diff --git a/.gitattributes b/.gitattributes
index 1f9e2a113a86b49bd80590bdedff4129aa93af60..21340796b1297aac7ee9d0f880cd58543f79ff4c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3741,3 +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
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/5e84202e9a055d94a3eedc987043f8f5.urdf b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/5e84202e9a055d94a3eedc987043f8f5.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2b20f177325c4953ec3626c0f50e7f9377c67885
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/5e84202e9a055d94a3eedc987043f8f5.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lounge_chair_25">
+   <link name="lounge_chair_25">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/lounge_chair_25.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/lounge_chair_25_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>1.100000</scale>
+         <version>v0.1.5</version>
+         <category>lounge_chair</category>
+         <description>cushioned armchair with reclined backrest and wide armrests</description>
+         <min_height>1.0</min_height>
+         <max_height>1.2</max_height>
+         <real_height>1.1</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>30.0</max_mass>
+         <generate_time>20251021120823</generate_time>
+         <gs_model>mesh/lounge_chair_25_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.733931303024292</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Backrest, arms, and outer base are merged; only seat is separated. Key functional parts missing and not fixable by merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>8</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/5e84202e9a055d94a3eedc987043f8f5/5e84202e9a055d94a3eedc987043f8f5.usd b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/5e84202e9a055d94a3eedc987043f8f5.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fca3945b7bc6f8d1724197f8734b820da5280ae9
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/5e84202e9a055d94a3eedc987043f8f5.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31f1b67bb5b2f79b1e263732f87e8e841c5ce82c44ff825c59df065c5f5c6c63
+size 1056082
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25.glb b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a71b5fac89ccb1eacd61349337da473663a07539
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f027ab75cee4eb45a1795ddb99e60f004d4b59b31964446e2f224ba19937643
+size 1462904
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7e26ff16a946d3ea78a1f6112a8c1b1f29d0df3
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25.obj
@@ -0,0 +1,68212 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25_collision.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1cc3e9ec23175781065d7b30c1081229b8cf3c0
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25_collision.obj
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25_gs.ply b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d53c2d7e4a4de27fcd0dc83300f551f39a21977f
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 70719851
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/material.mtl b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/material_0.png b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccad98f155c934d8861c1ecb1b0616a900c0b9ef
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b69808db296c0c3e68b8188ed2858aa494bc6f8c85befcc455c61bcdc709629e
+size 721108
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/5e84202e9a055d94a3eedc987043f8f5.xml b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/5e84202e9a055d94a3eedc987043f8f5.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ba3a29898454c21e98722d08f539d2bacb4bfd79
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/5e84202e9a055d94a3eedc987043f8f5.xml
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+      <geom type="mesh" mesh="collision_mesh_0_92" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_96" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_97" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_98" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_99" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..039be06a5126f6733a9ac5596c108f09a8351623
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25.obj
@@ -0,0 +1,68212 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d2de6b8095188b263acd9291b7074cea1cc526c
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision.obj
@@ -0,0 +1,32583 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_0.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a56d2e5b4fae6b6f74efca88b35f9f091ba876e
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_0.obj
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_1.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e7e0be65a6bcba2bb47ac6296c3b18dd14618fb
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_1.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_10.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5839c878c34927db3f0d95b2c90b5f168fa89a6
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_10.obj
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_11.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce6a362413f8e6d997894508b7b9ff96020bcdff
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_11.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_12.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8d2b80f71c83bc4adcd5ff064b53c8e5dc68a8b
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_12.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_13.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b07d0e09794cc761187467b1ccd6c0c32956a88
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_13.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_14.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0064f73537d4f7eeae374bc4b61bdf6f059d4fae
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_14.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_15.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7de6d4403137edb733a97604a8bc3ac2beff754
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_15.obj
@@ -0,0 +1,580 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_16.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..955a2bedd562f8834c581ce355d4b0e66d6d756c
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_16.obj
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_17.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e98b97d1a861c30c43b2c1aa9f9b94837cf8dae2
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_17.obj
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_18.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cab65cc1a582fbbb12ac7468080a0601ab1a233
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_18.obj
@@ -0,0 +1,1018 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_19.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6c6f5dfb5abda4ef98fc7e4f0cdee65fa51ba9
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_19.obj
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_2.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..191aa3706df11cc7c6fbc4c32c847079392dde5a
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_2.obj
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_20.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a080729fd51a87cab0719451a7250a14a5b2c2
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_20.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_21.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b3fdd9f1ad9d5ff2b83deab8a59be84eb6f2654
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_21.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_22.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b7ca613d769b901671a6f6a88c8b86b07af6df5
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_22.obj
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_23.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1491cce79ab44f98249186a66fd969ff6d772b6c
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_23.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_24.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaf1726f5445c85f72a34fdd864f454b700d5b05
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_24.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_25.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b787fd9c8f219ba8fe5068398528e65a918f8e0
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_25.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_26.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93458c2e3817f267ae9b5b7e98c8603dc9c53ef3
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_26.obj
@@ -0,0 +1,1165 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_27.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..573f5aadcae69ad53a5a4ca8936298150e487ec3
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_27.obj
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_28.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57aee9e79d6c989bfc2d8517566c4d6a1cc16ba1
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_28.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_29.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1174ecaa2caabb36346be50e4d74cea7107444ab
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_29.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_3.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a2ccfe3a334e375b937d25eda42501b4daafaf6
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_3.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_30.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..175b9434d2856adf3d7c01e77aeb7653a67fb908
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_30.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_31.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f436efbd6f07018b4514ffcfc9614758463b1c0
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_31.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_32.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e29829b09918246da9be5046fa7d46d06edc0c8
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_32.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_33.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..297f1ea9310d0e62a1a47fa1f229261d7a2e52db
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_33.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_34.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040c2727648e52a2110114fb6707a3938b0a84ea
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_34.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.43599011 0.31760045 -0.29082847
+v 0.43599011 0.26519121 -0.26683567
+v 0.43599011 0.31760019 -0.22052499
+v 0.43599759 0.31760121 -0.49902454
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+v 0.43599011 0.27132729 -0.23084618
+v 0.48436808 0.26519081 -0.15672264
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+v 0.44233157 0.31760121 -0.49889048
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+v 0.45095174 0.26519203 -0.49027870
+v 0.51256733 0.26519081 -0.15672264
+v 0.51034106 0.31759996 -0.15672244
+v 0.46153582 0.31760120 -0.49657832
+v 0.47503578 0.26519203 -0.49081484
+v 0.47247972 0.26519203 -0.49104941
+v 0.51191518 0.26519086 -0.17263976
+v 0.51168282 0.27917176 -0.17263970
+v 0.51230498 0.27917171 -0.15672258
+v 0.51059592 0.31527578 -0.15672245
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+v 0.46391951 0.31760120 -0.49587460
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+v 0.47436866 0.31760119 -0.49269118
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_35.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13f06b2416785965c2134dedb0790dba997d26e6
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_35.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.36777696 -0.30629483 -0.44065051
+v 0.40696859 -0.30629488 -0.42612019
+v 0.36750227 -0.30629488 -0.42610572
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+v 0.43898967 -0.00940841 -0.37529923
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+v 0.41235006 -0.30629538 -0.29265287
+v 0.36721347 -0.30629538 -0.29265287
+v 0.36972811 0.06902874 -0.29265149
+v 0.37151018 0.06902905 -0.37529895
+v 0.39819206 0.06902905 -0.37529895
+v 0.39979098 0.06902874 -0.29265149
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+v 0.43896853 0.00818950 -0.37529917
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+v 0.43913760 0.00951209 -0.37270603
+v 0.43843321 -0.00981260 -0.35839310
+v 0.43779925 -0.02311206 -0.35968247
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+v 0.40264371 0.00929136 -0.29265171
+v 0.43772882 0.01899067 -0.36043564
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_36.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f810c8520a50fc67de870be22bbb116c787322e
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_36.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.36767510 -0.00809613 -0.07263254
+v -0.36717533 0.04371941 -0.07263235
+v -0.42168922 -0.00809613 -0.07263254
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+v -0.32211783 -0.00809472 -0.45782438
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+v -0.37530879 0.29577749 -0.12115745
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_37.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59a631d8d2da8bb69bc3179b39f635ccef91f318
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_37.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v 0.17367871 -0.10008617 -0.55130942
+v 0.17367871 -0.10008625 -0.53199400
+v 0.19200192 -0.10008617 -0.55152955
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_38.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2792236d164fa07297b01b1eb67714606604f597
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_38.obj
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_39.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..317fefeffb49188e68c729b05f358a7659d028c1
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_39.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_4.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c3765c4baab5fff3ae5bc2c4a4c642cba6267ae
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_4.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_40.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08c991beb6102f0aeb9bd48ae171818eec59e02c
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_40.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+v -0.07499068 -0.26253183 -0.09414999
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_41.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3503f6628f030f64f20bba0dd21a528d5576a56e
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_41.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.43599011 0.26519032 -0.23233521
+v 0.35711924 0.26519033 -0.23410272
+v 0.43599011 0.26519045 -0.26685385
+v 0.43599011 0.34085231 -0.17813959
+v 0.36930191 0.32360982 -0.16264786
+v 0.35711924 0.32326470 -0.16205002
+v 0.35711924 0.26519050 -0.28102002
+v 0.39946523 0.26519103 -0.42600877
+v 0.43599011 0.31487246 -0.42600858
+v 0.43599011 0.34469768 -0.17717784
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+v 0.37150221 0.33333412 -0.16225793
+v 0.35711924 0.33333411 -0.16046441
+v 0.35711924 0.31230888 -0.42600859
+v 0.36967249 0.26519103 -0.42600877
+v 0.43599011 0.35866261 -0.42600842
+v 0.43599011 0.34827187 -0.17717783
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+v 0.35711924 0.39033686 -0.26318839
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_42.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..292710e40d59bb659c045ce5b3b916c753865d21
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_42.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.32483323 0.31071292 0.44130337
+v -0.28512155 0.31062570 0.24172543
+v -0.26409021 0.27824902 0.24392286
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+v -0.24803421 0.27824836 0.42495474
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_43.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..591b4d62243e491ebe84affec1c2a139edb5c364
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_43.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.43172198 -0.36876438 0.08827732
+v 0.43172198 -0.36760380 -0.04572792
+v 0.43172198 -0.32650003 0.08827747
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_44.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..826fd0b7960e53b65e9f5c54cafd93143fed08ae
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_44.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.44609620 -0.30623955 -0.26696522
+v 0.44609620 -0.30623954 -0.26969429
+v 0.44609620 -0.26814450 -0.26696508
+v 0.32451691 -0.30623955 -0.26696522
+v 0.41235349 -0.30623946 -0.29264801
+v 0.39849405 0.06900516 -0.30876336
+v 0.39862603 0.12533660 -0.30876315
+v 0.39871005 0.22496547 -0.30876278
+v 0.39871005 0.26513032 -0.30876264
+v 0.42850490 0.26513017 -0.26785919
+v 0.42460504 0.04439147 -0.26696394
+v 0.32451691 -0.30623949 -0.28430123
+v 0.32451691 0.06900501 -0.26696385
+v 0.32350894 0.06900501 -0.26785991
+v 0.36723525 -0.30623946 -0.29264801
+v 0.37165108 0.06900516 -0.30876336
+v 0.37076311 0.26513032 -0.30876264
+v 0.32350894 0.26513017 -0.26785919
+v 0.42140115 0.06900501 -0.26696385
+v 0.42246912 0.06240411 -0.26696387
+v 0.32350894 0.06900505 -0.27716003
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+v 0.37083509 0.21629479 -0.30876282
+v 0.37127908 0.09859735 -0.30876325
+v 0.37145907 0.08052877 -0.30876331
+v 0.37160308 0.07180215 -0.30876335
+v 0.32350894 0.26104660 -0.27655787
+v 0.32350894 0.26513021 -0.27643921
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_45.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8666fc71c243df294002bd29d71bf5ceb4d0ab39
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_45.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.40951710 0.39528910 -0.55297635
+v 0.42765215 0.39528910 -0.55292661
+v 0.40951710 0.38750718 -0.55292664
+v 0.40170413 0.39528910 -0.55169625
+v 0.43599011 0.39528910 -0.55250410
+v 0.42765215 0.38750718 -0.55287697
+v 0.39067178 0.39528909 -0.54921058
+v 0.42592281 0.36796956 -0.54743339
+v 0.41130822 0.36863187 -0.54745826
+v 0.39519590 0.37412122 -0.54684927
+v 0.39006187 0.38655192 -0.54847730
+v 0.43599011 0.39528895 -0.51113008
+v 0.43599011 0.38750718 -0.55245439
+v 0.38090557 0.39192666 -0.54549449
+v 0.38090557 0.39528907 -0.54548204
+v 0.41872747 0.36041689 -0.54384166
+v 0.41854988 0.36041689 -0.54384166
+v 0.43599011 0.37036401 -0.54747068
+v 0.43599011 0.26519964 -0.48760370
+v 0.40951710 0.26519963 -0.48417346
+v 0.35711924 0.32348131 -0.50829667
+v 0.39164455 0.39528893 -0.50578591
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+v 0.35711924 0.31231126 -0.44118362
+v 0.35711924 0.31232403 -0.44424098
+v 0.35711924 0.31292268 -0.45932901
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_46.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b181d9afe5e47c6ca0984498cc5ff4250e27ee4
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_46.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.29583966 -0.35284868 -0.52595167
+v -0.29583966 -0.35734828 -0.52595168
+v -0.29583966 -0.28333983 -0.52593075
+v -0.29353165 -0.28333982 -0.52749931
+v -0.29357781 -0.35734827 -0.52745829
+v -0.15240508 -0.38940971 -0.38994250
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+v -0.29583966 -0.35734888 -0.36249286
+v -0.29583966 -0.28334030 -0.39807375
+v -0.28006832 -0.28333982 -0.52749931
+v -0.27926822 -0.35284867 -0.52826319
+v -0.27926822 -0.35734827 -0.52830448
+v -0.13864939 -0.38997346 -0.38994250
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+v -0.15240508 -0.38936809 -0.35370085
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+v -0.22489170 -0.31357454 -0.31745896
+v -0.13864939 -0.31368940 -0.31745896
+v -0.29248537 -0.28334026 -0.40806292
+v -0.27100556 -0.28333983 -0.52506393
+v -0.13864939 -0.32219721 -0.51008035
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+v -0.16646850 -0.38436748 -0.31745922
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_47.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f8a5f119391de774686b7cbb030bf6f4d287b49
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_47.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.38994010 0.48488288 0.10051072
+v 0.40805555 0.48470748 0.10051072
+v 0.37329554 0.48485657 0.10051072
+v 0.37329554 0.47866504 0.11714925
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+v 0.33702591 0.48425145 0.10051072
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+v 0.33702591 0.47801607 0.11714925
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+v 0.31891046 0.47744605 0.11714924
+v 0.33702591 0.45973977 0.13262189
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_48.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b4bc136ea86c1e8f3e1b93ea966bd9447ef36f4
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_48.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_49.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9f0cf9310cc6a6defa06c55e9a41f3a233bde75
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_49.obj
@@ -0,0 +1,748 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_5.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ee16bd776e4f824fa27957071fefc3f5bddb6c
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_5.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_50.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b167b2b3cee3badfeea73b9fcf3ca1587fd43b4
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_50.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_51.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3738fa545688fbeeb4dfc927fe97e27f858d29c7
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_51.obj
@@ -0,0 +1,208 @@
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_52.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56e453be869f16ff85fb8b84d95dee9f0344cb1b
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_52.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.17841438 0.27916021 -0.21657207
+v -0.17648094 0.31017168 -0.21708193
+v -0.18554232 0.31017168 -0.21670161
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_53.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0b876e41314ab33cc794631bbb9cee3b069705b
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_53.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.37345627 -0.45453013 -0.15502870
+v 0.45519313 -0.40063145 -0.15502850
+v 0.37345627 -0.48880261 -0.15502883
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+v 0.37346859 -0.40063243 0.11061789
+v 0.49894637 -0.40063145 -0.15502850
+v 0.38416958 -0.48837971 -0.15502882
+v 0.37345627 -0.48880261 -0.15426648
+v 0.37345627 -0.44900716 0.02655500
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+v 0.37345627 -0.44845493 0.06276618
+v 0.49940252 -0.40704405 -0.15502853
+v 0.49157403 -0.40063242 0.10897593
+v 0.49158634 -0.40064970 0.10897593
+v 0.40955363 -0.48735266 -0.15502882
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+v 0.37345627 -0.44845493 0.06288346
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_54.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dafbd5a32ccb7b50abbb3a9676f9ae2d798dfbd
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_54.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.22967316 -0.25981142 0.20864491
+v -0.22967316 -0.25981185 0.32607403
+v -0.24757870 -0.25981145 0.21885213
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_55.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad11419df2d3abed64068d0c8456913672837cb6
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_55.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.49205471 0.40557809 0.09903875
+v 0.49125197 0.40557812 0.08940041
+v 0.49127239 0.41598842 0.08934470
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+v 0.47183675 0.46674977 0.04356695
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_56.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0363ab1fcc289e5696fbd3d9cc46d1a7c5ed89ea
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_56.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_57.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1a90eb4fd6085c69bef35833c9cab9bb25045b9
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_57.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_58.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4965235c4a0304aa418a6b22d307cb410229e43c
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_58.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_59.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a853f7746fa751122f991c84e1afedd88206381
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_59.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_6.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7697331f878dfdbfd503ce32da20497b0a5600ff
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_6.obj
@@ -0,0 +1,2602 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_60.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..299adb668923e2b33fd5ffacc8b1885e826c7d3e
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_60.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_61.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5460d5e8a3c0fb81020325d4e14866e39421a76c
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_61.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_62.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e92b0c6583564d58328ce7faadea1e6711d50f4
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_62.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_63.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..353e1cfd2ef56ccdbcd0997bca10730382ecfbfc
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_63.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_64.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..796a08d688064defa86fa9cb969ca181a90d7b0d
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_64.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.42739655 0.36716023 -0.01609420
+v 0.42739655 0.32521219 -0.01609436
+v 0.42739655 0.36702052 -0.02773136
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_65.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4c0c6236d1cd5f4821d39ce82f1036cd82b0e1e
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_65.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_66.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80eafc015562de763b85c2620e4d9e53537113e0
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_66.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_67.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d66f5ca6152fd6b7717a5cc829add863118f1711
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_67.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_68.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a626e2d9e9fa0d6ef353705b131ec8f381ef21a5
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_68.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_69.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcf44a4cf46acf055aa4079e293fba0e298c90f3
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_69.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_7.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b8136d9c6e20cbe8741264229145d728cfc44e9
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_7.obj
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_70.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31309f3c5cd67a7360547832f5e2fb9247c8fbf4
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_70.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.13864939 -0.31069039 -0.02020518
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_71.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18272c98db5ef63bc1998187e366d27b82adc4c8
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_71.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.13864939 0.27983639 0.10114839
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_72.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a31c74f2b189a214734ffc23e6c9ec9e43068ac
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_72.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.40039346 0.26518687 -0.48138898
+v 0.39140337 0.26518686 -0.47851609
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_73.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65aef6c96d3051dc24117076a4ea794868c0b524
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_73.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_74.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1df2190f26de8e8914f3e3a968a19ad853a7209e
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_74.obj
@@ -0,0 +1,655 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_75.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9847e47058824252dbd5f42e7e80618413892da6
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_75.obj
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_76.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..158a3a20ba4fbef0c7c00a49db42b7d69c3dd975
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_76.obj
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_77.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4246247c28f94a2da2eed2d35484cbee917f8e0
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_77.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_78.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8380f32196a1354af388a6ee4f4cf2cc13b59d0a
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_78.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_79.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f94725c3f29186b86a921d2ff75f6c58ec04975
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_79.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_8.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ad918f950c8489addb7f3c5a166a1c3ecd426e6
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_8.obj
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_80.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3864443b05d131c907cf09011cd7bba267ad576
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_80.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.47535874 0.26519115 -0.04473617
+v 0.48229329 0.26519117 -0.04790275
+v 0.48111117 0.32545514 -0.05864041
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_81.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a22ae3a6a6c3e4c8e0f5a6205ebc54089e2b8913
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_81.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.22968342 -0.43211243 0.08374121
+v -0.24302549 -0.43211242 0.08067844
+v -0.22968342 -0.43211232 0.05377454
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+v -0.32335512 -0.43211232 0.05360697
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_82.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63c857e30c2fc97b793dcc282e13c8961a3e057c
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_82.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_83.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fa37a56b839332b25124ce6f7ce1af43911ee4f
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_83.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_84.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d621a753ccbf49d50d5be553862e4bff0676f425
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_84.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_85.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b071f07f450dd915f0acc3a72e40ceda858194
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_85.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_86.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecc10a64fb1c178d4d8fd7b3d2156ecf77f47077
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_86.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_87.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fac9a98498271df607149d5493aa1fff30fd615
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_87.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_88.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bbc905017c20e5b1ce4ecaaf9bac29bcddcf2ba
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_88.obj
@@ -0,0 +1,136 @@
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_89.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79624bea316777c73b2fa94af151f4c7670091ff
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_89.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_9.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9015f83aad91b8ea299c2dbce91d5e6a6551f445
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_9.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_90.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b5693305a2c0c41923a4dbb69aadad9dd4d436c
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_90.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_91.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8117611f2e44ff8742b3b0781ee01998c56ce0d
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_91.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_92.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57e98fa2eb82dddfd14f88408355637c44bab596
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_92.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.39207656 0.29577732 -0.06912167
+v -0.38303622 0.33247224 -0.06912154
+v -0.42262059 0.29577732 -0.06912167
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+v -0.31061485 0.29579240 -0.49977814
+v -0.38066644 0.35245821 -0.06912147
+v -0.31061485 0.33833917 -0.22913395
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_93.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06c64814c8f8bde12026aaab5cfa731440c554b2
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_93.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.46028862 0.06900566 -0.44247182
+v 0.40698580 -0.30623896 -0.42613595
+v 0.43905806 -0.23312547 -0.44983243
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+v 0.43905806 -0.30623885 -0.45751584
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_94.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75a67977e134b416572ab02941b59b8c2ddf2dd5
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_94.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_95.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a944c96438104b0a0f2b19c7f2e508faf212be26
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_95.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.25984515 0.27824567 0.28757341
+v -0.26991823 0.27824543 0.35367027
+v -0.22967316 0.27824567 0.28757341
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_96.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..384a368060a86089c79057e9207b6bb11be4dc1f
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_96.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_97.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..094ef9f3166440ac9ffecc5309869c003363f2bd
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_97.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.13864939 0.33334280 -0.04599345
+v -0.13864939 0.32159188 -0.04115277
+v -0.13864939 0.33502149 -0.04590380
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+
diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_98.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..527ffccbf8fa2a9d6e271bb1e3de2da767f23c38
--- /dev/null
+++ b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_98.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.13864939 -0.19836250 0.11891220
+v -0.13864939 -0.19836273 0.18376010
+v -0.22966426 -0.19836283 0.20951969
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diff --git a/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_99.obj b/dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mjcf/mesh/lounge_chair_25_collision_99.obj
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