fa8788010571b5c4647768963289c93f1887
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_33.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+f 39 42 67
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+f 41 63 42
+f 42 63 62
+f 42 62 67
+f 43 46 56
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+f 51 59 57
+f 55 71 72
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_34.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..825fc42fb64afe73ddb5626b7d20365b0cb8d5dd
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_34.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.01686067 0.51732173 -0.33738390
+v -0.01686067 0.51012389 -0.33738393
+v -0.01686067 0.51972321 -0.33579041
+v 0.20488308 0.55751364 -0.37822386
+v 0.18313123 0.50066333 -0.39026367
+v -0.01686067 0.50166591 -0.32658373
+v 0.18353542 0.49012059 -0.39026371
+v -0.01686067 0.52952704 -0.32906235
+v 0.18092665 0.55751361 -0.37061059
+v 0.22112344 0.55751365 -0.38005344
+v 0.20488308 0.50066335 -0.39386371
+v -0.01686067 0.49959429 -0.32392798
+v 0.20488308 0.49012061 -0.39356866
+v 0.09862244 0.49012039 -0.33514132
+v -0.01686067 0.49197412 -0.29967178
+v -0.01686067 0.49347178 -0.30445220
+v -0.01686067 0.53138089 -0.32670169
+v 0.17346784 0.55751360 -0.36671547
+v -0.01686067 0.53897455 -0.31696377
+v 0.22902319 0.55751365 -0.38082066
+v 0.25312657 0.55751365 -0.38146982
+v 0.32547344 0.55751365 -0.38152885
+v 0.32547344 0.54950434 -0.38152888
+v 0.32547344 0.52508050 -0.38146994
+v 0.32547344 0.50066330 -0.38141104
+v 0.32547344 0.49012056 -0.38034877
+v 0.08690144 0.49012036 -0.32699692
+v -0.01686067 0.49310830 -0.13436370
+v 0.08473360 0.49012035 -0.32416407
+v 0.07437210 0.49012026 -0.29967179
+v 0.07437210 0.49012026 -0.29955377
+v 0.07473952 0.49011999 -0.22631300
+v 0.07554786 0.49011963 -0.12858000
+v 0.07800964 0.49011865 0.13753001
+v 0.07826684 0.49011857 0.16184525
+v 0.07859753 0.49011848 0.18616046
+v 0.07936914 0.49011839 0.20905926
+v 0.16674388 0.55751358 -0.36311540
+v -0.01686067 0.54062386 -0.29967160
+v 0.34781316 0.55751361 -0.37084669
+v 0.34784990 0.52508046 -0.37084681
+v 0.34784990 0.50066326 -0.37084690
+v 0.34671087 0.49012052 -0.36990265
+v -0.01686067 0.49314127 -0.12958329
+v 0.35541894 0.49011839 0.20905926
+v -0.01686067 0.49770545 0.20905929
+v 0.16365747 0.55751356 -0.35603326
+v 0.15998317 0.55751339 -0.31035371
+v 0.16049757 0.55751349 -0.33797392
+v -0.01686067 0.54062199 0.20905945
+v 0.35119351 0.55751359 -0.36346951
+v 0.35824816 0.52508038 -0.34824310
+v 0.35828490 0.50066318 -0.34824319
+v 0.35262647 0.49012047 -0.35703683
+v 0.35821142 0.50066113 0.20905930
+v 0.35582311 0.49011896 0.05419728
+v 0.16090175 0.55751179 0.12554972
+v 0.16137941 0.55751148 0.20905951
+v 0.16123244 0.55751152 0.19743306
+v 0.16108547 0.55751161 0.17394407
+v 0.35813795 0.55751353 -0.34824298
+v 0.35817468 0.54950422 -0.34824301
+v 0.35843185 0.50066309 -0.32392798
+v 0.35597010 0.49012044 -0.34824323
+v 0.35835837 0.50066175 0.04038721
+v 0.35828490 0.52367310 0.20905938
+v 0.35608032 0.49011959 -0.11583221
+v 0.35813795 0.55751148 0.20905951
+v 0.35817468 0.55751350 -0.34027560
+v 0.35835837 0.52508029 -0.32392789
+v 0.35611705 0.49012030 -0.31011791
+v 0.35608032 0.49012035 -0.32392802
+v 0.35604358 0.49012039 -0.33443313
+v 0.35846863 0.50066300 -0.29967175
+v 0.35839511 0.50066193 -0.00818420
+v 0.35828490 0.52507833 0.20905939
+v 0.35843185 0.50066211 -0.05681464
+v 0.35839511 0.52507895 0.04038730
+v 0.35611705 0.49012021 -0.28586169
+v 0.35850537 0.50066291 -0.27535654
+v 0.35846863 0.50066247 -0.15389847
+v 0.35817468 0.54950217 0.20905948
+v 0.35824816 0.55751279 -0.14593090
+v 0.35821142 0.55751344 -0.32392777
+v 0.35824816 0.54950413 -0.32392780
+v 0.35839511 0.52508020 -0.29967166
+v 0.35843185 0.52507967 -0.15389838
+v 0.35824816 0.55751335 -0.29967154
+v 0.35828490 0.54950404 -0.29967157
+f 1 2 6
+f 1 6 12
+f 1 12 16
+f 1 16 15
+f 1 15 28
+f 1 28 44
+f 1 44 46
+f 1 46 50
+f 1 50 39
+f 1 39 19
+f 1 19 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 2 7 6
+f 3 8 4
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+f 50 59 60
+f 50 60 57
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+f 52 63 53
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+f 62 69 70
+f 62 70 63
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+f 65 75 66
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+f 78 87 83
+f 80 86 87
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+f 84 88 89
+f 84 89 85
+f 86 89 87
+f 87 89 88
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_35.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a8a8a23351166ed9fce00a736847e832f186fe
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_35.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.14590273 0.55307859 0.27200494
+v -0.14590273 0.54741950 0.20905945
+v -0.14590273 0.48968447 0.27200471
+v -0.00504956 0.54992624 0.27200493
+v -0.14590273 0.49220407 0.20905925
+v -0.00504956 0.54060601 0.20905943
+v -0.00504956 0.49773926 0.20905927
+v -0.00504956 0.49773306 0.20947210
+v -0.00504956 0.49691375 0.27200474
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_36.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82cf427a720c5e4a1352966e374f2a5a76b067ef
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_36.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.35813411 0.55751152 0.20905947
+v 0.35805507 0.57252397 0.20905952
+v 0.30733836 0.55751152 0.20905947
+v 0.35826582 0.55751292 -0.17021715
+v 0.35790581 0.59695139 0.20905961
+v 0.35817800 0.57393700 -0.17821418
+v 0.26857202 0.61337544 0.20905967
+v 0.26857202 0.60624475 -0.10296669
+v 0.30664469 0.55751205 0.06469117
+v 0.35827459 0.55751303 -0.20248605
+v 0.35789704 0.59836300 0.20905962
+v 0.35818678 0.57393718 -0.22680460
+v 0.35800240 0.59836460 -0.22680451
+v 0.26857202 0.68160036 0.20905992
+v 0.26857202 0.60650312 -0.26861376
+v 0.26858080 0.60649085 -0.26870728
+v 0.30665346 0.55751208 0.05674086
+v 0.35826582 0.55751321 -0.25107652
+v 0.35818678 0.57393734 -0.26870740
+v 0.35402478 0.62277876 0.04037281
+v 0.35398088 0.62277814 0.20905971
+v 0.35813411 0.58066410 -0.26870738
+v 0.35799362 0.59836469 -0.25107637
+v 0.35408624 0.62277974 -0.22680442
+v 0.27725604 0.68232457 0.20905993
+v 0.26857202 0.68227717 -0.25107606
+v 0.26857202 0.60753424 -0.26870728
+v 0.30725932 0.55751328 -0.26870746
+v 0.35825702 0.55751328 -0.26870746
+v 0.35823947 0.56204278 -0.26870745
+v 0.34395345 0.64337636 0.04037288
+v 0.34383929 0.64310570 0.20905978
+v 0.34392710 0.64340081 0.06469148
+v 0.35798483 0.59836476 -0.26870731
+v 0.35689603 0.60509152 -0.26870729
+v 0.35405112 0.62277983 -0.25107628
+v 0.34389198 0.64347561 -0.25107621
+v 0.34390953 0.64346325 -0.22680435
+v 0.30137632 0.67939081 0.20905992
+v 0.27725604 0.68286620 -0.20248559
+v 0.27725604 0.68291547 -0.25107606
+v 0.26857202 0.68227724 -0.26870700
+v 0.33446163 0.65567714 -0.26870710
+v 0.33429477 0.65547923 0.13755379
+v 0.33412794 0.65531939 0.20905983
+v 0.33433869 0.65558987 0.08896336
+v 0.35399845 0.62277990 -0.26870722
+v 0.34384806 0.64346341 -0.26870715
+v 0.30257927 0.67872797 0.20905991
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+v 0.29473821 0.68068146 -0.26870701
+v 0.27725604 0.68290327 -0.26870700
+v 0.32240586 0.66807496 -0.26870706
+v 0.33432990 0.65561450 0.06469153
+v 0.32207220 0.66796275 0.20905987
+v 0.32276587 0.66723849 0.20905987
+v 0.32228293 0.66791405 0.08896340
+f 1 2 5
+f 1 5 11
+f 1 11 21
+f 1 21 32
+f 1 32 45
+f 1 45 56
+f 1 56 55
+f 1 55 49
+f 1 49 39
+f 1 39 25
+f 1 25 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
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+f 1 18 10
+f 1 10 4
+f 1 4 2
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+f 2 6 5
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+f 44 46 55
+f 46 54 53
+f 46 53 57
+f 46 57 55
+f 49 55 50
+f 50 55 53
+f 53 55 57
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_37.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf55af5e69944f27541c65638b98e2120d95085e
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_37.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.14483883 0.55338061 0.27014339
+v 0.14483883 0.48869364 0.27014316
+v 0.14483883 0.54657396 0.20905945
+v -0.00504956 0.54893243 0.27014338
+v 0.14483883 0.48866158 0.20905923
+v 0.13022559 0.48527942 0.27014314
+v 0.10682387 0.44336107 0.26664515
+v 0.11294206 0.44336108 0.26402623
+v 0.12354987 0.44336111 0.25481820
+v 0.12363789 0.44336111 0.25456108
+v 0.12366724 0.44336112 0.25441161
+v 0.12617614 0.44336119 0.23476382
+v 0.12781940 0.44336128 0.20985432
+v 0.12784874 0.44336128 0.20905907
+v -0.00504956 0.54060714 0.20905943
+v -0.00504956 0.49695456 0.27014319
+v 0.12046875 0.48328690 0.27014314
+v 0.10300917 0.44336107 0.26664515
+v 0.09326701 0.44336128 0.20905907
+v -0.00504956 0.49774101 0.20905927
+v -0.00504956 0.49773022 0.20947184
+v 0.09342840 0.44336124 0.21988748
+v 0.09466084 0.44336110 0.25904552
+v 0.09488093 0.44336109 0.26181989
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 16
+f 1 16 17
+f 1 17 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
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+f 2 11 12
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+f 16 21 19
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+f 16 22 23
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+f 16 24 18
+f 16 18 17
+f 19 21 20
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_38.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..336e3251b01d06b2a4cb1c6b69fc1ff84cf336cf
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_38.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.27726345 0.64720441 -0.38172561
+v 0.26857202 0.62277791 -0.38143809
+v 0.26857202 0.64720441 -0.38158178
+v 0.27726345 0.67105398 -0.37109410
+v 0.30137121 0.64720441 -0.38090695
+v 0.32547896 0.59836368 -0.38141602
+v 0.32547896 0.57393713 -0.38152675
+v 0.32547896 0.55751369 -0.38153789
+v 0.26857202 0.55751369 -0.38048692
+v 0.26857202 0.67080848 -0.37099453
+v 0.27726345 0.68275162 -0.34827132
+v 0.30137121 0.66972832 -0.37026436
+v 0.31943006 0.66537081 -0.36645875
+v 0.32667293 0.64808817 -0.37148135
+v 0.32547896 0.62277791 -0.38016583
+v 0.34771672 0.59836364 -0.37077351
+v 0.34780451 0.57393709 -0.37085106
+v 0.34050900 0.55751367 -0.37438017
+v 0.26857202 0.55751355 -0.34212081
+v 0.26857202 0.68223608 -0.34827132
+v 0.27726345 0.68283748 -0.32398827
+v 0.30137121 0.68003894 -0.34827133
+v 0.33452156 0.65556331 -0.34827142
+v 0.34155370 0.64053922 -0.36570660
+v 0.32245890 0.66831668 -0.34827138
+v 0.34560094 0.62277787 -0.36953440
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_39.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f4789569352e738565e36cf3a797f8274503488
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_39.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.14910428 -0.40301281 0.27677092
+v -0.15585682 -0.33127303 0.27879172
+v -0.14956166 -0.42556926 0.27677084
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_4.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db9f10a16c92d83b8c81fbcb3f374e44f9fa348a
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_4.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_40.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..935478ebbd13ab3875f6b1a0a8b3e6c13b795aee
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_40.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_41.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b1994870a0cb7138e1b74e917aeddc53e9a559e
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_41.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.13254608 0.48485106 0.28031577
+v 0.13254608 0.48533915 0.29541103
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+v 0.13254608 0.74573404 0.33192890
+v -0.00504956 0.74573404 0.33192890
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_42.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0df5c0d8d588efb588b621e868a24f93ac17702
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_42.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.13173761 0.49104887 0.28211950
+v -0.13173761 0.49220236 0.27200472
+v -0.13173761 0.49438980 0.30868517
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+v -0.22913866 0.44073487 0.32991799
+v -0.20503806 0.44073487 0.32938473
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_43.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..211f0104506a69df440fa055efe546a1541d2575
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_43.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.42156451 0.67162751 0.33192863
+v 0.42003682 0.69604781 0.30763657
+v 0.42133817 0.69604772 0.33192872
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_44.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dea5774dc316922cfb5a5d2ccccb98c7ed8c715d
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_44.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.13422443 -0.47822689 0.28805047
+v 0.13422443 -0.47822694 0.30280623
+v 0.13438964 -0.47822689 0.28785556
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+v -0.00076134 -0.49754056 0.30763572
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+v -0.00076134 -0.50681746 0.32439834
+v 0.36846685 -0.47822685 0.27678152
+v -0.00076134 -0.72055096 0.28673571
+v 0.25475333 -0.69327082 0.27678073
+v 0.17879285 -0.47822702 0.32518533
+v 0.18081682 -0.47822703 0.32545965
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_45.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5912f36bc3bacb4551d36123cdb95d7e94b5a50c
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_45.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_46.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e52a6caf2131ee968e522bf37ac182984f232092
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_46.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+v -0.34099559 -0.65881165 0.27678088
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_47.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90864acb707697602f285a67fee8b8d6219897de
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_47.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.01213460 0.74585954 0.36286246
+v -0.00504955 0.74584958 0.36286246
+v -0.00504955 0.74580971 0.34910410
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+v -0.42090938 0.64389938 0.33193022
+v -0.41960638 0.64389947 0.30764185
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_48.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70e2b8dbe6f8b86a2c487d3315ef600c623f51b8
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_48.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.14518435 -0.55610354 0.27678124
+v -0.22793652 -0.67412916 0.27678080
+v -0.14518435 -0.54687389 0.20905543
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+v -0.23836147 -0.68840966 0.27678075
+v -0.23340572 -0.66928942 0.20905498
+v -0.14518435 -0.47917381 0.20905568
+v -0.14955971 -0.42556935 0.27678172
+v -0.25389842 -0.69375163 0.27678073
+v -0.25327338 -0.68089891 0.20905494
+v -0.15194828 -0.42556910 0.20905588
+v -0.22840532 -0.42556935 0.27678172
+v -0.27736014 -0.69570856 0.27678072
+v -0.25465742 -0.68097827 0.20905494
+v -0.21487745 -0.42556910 0.20905588
+v -0.30696072 -0.43966471 0.27678167
+v -0.29957174 -0.69295824 0.27678073
+v -0.30146921 -0.67912708 0.20905495
+v -0.27876651 -0.68185093 0.20905494
+v -0.27736014 -0.68200964 0.20905493
+v -0.32419424 -0.45198799 0.20905578
+v -0.32676142 -0.44479508 0.27678165
+v -0.32560061 -0.45233175 0.20905578
+v -0.32664980 -0.67471095 0.27678080
+v -0.32207355 -0.66823162 0.20905499
+v -0.30267466 -0.67849240 0.20905495
+v -0.34691930 -0.45262292 0.27678162
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+v -0.34852656 -0.45341627 0.27678161
+v -0.32872587 -0.67267467 0.27678081
+v -0.33412808 -0.65535272 0.20905503
+v -0.34191889 -0.46087363 0.20905575
+v -0.36243391 -0.46952149 0.27678156
+v -0.35011152 -0.64847715 0.27678090
+v -0.35026776 -0.64829206 0.27678090
+v -0.34432980 -0.64313497 0.20905508
+v -0.35160717 -0.47544500 0.20905569
+v -0.36866213 -0.48247970 0.27678151
+v -0.35218758 -0.47634413 0.20905569
+v -0.36651908 -0.62301032 0.27678099
+v -0.36935411 -0.61838238 0.27678101
+v -0.34493251 -0.64197135 0.20905508
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+v -0.35466546 -0.62285135 0.20905515
+v -0.35886222 -0.52518871 0.20905551
+v -0.37314908 -0.52518896 0.27678135
+v -0.35850506 -0.59844232 0.20905524
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+v -0.37323838 -0.54962446 0.27678126
+v -0.37279188 -0.59532202 0.27678109
+v -0.37312675 -0.57400707 0.27678117
+v -0.35852737 -0.59701425 0.20905525
+v -0.35879525 -0.57400682 0.20905533
+v -0.37317142 -0.57099230 0.27678118
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+f 1 16 22
+f 1 22 27
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+f 49 51 54
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+f 49 55 56
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+f 52 58 53
+f 55 58 56
+f 56 58 57
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_49.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2455fb3cbba04dc4d2bb327a233ad5a84bb26f05
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_49.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.15647587 -0.33132395 0.28334418
+v 0.14451884 -0.38996439 0.29521212
+v 0.14451884 -0.38996440 0.29579686
+v 0.16175268 -0.33132404 0.30681335
+v 0.15706529 -0.33132393 0.27678206
+v 0.13418976 -0.47821252 0.28805047
+v 0.13418976 -0.47821257 0.30280623
+v 0.14333998 -0.40306430 0.29811412
+v 0.16978016 -0.33132408 0.31821225
+v 0.15223757 -0.37180277 0.27678191
+v 0.22156589 -0.33132393 0.27678206
+v 0.15156395 -0.37991288 0.27678188
+v 0.14527668 -0.47821248 0.27678152
+v 0.14870099 -0.47821262 0.31516526
+v 0.17022926 -0.33132408 0.31879700
+v 0.39780574 -0.33132396 0.28566150
+v 0.34961274 -0.45278919 0.27678162
+v 0.36844646 -0.47821248 0.27678152
+v 0.16228597 -0.47821264 0.32151805
+v 0.16644005 -0.40306438 0.32075310
+v 0.16764699 -0.37863329 0.32029117
+v 0.16851710 -0.36412415 0.31990861
+v 0.18215822 -0.33132410 0.32355435
+v 0.39887231 -0.33132396 0.28599359
+v 0.39780574 -0.40306425 0.28562516
+v 0.36777284 -0.47691831 0.27678153
+v 0.39780574 -0.42746656 0.28561784
+v 0.39780574 -0.45189765 0.28570439
+v 0.39780574 -0.47821251 0.28583422
+v 0.17879003 -0.47821265 0.32518533
+v 0.18081094 -0.37863330 0.32416780
+v 0.20492148 -0.33132411 0.32797965
+v 0.41445014 -0.33132398 0.29095308
+v 0.41445014 -0.35421644 0.29093856
+v 0.41445014 -0.42746658 0.29089498
+v 0.41439400 -0.45189767 0.29096706
+v 0.39909688 -0.47821251 0.28623848
+v 0.18081094 -0.47821266 0.32545965
+v 0.20492148 -0.35421658 0.32816004
+v 0.38728017 -0.33132420 0.35053198
+v 0.41995148 -0.33132404 0.30763633
+v 0.41997956 -0.37863324 0.30763616
+v 0.41947432 -0.47821259 0.30635079
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+v 0.42059707 -0.33132420 0.35053198
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+v 0.42079353 -0.33132413 0.33192125
+v 0.42065322 -0.42746680 0.35053163
+v 0.42068124 -0.47821274 0.34908042
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+f 53 60 61
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+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_5.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7716304c5088ba7dce52e80edef82126c6402e10
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_5.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.16354405 0.00988297 0.20905750
+v -0.16035719 0.25638763 0.20905840
+v -0.21319530 0.00988297 0.20905750
+v -0.14746813 0.00988345 0.07785558
+v -0.14746813 0.01433580 0.08664216
+v -0.15879210 0.43494122 0.20905906
+v -0.21881833 0.43494122 0.20905906
+v -0.21980981 0.43494300 -0.27534127
+v -0.21359897 0.00988474 -0.27306483
+v -0.14746813 0.00988498 -0.33820477
+v -0.14746813 0.37939072 0.08696893
+v -0.14746813 0.40431582 0.08696903
+v -0.14746813 0.43494170 0.07959276
+v -0.21978148 0.43494301 -0.27637178
+v -0.21356354 0.00988484 -0.29964150
+v -0.21359897 0.00988475 -0.27534283
+v -0.15451463 0.00988498 -0.33831324
+v -0.18050522 0.43494326 -0.34503722
+v -0.16406811 0.43494325 -0.34346428
+v -0.14746813 0.43494324 -0.33999304
+v -0.21843590 0.43494309 -0.29963994
+v -0.21575187 0.43494317 -0.32198600
+v -0.20563891 0.00988492 -0.32166216
+v -0.17862852 0.00988498 -0.33836745
+v -0.18092306 0.00988498 -0.33836745
+v -0.19108559 0.43494325 -0.34416939
+v -0.20481032 0.00988493 -0.32394016
+v -0.19987423 0.43494325 -0.34292190
+v -0.19324556 0.00988498 -0.33733694
+v -0.19454155 0.00988498 -0.33722847
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 15
+f 1 15 23
+f 1 23 27
+f 1 27 30
+f 1 30 29
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+f 1 25 24
+f 1 24 17
+f 1 17 10
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+f 1 4 5
+f 1 5 2
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+f 3 8 9
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+f 27 28 30
+
diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_50.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f851ab8c8b2a056a72c913de1a826ce9b9b1c470
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_50.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.36144295 0.52509515 0.27014329
+v 0.36114611 0.50065847 0.27014320
+v 0.35819898 0.50065869 0.20905928
+v 0.35828378 0.52367350 0.20905936
+v 0.35828378 0.52509537 0.20905937
+v 0.36131574 0.57392033 0.27014347
+v 0.35633317 0.47624590 0.27014311
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_51.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5b77bbfdc9c70a38ab0ee4c2f9d9d8d7fd9ec46
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_51.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_6.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d2f1b0013c80ff7653b45666d96e55b09775398
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_6.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_7.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cb612e77d8518f58b6c00f61f81978304ff61d2
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_7.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_8.obj b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27cf5db07e7ba69fffd8fce20c6968729e4fc9d6
--- /dev/null
+++ b/dataset/furniture/table/2a842458f7855996b2183eb6253166be/mjcf/mesh/wooden_striped_table_collision_8.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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