diff --git a/.gitattributes b/.gitattributes
index 618dd2c404d1e196b80c3d57f6f78f47924b9ecd..04cc6ef501c5f9417d0be6c19381e20ed3f8bf80 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3741,9 +3741,6 @@ dataset/furniture/chair/4a4a3b28ff5153a78501a4e26ac4f2c3/mesh/bar_stool_33_gs.pl
 dataset/furniture/chair/78b42bb137d45170aa4187f9f1c02394/78b42bb137d45170aa4187f9f1c02394.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/78b42bb137d45170aa4187f9f1c02394/mesh/dining_chair_6.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/78b42bb137d45170aa4187f9f1c02394/mesh/dining_chair_6_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/5e84202e9a055d94a3eedc987043f8f5.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/83d7618902f8503ca48746637668f8d1.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/office_chair_12.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/office_chair_12_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/6fdbc06a65b85145add05b8eeb37e22c.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/office_chair_13.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/office_chair_13_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/6fdbc06a65b85145add05b8eeb37e22c.urdf b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/6fdbc06a65b85145add05b8eeb37e22c.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..64a2b0e714b607d50f03223494ee59f1fccc30f5
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/6fdbc06a65b85145add05b8eeb37e22c.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="office_chair_13">
+   <link name="office_chair_13">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/office_chair_13.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/office_chair_13_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="12.5000" />
+         <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>1.100000</scale>
+         <version>v0.1.5</version>
+         <category>office_chair</category>
+         <description>modern blue office chair with armrests and a five-wheel base</description>
+         <min_height>1.0</min_height>
+         <max_height>1.2</max_height>
+         <real_height>1.1</real_height>
+         <min_mass>10.0</min_mass>
+         <max_mass>15.0</max_mass>
+         <generate_time>20251021113327</generate_time>
+         <gs_model>mesh/office_chair_13_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.201525092124939</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Different functional parts are merged; base and seat/back are inconsistent, and support hardware is fragmented.","merge_groups":[{"colors":["Red","Maroon"],"target_part":"under-seat support hardware","reason":"small adjacent fragments of same mechanism"},{"colors":["Yellow","Cyan"],"target_part":"chair body shell","reason":"seat and back/frame merged inconsistently across views"}]}</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/6fdbc06a65b85145add05b8eeb37e22c.usd b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/6fdbc06a65b85145add05b8eeb37e22c.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b3e8834ed14bfb2881f8becb2fbfec5f996168f0
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/6fdbc06a65b85145add05b8eeb37e22c.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cc5d98b7f4b99313c66f352d716f28f4580124284c2e1cfe69c3bd9f504f3de
+size 284187
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/material.mtl b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/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/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/material_0.png b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ce09b3b3128ac66de95173e423fd4683a2b37a1
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ddc555b0629d96bd95dcdd84028f224925168129c881b1dcbd55e811938db9e
+size 1952709
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/office_chair_13.glb b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/office_chair_13.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9765cc2a4959d9d0745816ff70f7554ad21960da
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/office_chair_13.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8394d104e98127335bca89d845c3daa76b77b63c30bf4be755e47f8213058c77
+size 2164552
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/office_chair_13.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/office_chair_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..877854abb2c86c8c1296b81c5ba8a5ee0875fe16
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/office_chair_13.obj
@@ -0,0 +1,19572 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/office_chair_13_collision.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/office_chair_13_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82fe941f52d366165a83764193f76ef4a6670b7c
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/office_chair_13_collision.obj
@@ -0,0 +1,17597 @@
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/6fdbc06a65b85145add05b8eeb37e22c.xml b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/6fdbc06a65b85145add05b8eeb37e22c.xml
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index 0000000000000000000000000000000000000000..0ff2f7d2287812b52e37bbc78f0079db137e60d8
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/material_0.png b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ce09b3b3128ac66de95173e423fd4683a2b37a1
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ddc555b0629d96bd95dcdd84028f224925168129c881b1dcbd55e811938db9e
+size 1952709
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ae1a7af9daffc7e524fbfb53b581d16f4472030
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13.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/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cee105d3e1e9079d2ef9f8ba7cc6fec7e1a0d10
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision.obj
@@ -0,0 +1,17597 @@
+# https://github.com/mikedh/trimesh
+
+o office_chair_13_collision.obj
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_0.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2afa4b2a0fab321200a6982d93525834690051e
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_0.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_1.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3489ee33f56c7bb7fda450ce48f7eae161a82541
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_1.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_10.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..461ab06cc019cbc00dc265b1cacdfc3d57445b22
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_10.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_11.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef0bb093b1c9a75ba5a48403edd98d30bf7e4e0c
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_11.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_12.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9747caf80d98033dc738cc6f985b02e241419d3e
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_12.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_13.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00b4908839a14919e07fd810924c76731e3f9e6c
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_13.obj
@@ -0,0 +1,181 @@
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+f 50 53 51
+f 53 60 54
+f 54 60 61
+f 54 61 56
+f 54 56 55
+f 56 61 57
+f 57 61 58
+f 58 61 59
+f 59 61 60
+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_14.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..981ed0dcb423f23a065212fb7333e7db12ab3ff2
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_14.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.19656002 0.30288204 -0.03835110
+v -0.19721678 0.30203877 -0.03835110
+v -0.19653392 0.30053665 -0.03065304
+v -0.19653392 0.29262221 -0.03835114
+v -0.20189246 0.29596897 -0.03835112
+v -0.19653392 0.29900820 -0.02671941
+v -0.19653392 0.21315245 -0.03835143
+v -0.19653392 0.29291200 -0.01256804
+v -0.20969831 0.28281036 -0.03835117
+v -0.19653392 0.21315234 -0.00694283
+v -0.21134386 0.21315245 -0.03835143
+v -0.19653392 0.29144504 -0.00958308
+v -0.21106114 0.27977986 -0.03835118
+v -0.19653392 0.27984996 0.00995812
+v -0.19653392 0.28073716 0.00847773
+v -0.20878348 0.21315231 0.00132323
+v -0.19653392 0.25087117 0.01908210
+v -0.21134386 0.21315230 0.00158305
+v -0.21134386 0.27912106 -0.03835118
+v -0.21134386 0.27851494 -0.03745086
+v -0.21134386 0.27708312 -0.03542060
+v -0.21134386 0.27394719 -0.03099755
+v -0.19653392 0.27817219 0.01201254
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+v -0.21134386 0.21833492 0.00075526
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+v -0.21082483 0.26680567 -0.02074356
+v -0.21134386 0.26349406 -0.01918462
+v -0.21134386 0.25672150 -0.01299115
+v -0.21134386 0.25329568 -0.01012704
+v -0.21134386 0.21985457 0.00036251
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+f 1 9 5
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+f 7 18 11
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+f 24 30 31
+f 24 31 25
+f 26 28 27
+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_15.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b16963fbba67e59793e9b8a3b8d31361e39013
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_15.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.11574065 -0.31270973 0.09911081
+v 0.11569003 -0.31269709 0.10861055
+v 0.10658075 -0.31269712 0.11732726
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+v 0.11532314 -0.31270973 0.09911081
+v 0.11568371 -0.31268430 0.08766089
+v 0.12293952 -0.30629373 0.08115293
+v 0.12936662 -0.30026489 0.08115296
+v 0.13426287 -0.29565759 0.08115297
+v 0.13388332 -0.29475012 0.09072659
+v 0.12061791 -0.30465021 0.11567998
+v 0.11877707 -0.29932584 0.13101551
+v 0.10994613 -0.31144059 0.12068099
+v 0.09657951 -0.31269081 0.12658323
+v 0.10594816 -0.30508182 0.13483459
+v 0.08964633 -0.31123755 0.13370435
+v 0.07017522 -0.31180874 0.13533688
+v 0.11549394 -0.31268430 0.08766089
+v 0.09657951 -0.31269081 0.12603659
+v 0.10887705 -0.30531007 0.08115294
+v 0.13479425 -0.28537682 0.08115301
+v 0.13397188 -0.28537686 0.09122154
+v 0.13232082 -0.28537689 0.10027806
+v 0.12801921 -0.28537695 0.11722394
+v 0.12037120 -0.28537701 0.13328338
+v 0.11316601 -0.28537704 0.14233989
+v 0.10195652 -0.29872300 0.14684595
+v 0.08833687 -0.30218803 0.14919502
+v 0.07017522 -0.30350802 0.15050253
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+v 0.09904028 -0.28556087 0.08115301
+v 0.13478792 -0.28521183 0.08115301
+v 0.13392127 -0.27543880 0.09093350
+v 0.12619735 -0.26720162 0.11722401
+v 0.11966902 -0.26720168 0.13246349
+v 0.11248281 -0.26720171 0.14152000
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+v 0.13429450 -0.27362378 0.08115305
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+v 0.13140356 -0.26454245 0.08115309
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+v 0.12154782 -0.25421098 0.09911103
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+v 0.07017522 -0.25273887 0.14968275
+v 0.07017522 -0.25326551 0.12240977
+v 0.10949066 -0.25462343 0.08115312
+v 0.12231325 -0.25462343 0.08115312
+v 0.07017522 -0.24788402 0.13532973
+f 1 2 3
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+f 1 4 14
+f 1 14 5
+f 1 5 18
+f 1 18 6
+f 1 6 7
+f 1 7 2
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+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 4
+f 2 4 3
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+f 4 15 16
+f 4 16 17
+f 4 17 14
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+f 6 18 7
+f 7 20 31
+f 7 31 42
+f 7 42 52
+f 7 52 61
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+f 7 32 21
+f 7 21 9
+f 7 9 8
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+f 17 30 20
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+f 17 18 19
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+f 22 33 23
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+f 24 34 35
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+f 24 33 34
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+f 27 39 28
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+f 28 40 29
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+f 40 49 50
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+f 46 55 47
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+f 57 59 58
+f 60 63 61
+f 61 63 62
+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_16.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9047a3fca7bcc2fed2403b31ac9e441ba144a880
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_16.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.23935217 0.13273480 0.39217704
+v -0.22186022 0.21778582 0.39217735
+v -0.25377547 0.13273480 0.39217704
+v -0.20935911 0.13273515 0.29642170
+v -0.18391068 0.21778623 0.28027865
+v -0.18971157 0.21778616 0.29843304
+v -0.24660158 0.21778582 0.39217735
+v -0.25377547 0.19060113 0.39217725
+v -0.25377547 0.13273501 0.33593488
+v -0.20450558 0.13273521 0.28027834
+v -0.20423099 0.13273521 0.27930596
+v -0.18364294 0.21778623 0.27929523
+v -0.24767939 0.21427222 0.39217734
+v -0.25377547 0.21778597 0.35124985
+v -0.25050775 0.20448906 0.39217730
+v -0.25377547 0.21778611 0.31336098
+v -0.22917142 0.13273521 0.27929492
+v -0.20436141 0.13273521 0.27929492
+v -0.20907765 0.21778623 0.27929523
+v -0.24928578 0.20895184 0.39217732
+v -0.22313025 0.16907860 0.27929505
+v -0.22680300 0.15134403 0.27929499
+f 1 2 7
+f 1 7 13
+f 1 13 20
+f 1 20 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 18
+f 1 18 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 2 16 14
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+f 3 16 9
+f 4 10 5
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+f 7 14 13
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+f 12 18 17
+f 12 17 22
+f 12 22 21
+f 12 21 19
+f 13 14 20
+f 14 15 20
+f 16 19 21
+f 16 21 22
+f 16 22 17
+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_17.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..641dc8343e19c30b758908584ec9117423fd27c0
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_17.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.16300352 0.21016877 0.11101155
+v -0.13523729 0.21016877 0.11101155
+v -0.16485659 0.20541776 0.11101153
+v -0.20130040 0.21016828 0.24380984
+v -0.13597452 0.21016875 0.11723879
+v -0.16521525 0.02973580 0.13534325
+v -0.16428872 0.02973585 0.12330063
+v -0.16384039 0.02973587 0.11723813
+v -0.16372084 0.02973589 0.11101089
+v -0.17027634 0.18724377 0.11101147
+v -0.20660059 0.21016821 0.26293635
+v -0.17672226 0.16521951 0.11101139
+v -0.21842640 0.16906924 0.26214543
+v -0.13701066 0.21016873 0.12338366
+v -0.16862253 0.02973574 0.15346483
+v -0.13803682 0.21016870 0.12936378
+v -0.19090923 0.02973589 0.11101089
+v -0.21257826 0.20423380 0.27929518
+v -0.21070526 0.21016815 0.27929520
+v -0.22312884 0.16906917 0.27929505
+v -0.21778879 0.18719015 0.27929512
+v -0.17937234 0.15520526 0.11101135
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+v -0.17318546 0.02973567 0.17161937
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+v -0.13967071 0.21016868 0.13654651
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+v -0.18607729 0.21016815 0.27929520
+v -0.22645640 0.15297926 0.27929499
+v -0.18049814 0.15087814 0.11101133
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+v -0.21723086 0.15087765 0.24402378
+v -0.22679512 0.15133671 0.27929499
+v -0.17474963 0.02973565 0.17779717
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+v -0.18355672 0.02973554 0.20779664
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+v -0.23632949 0.06131456 0.27929466
+v -0.18982329 0.07818220 0.11101107
+v -0.23512400 0.07818158 0.27929472
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+f 1 49 45
+f 1 45 33
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+f 1 22 12
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+f 28 29 39
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+f 45 49 50
+f 45 50 51
+f 45 51 46
+f 47 52 53
+f 47 53 48
+f 49 53 54
+f 49 54 50
+f 52 54 53
+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_18.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e67d051b931ef52667b2d65c8239d4063fafecf4
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_18.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.00093501 0.02365783 -0.47853614
+v 0.01564355 0.02365782 -0.47748155
+v -0.00093501 0.00745903 -0.47511489
+v -0.00093501 0.04184260 -0.47832762
+v 0.01564355 0.04184259 -0.47767770
+v 0.02801433 0.02365781 -0.47401119
+v 0.02597358 0.01305434 -0.47262554
+v 0.01564355 0.00973860 -0.47414613
+v 0.02840945 0.04184258 -0.47431771
+v 0.00269435 -0.03473041 -0.45289500
+v 0.00158640 -0.03473041 -0.45289500
+v -0.00093501 -0.03473041 -0.45253938
+v -0.00093501 0.05716062 -0.47520055
+v -0.00093501 0.05849036 -0.47490625
+v 0.01564355 0.05683249 -0.47434217
+v 0.02649904 0.05330951 -0.47304230
+v 0.04067839 0.02365777 -0.46182202
+v 0.04067839 0.01916769 -0.46089009
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+v 0.01030338 -0.03473042 -0.45052828
+v 0.03749710 0.04184255 -0.46461787
+v 0.04067839 0.03552190 -0.46167485
+v 0.04067839 0.11432252 -0.44937502
+v -0.00093501 -0.03473067 -0.37979683
+v -0.00093501 0.06677970 -0.47070009
+v 0.04067839 0.13271450 -0.44124476
+v 0.04067839 -0.01057043 -0.44253290
+v 0.02613244 -0.03473047 -0.43676948
+v 0.01282479 -0.03473042 -0.44849267
+v -0.00093501 -0.00903377 -0.35326020
+v 0.00782271 -0.03473067 -0.38014021
+v -0.00093501 0.06757410 -0.47018506
+v 0.04067839 0.13677281 -0.43838756
+v 0.04067839 -0.01433521 -0.43658547
+v 0.02943593 -0.03473050 -0.42838180
+v -0.00093501 0.06964601 -0.35325991
+v 0.01315066 -0.00673693 -0.35326019
+v 0.00958647 -0.03473067 -0.38141554
+v 0.02223424 -0.00197055 -0.35326018
+v 0.01341950 -0.00659877 -0.35326019
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+v 0.04067839 -0.01828994 -0.42627252
+v 0.02980661 -0.03473050 -0.42624806
+v -0.00061729 0.06966328 -0.35325991
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+v -0.00093501 0.09140572 -0.39393531
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_19.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63d9ed7a6f85dff4222f0ca6ad3da21ea479998a
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_19.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_2.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9b946754daac1088ef80d0e6fd928ad351430de
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_2.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_20.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12111ae6dd4564d5f27058fc44872b3100e78780
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_20.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_21.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3116d4f1f5f6342e588d80253ec02cf7ca0a20e7
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_21.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_22.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd4c971a01790e01315be0f1354ae71242ccfcfe
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_22.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_23.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87e52a816580956835eaba09a9fd5b32e7218bef
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_23.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_24.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd4d9554bc11b7360624db19be7a42b65dc628d9
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_24.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_25.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..083e43f85e56026d67b8331bba41f5dd50c8cb71
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_25.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_26.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a46d4205b4f6f9daf0b4c980b799c2031f2d44b3
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_26.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_27.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8759b5260482264bf7f264233805c3d2ea33d92f
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_27.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_28.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69ea70413ef53bcdb4a0eca5869b74a943ef63b8
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_28.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_29.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a79d83853d2f66eb593b7750595f5045deccc75e
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_29.obj
@@ -0,0 +1,586 @@
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_3.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53096754d1e3fa63fbbe58d8c340b31c0b90840d
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_3.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_30.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..540bc5f09270ee1223c4489837bb3094c8858f74
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_30.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_31.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f24a5d9f4272c9030164342b30809469dfa34a06
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_31.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_32.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6f649a8b8bc26d9def61be894ea9f5319914d14
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_32.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_33.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e252b5405f9731b5235b9fa4b348420457fe533
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_33.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_34.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c01cf91138373b9587b42bdb790aab2a639e5d8e
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_34.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_35.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eff1f1972d23f3a444289a5079750b945483511
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_35.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_36.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c126f673b6d16a43cd570b32dd5c34ca743f9c42
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_36.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_37.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d7db4574c13d97494b4c7c11be1fe053c27cc82
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_37.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_38.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba317de397fdb82685bb8a1dcf95f71e34dd4610
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_38.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_39.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93cbdfc5fff40895ec354d5cf99351b81b6dbff4
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_39.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_4.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b5d5c450cd089d3d5fe5cb5425015d386b7d96b
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_4.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_40.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54abb2f816e37fa39fc3a7a236103eb9377a10d5
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_40.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_41.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23b6ba8956dbfa5147c3aecd20ddb88bdd905072
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_41.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_42.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7169f8d91e9e8f5c474d2d3049f210c9449f54cd
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_42.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.19106784 -0.23133966 0.38711561
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+v -0.21639139 -0.24901761 0.46302692
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_43.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ee158cddd9cea2a4124d1135f7fc487df7768bd
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_43.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_44.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f9236dfb5e5031e885f06848f68a7089a4a7e57
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_44.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_45.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb95b715a16b6955d216c18ef2a2d800b3683333
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_45.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_46.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64cc73e3a5ce413deb57120f7d3bdb5e0bbd0478
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_46.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_47.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f06d9477ffededa7022b2b0149146860efb27a4
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_47.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_48.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d8af1024702d30a49dcffa3237a2d4416e4cc52
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_48.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_49.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..973bd36144613e2a24b91b8dfa578f1fcbdb0ebd
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_49.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.12416739 -0.13543878 -0.09692472
+v -0.19549645 -0.13543882 -0.08762349
+v -0.12416739 -0.13543870 -0.12088439
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+v -0.26013668 -0.03085815 -0.08762310
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+v -0.26253851 0.00545870 -0.08762297
+v -0.25336404 0.00545886 -0.13086120
+v -0.25354558 0.02364069 -0.13100669
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+v -0.23877147 0.02399966 -0.13526524
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+v -0.26263626 0.02399960 -0.12073825
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+f 1 3 12
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+f 1 17 24
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+f 48 64 65
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+f 49 66 50
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+f 58 68 69
+f 58 69 59
+f 59 64 63
+f 59 69 70
+f 59 70 64
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+f 64 71 65
+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_5.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad087d3fba0bd55f6b279213eb2bad83d3700b01
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_5.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.25251045 0.33343268 -0.48317456
+v 0.22947517 0.33267025 -0.44787259
+v 0.25249844 0.33267037 -0.48317456
+v 0.24902482 0.34497453 -0.48317451
+v 0.21492562 0.33182973 -0.43934347
+v 0.21851944 0.31449252 -0.43903540
+v 0.22875400 0.31449256 -0.44809199
+v 0.22720350 0.34422190 -0.45072427
+v 0.25188545 0.33162469 -0.48317456
+v 0.22623593 0.30269662 -0.45101691
+v 0.24382040 0.34959715 -0.48317450
+v 0.20845916 0.32520367 -0.43479432
+v 0.21555063 0.34585400 -0.44841048
+v 0.20943275 0.31449250 -0.43408923
+v 0.20842912 0.30021422 -0.43420423
+v 0.20612138 0.28809577 -0.43563534
+v 0.23785875 0.35177650 -0.48317449
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+v 0.24286485 0.31739527 -0.48317461
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+v 0.19112110 0.26396633 -0.43591746
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+v 0.19112110 0.25548346 -0.44825936
+v 0.19732915 0.31546979 -0.43331624
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+v 0.20109724 0.34475943 -0.44944463
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+v 0.19112110 0.26731860 -0.47375779
+v 0.23308702 0.31291925 -0.48317463
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+v 0.19112110 0.33411677 -0.48065186
+v 0.19265959 0.31445358 -0.48317462
+v 0.19112110 0.31449268 -0.48250607
+v 0.19219084 0.33408745 -0.48317455
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+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_50.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b23c23c13c99b127112f5e7781e459068aed7d3b
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_50.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.10607679 0.30934723 0.13533863
+v -0.10756198 0.30827944 0.11100016
+v -0.10734539 0.30934732 0.11205201
+v -0.10989030 0.30934717 0.15364908
+v -0.11910307 0.26393248 0.13198014
+v -0.12100596 0.25182645 0.12271638
+v -0.11846104 0.25871925 0.11689593
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+v -0.11324744 0.27813558 0.11100005
+v -0.10753877 0.30934732 0.11100017
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+v -0.13333605 0.24205019 0.15918159
+v -0.13171164 0.24178809 0.15345544
+v -0.12686159 0.24178815 0.13533838
+v -0.13035022 0.22361454 0.11722597
+v -0.12321052 0.24320561 0.11689587
+v -0.12061919 0.24981689 0.11099995
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+v -0.16612607 0.30934732 0.11100017
+v -0.17249223 0.30934715 0.15918184
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+v -0.13763689 0.21182878 0.13129129
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+v -0.13597379 0.21016875 0.11722592
+v -0.13536270 0.21016877 0.11206108
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+v -0.18134916 0.29199866 0.15918177
+v -0.17772903 0.27813558 0.11100005
+v -0.17674666 0.26595185 0.11100001
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+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_51.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e23dd77a13c583b272700b9323d50d4138674b93
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_51.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.23148122 -0.10654193 0.38710865
+v -0.24496663 -0.10654193 0.38710865
+v -0.23073732 -0.10654192 0.38508713
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+v -0.22805581 -0.10654190 0.37725001
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+v -0.24496663 -0.10480765 0.34749840
+v -0.24105682 -0.10654174 0.33460749
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+v -0.26786328 -0.02787862 0.38710894
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+v -0.26748269 0.00545695 0.37502384
+v -0.27109840 0.00545691 0.38710906
+v -0.20884407 -0.10359333 0.23747157
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+v -0.25415298 -0.01271136 0.33460783
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+v -0.23643770 -0.01271116 0.28029024
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_52.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82fcca90ae6ae43ff66301c97221dcecd0461ff2
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_52.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_53.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c11632f8377fe92d651dd9ec34bab43716151e95
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_53.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_54.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01796ab89107d381b8a160f3ab470abb80fc65fd
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_54.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_55.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d829fe856a5571e2eed6b765f15b2f90c6c2e72
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_55.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_56.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c165d27566118ada319cc718c9628dfce05e12de
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_56.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_57.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9c1c9742e02cffa756c413cf4d7c40507f6c57c
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_57.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_58.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48ba6cb986cd8868fe809557bcd0c1baa31d9710
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_58.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_59.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e394379c299aa9133c2f7cf77585b00e3c319d6
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_59.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_6.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..630980fedd16ad5801056e3c97b835e8491c9cd1
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_6.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_60.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fb2ecc47068193023c8be3d99ecb6294ad6b22a
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_60.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_61.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd28481552194aa8deb61424e5ae1140bf12ea6d
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_61.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_62.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d67b013ef76fd8658b8f52f99dd4a4455a0fbe24
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_62.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_63.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc452344eca0d0eb5820ad5c64a621e16d1b1473
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_63.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_64.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5be05c005718f1681f9effa96e593092d7818dd2
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_64.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_65.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65235eb918ccd3bb1f058948c260c07385ed876d
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_65.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_66.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5934189e87cc534d514b53602aa5c935a937e149
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_66.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_67.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8705bf35735cc6182af8139dab00e747e60106be
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_67.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_68.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..250f6efc3a9bb43304afa8134ccc2563c89987d2
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_68.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_69.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63c609282fbd9e4688622344ad53c7c53e6a9934
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_69.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_7.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba1b12d890cf585fcf6d0e8e1c0d263c58b30b3f
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_7.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_70.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e27cb500add4b5c7a8636a5b59cc121f5f73fa8d
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_70.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+v -0.08179146 0.24792984 -0.17066671
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+f 29 33 30
+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_71.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ae9c263082650d750f0b06fa96a42995220c7c5
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_71.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_72.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c9c1990508685298a36b4ca3b7a587d8ac3e48f
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_72.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v -0.25971073 -0.17678927 0.29875485
+v -0.26914529 -0.17630202 0.30480002
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+v -0.26633288 -0.18571539 0.30704737
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+v -0.28203856 -0.15813885 0.31019806
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+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_73.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da3d01d5b656e76e91a08b2e837cbe20c9add236
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_73.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.21354796 -0.10190161 -0.04350238
+v -0.21354796 -0.10190183 0.01727702
+v -0.19351322 -0.10190161 -0.04350238
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+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_74.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696fb7271f671580c82a45d3f8f0b3635828d23c
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_74.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.30436485 -0.08542162 0.33785020
+v -0.30366134 -0.10359978 0.33752622
+v -0.30436485 -0.08542165 0.34663092
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+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_75.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e6d359d4045ea07b75a7aa3dcf455e62d5f9307
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_75.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.25378033 0.13273480 0.39217701
+v -0.25378033 0.19060113 0.39217722
+v -0.26431197 0.13273480 0.39217701
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+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_76.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab3e212a9b2d331167c692788184b37bed711fea
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_76.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_77.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eec9d11edff86ead96dd1529a6edaa7f546ed25
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_77.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_8.obj b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2db141d58c3f25bbfb0088d57b822bd264fcd744
--- /dev/null
+++ b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mjcf/mesh/office_chair_13_collision_8.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/textures/material_0.png b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/textures/material_0.png
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diff --git a/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/video.mp4 b/dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/video.mp4
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