diff --git a/.gitattributes b/.gitattributes
index 9ca9536e1451d148e5ebf968a0eb949245115959..618dd2c404d1e196b80c3d57f6f78f47924b9ecd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3744,6 +3744,6 @@ dataset/furniture/chair/78b42bb137d45170aa4187f9f1c02394/mesh/dining_chair_6_gs.
 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/8ef7dc83766750919e80a41fbc812966/8ef7dc83766750919e80a41fbc812966.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/8ef7dc83766750919e80a41fbc812966/mesh/dining_chair_0.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/8ef7dc83766750919e80a41fbc812966/mesh/dining_chair_0_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
diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/83d7618902f8503ca48746637668f8d1.urdf b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/83d7618902f8503ca48746637668f8d1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..87523a876bf70ac1a22740114244a333be5760f5
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/83d7618902f8503ca48746637668f8d1.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="office_chair_12">
+   <link name="office_chair_12">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/office_chair_12.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_12_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="15.0000" />
+         <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>office_chair</category>
+         <description>ergonomic office chair with padded seat, backrest, armrests, and wheeled base</description>
+         <min_height>1.0</min_height>
+         <max_height>1.2</max_height>
+         <real_height>1.1</real_height>
+         <min_mass>12.0</min_mass>
+         <max_mass>18.0</max_mass>
+         <generate_time>20251021113035</generate_time>
+         <gs_model>mesh/office_chair_12_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.946036458015442</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="None" 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/83d7618902f8503ca48746637668f8d1/83d7618902f8503ca48746637668f8d1.usd b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/83d7618902f8503ca48746637668f8d1.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5c7a77ff2b2b603aa1b78582e7d0317abde63e20
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/83d7618902f8503ca48746637668f8d1.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d955fea12b2553f3ae163c6ca23caafec5540c4471a9b4808b04397e9a791cf
+size 911370
diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/material.mtl b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/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/83d7618902f8503ca48746637668f8d1/mesh/material_0.png b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8aab3507aa80fc6f7a15d03b5591c484f39a5cdf
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f73772525909bc1c382eaa27742fd0f3005c6f977683bfab06a80533dbd584fe
+size 1826896
diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/office_chair_12.glb b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/office_chair_12.glb
new file mode 100644
index 0000000000000000000000000000000000000000..16bfe749c6b29355cba21fc42d006a37a24d9f9f
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/office_chair_12.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08e63d4cc51238a08d3d00a6cfc68d5067c491ae60607942f873b243864b3dfb
+size 2466908
diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/office_chair_12.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/office_chair_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dbaef0f121002aaee4b04281dab088ad5878046
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/office_chair_12.obj
@@ -0,0 +1,58822 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/office_chair_12_collision.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/office_chair_12_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f77ae17716ba1fbbc3a2386a189dff5b743a5a1
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/office_chair_12_collision.obj
@@ -0,0 +1,14658 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/office_chair_12_gs.ply b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/office_chair_12_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..56214296f0aea1a80049d03ff27575fac192c33f
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mesh/office_chair_12_gs.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/83d7618902f8503ca48746637668f8d1.xml b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/83d7618902f8503ca48746637668f8d1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1cfc9244e875bdfd573232f8ba14ff1e0158319e
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/83d7618902f8503ca48746637668f8d1.xml
@@ -0,0 +1,94 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="office_chair_12">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
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+    <mesh name="collision_mesh_0_39" file="mesh/office_chair_12_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="office_chair_12">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/material_0.png b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8aab3507aa80fc6f7a15d03b5591c484f39a5cdf
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f73772525909bc1c382eaa27742fd0f3005c6f977683bfab06a80533dbd584fe
+size 1826896
diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f503adc22f453cfa917ad15690c64cf44738073
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12.obj
@@ -0,0 +1,58822 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5425fdd71cf9c892a04f46a715ebd377d3dcdd4
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision.obj
@@ -0,0 +1,14658 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_0.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a882363c13dfb109a878e6bb2c676517739d188d
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_0.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_1.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c24dc32cade454c19c9b6ba61f7aa260231ca276
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_1.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_10.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da4a1afd31ab8ec0093c879408d745012e68563b
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_10.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_11.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1f3ea5c61d4a5390db2b97520040b197bd6f172
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_11.obj
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_12.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd00c29be648291b0f66e5d597f273b44ffe0e90
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_12.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_13.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b506ead56d1071c485a10592b05083cf35b59db9
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_13.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_14.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44d675dadb490eb29b8d954c9ecb3a4420072535
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_14.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_15.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..253f93bd7108a9b840bc90b8ed318b18d6d0aa48
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_15.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_16.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d63d36c70a12840140f6ef9489fc70483ca77cda
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_16.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_17.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3cf674fb437eaf2c80a700deaea3848bd5de5a8
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_17.obj
@@ -0,0 +1,751 @@
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_18.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40fc49fd3676aee522fef84ac27f63fd485752bb
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_18.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_19.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a04d3f9fd2d7d94ebeea1f9ec7d897f2ac9e3231
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_19.obj
@@ -0,0 +1,724 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_2.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c01ae54b36f7fbdb116e092bd13f27ef37c4469
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_2.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_20.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6694ff7de02656f9b4501a5bc748104e5c747126
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_20.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_21.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe9ae5557c0761ed43c372f91dd42b699987476f
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_21.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.07939034 -0.26724952 -0.11774453
+v -0.08367862 -0.26691316 -0.11774453
+v -0.08367862 -0.26461464 -0.13584447
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+
diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_22.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a60d08c760de7af1ebdf2a2d17636e75529777be
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_22.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.07931558 0.03551573 -0.22705382
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_23.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1a9d35dc4c8856d819981630ff5d7dac9d312ff
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_23.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_24.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b45145f8bc8bb3f27bfc362b371b84803a00dac2
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_24.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_25.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..283983691fb5dd910364320d454055df3b3f32d6
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_25.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_26.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26801a970e8d585fa555d3439b328f8bee9e0b98
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_26.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_27.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..802988030bd8942e69e6268873e9521c41bcc0f0
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_27.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_28.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..306b2f1daf3ad1e2f98421f69faa3362b2e16660
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_28.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_29.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be11c241ac355a7dd8f2cc2c22828b584955f526
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_29.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_3.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..730d01c928ec861032c2eab2aee4d80adfac590b
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_3.obj
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_30.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8faf40ac5c95f086045a7cab42377d316987106
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_30.obj
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_31.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab1a4a3b6141a93e8208dffbfb1b0fe15985eaa4
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_31.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_32.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef0714ec02c7145f9d94c45ab64f7448e24d6440
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_32.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v -0.09961540 0.19082257 -0.02452775
+v -0.09961540 0.21276046 -0.03886515
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+v -0.09861540 0.21276046 -0.03886515
+v -0.09861540 0.21276046 -0.02452775
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+
diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_33.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fb8250b89bbdcc51450ffcc344d0cddedda8257
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_33.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00230318 -0.14467583 -0.20065238
+v 0.00213525 -0.13810286 -0.20065236
+v 0.00197532 -0.16269603 -0.20065245
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+v -0.03272920 -0.13810286 -0.20065236
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_34.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d866a1ba80dc66b536c28e1943559c6daefeda79
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_34.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_35.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a3e604b86cf15013d23bfe7c5d705d1e39936a0
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_35.obj
@@ -0,0 +1,382 @@
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+f 120 123 122
+f 120 122 121
+f 120 121 127
+f 121 128 127
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+
diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_36.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1832a30905c905f7805fb7a2cc41a730d2ebd72
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_36.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.02403861 -0.24409002 -0.16937305
+v 0.13994158 -0.24409002 -0.16946481
+v 0.02403861 -0.24438852 -0.16920485
+v 0.02403861 -0.24409045 -0.05189736
+v 0.13994158 -0.24823584 -0.16610051
+v 0.13994158 -0.24409046 -0.05000111
+v 0.02403861 -0.25182258 -0.16313380
+v 0.02403861 -0.24533182 -0.05235613
+v 0.05959021 -0.27896757 -0.01323847
+v 0.06318735 -0.26415160 -0.01323842
+v 0.07780288 -0.25775520 -0.01323840
+v 0.05978311 -0.24409047 -0.04633095
+v 0.13994158 -0.25182258 -0.16313380
+v 0.11368355 -0.24409048 -0.04325720
+v 0.11368355 -0.25643802 -0.01323839
+v 0.12760689 -0.26335086 -0.01323842
+v 0.13065936 -0.27896757 -0.01323847
+v 0.13994158 -0.24427998 -0.05004699
+v 0.05986254 -0.29047119 -0.12975079
+v 0.04908245 -0.28929142 -0.12831330
+v 0.02403861 -0.25486444 -0.15703218
+v 0.02403861 -0.25113121 -0.05454296
+v 0.06369798 -0.28741557 -0.01323851
+v 0.09573187 -0.25659912 -0.01323839
+v 0.07780288 -0.24409048 -0.04357833
+v 0.13994158 -0.25335298 -0.16002948
+v 0.08709645 -0.28834855 -0.12708992
+v 0.07780288 -0.28976524 -0.12883324
+v 0.11150484 -0.24409048 -0.04318073
+v 0.09573187 -0.24409048 -0.04276784
+v 0.12988773 -0.28149770 -0.01323848
+v 0.13994158 -0.26647775 -0.08147281
+v 0.13994158 -0.25975924 -0.06107281
+v 0.13994158 -0.25280376 -0.05526171
+v 0.07780288 -0.29183106 -0.11771573
+v 0.05986254 -0.29210590 -0.11771573
+v 0.04733495 -0.28978423 -0.11771572
+v 0.02403861 -0.27649399 -0.09957898
+v 0.02403861 -0.27349946 -0.11369378
+v 0.02403861 -0.27348052 -0.11377024
+v 0.02403861 -0.26447808 -0.13585234
+v 0.02403861 -0.25553252 -0.15567116
+v 0.02403861 -0.25530983 -0.15612993
+v 0.02403861 -0.25787347 -0.06195977
+v 0.06522990 -0.29007361 -0.01323852
+v 0.13994158 -0.25587840 -0.15489126
+v 0.08941133 -0.28951416 -0.11771572
+v 0.13994158 -0.26354942 -0.13585234
+v 0.12570051 -0.29012575 -0.01323852
+v 0.13994158 -0.26864298 -0.09957895
+v 0.13994158 -0.26769067 -0.09118344
+v 0.09585669 -0.29007330 -0.09843210
+v 0.09573187 -0.29144743 -0.08147290
+v 0.09573187 -0.29226719 -0.06333620
+v 0.07780288 -0.29207751 -0.09957903
+v 0.04673353 -0.28990272 -0.09957902
+v 0.10940556 -0.29249004 -0.01323852
+v 0.05986254 -0.29214392 -0.08147290
+v 0.04750516 -0.29019184 -0.08147290
+v 0.03775769 -0.28492775 -0.09957901
+v 0.04894628 -0.28964227 -0.06333619
+v 0.05020585 -0.28871839 -0.05151522
+v 0.02403861 -0.27288363 -0.08558647
+v 0.02403861 -0.26831140 -0.07656399
+v 0.07452346 -0.29169406 -0.01323852
+v 0.05986254 -0.29173651 -0.06333620
+v 0.13994158 -0.26541626 -0.12744155
+v 0.13994158 -0.26755316 -0.11771564
+v 0.10509353 -0.28839131 -0.09161171
+v 0.10653465 -0.28937688 -0.08147289
+v 0.12312464 -0.29065166 -0.01323852
+v 0.11368355 -0.29178877 -0.02706279
+v 0.12448633 -0.28958083 -0.02706278
+v 0.10896301 -0.29019191 -0.06333620
+v 0.11368355 -0.29235739 -0.01323852
+v 0.09146523 -0.29236687 -0.01323852
+v 0.07780288 -0.29224835 -0.02706279
+v 0.07780288 -0.29219630 -0.01323852
+v 0.12326081 -0.28864736 -0.03833322
+f 1 2 3
+f 1 3 7
+f 1 7 21
+f 1 21 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 63
+f 1 63 64
+f 1 64 44
+f 1 44 22
+f 1 22 8
+f 1 8 4
+f 1 4 12
+f 1 12 25
+f 1 25 30
+f 1 30 29
+f 1 29 14
+f 1 14 6
+f 1 6 2
+f 2 5 3
+f 2 6 18
+f 2 18 34
+f 2 34 33
+f 2 33 32
+f 2 32 51
+f 2 51 50
+f 2 50 68
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+f 2 26 13
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+f 3 5 7
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+f 5 13 7
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+f 8 22 9
+f 9 23 45
+f 9 45 65
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+f 9 71 49
+f 9 49 31
+f 9 31 17
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+f 11 24 25
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+f 13 27 28
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+f 27 35 28
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+f 31 50 51
+f 31 51 32
+f 35 47 52
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 36 56 37
+f 36 55 54
+f 36 54 57
+f 36 57 58
+f 36 58 59
+f 36 59 56
+f 37 56 60
+f 37 60 38
+f 38 60 59
+f 38 59 61
+f 38 61 62
+f 38 62 63
+f 44 64 45
+f 45 64 63
+f 45 63 62
+f 45 62 61
+f 45 61 66
+f 45 66 65
+f 47 48 67
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+f 47 68 69
+f 47 69 70
+f 47 70 52
+f 49 71 72
+f 49 72 73
+f 49 73 68
+f 49 68 50
+f 52 70 53
+f 53 70 74
+f 53 74 72
+f 53 72 54
+f 54 72 75
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+f 58 77 78
+f 58 78 66
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+f 68 79 69
+f 69 79 70
+f 70 79 73
+f 70 73 74
+f 71 75 72
+f 72 74 73
+f 76 78 77
+
diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_37.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..278a8c8d3aef837cb2d93fd1c7a9c90b128ff91f
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_37.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.26494102 0.01130664 -0.03886703
+v 0.26431992 0.02942413 -0.03886696
+v 0.25721686 0.02942413 -0.03782819
+v 0.25721686 0.01130664 -0.03774266
+v 0.26460788 -0.00682930 -0.03886710
+v 0.26390774 0.03619512 -0.03886694
+v 0.26286316 0.05327944 -0.03886687
+v 0.25721686 0.04757852 -0.03799200
+v 0.23927854 0.02942413 -0.03710571
+v 0.23927854 0.01130664 -0.03704163
+v 0.23927854 -0.00682930 -0.03708316
+v 0.25721686 -0.00682930 -0.03779902
+v 0.26357460 -0.02498369 -0.03886716
+v 0.26169438 0.07023460 -0.03886681
+v 0.25721686 0.06571445 -0.03818117
+v 0.23927854 0.04757852 -0.03729900
+v 0.22134021 0.02942413 -0.03767951
+v 0.22134021 0.01130664 -0.03756325
+v 0.22134021 -0.00682930 -0.03756225
+v 0.23927854 -0.02498369 -0.03722189
+v 0.25721686 -0.02498369 -0.03795455
+v 0.26266555 -0.03762165 -0.03886721
+v 0.26022635 0.08689458 -0.03886675
+v 0.25721686 0.08385039 -0.03840679
+v 0.22134021 0.04757852 -0.03794286
+v 0.25721686 0.10200478 -0.03868193
+v 0.23927854 0.06571445 -0.03758289
+v 0.21004758 0.03615823 -0.03886694
+v 0.20903689 0.02942413 -0.03886696
+v 0.20755192 0.01551314 -0.03886701
+v 0.20725831 0.01130664 -0.03886703
+v 0.20731478 -0.00682930 -0.03886710
+v 0.22134021 -0.02498369 -0.03771170
+v 0.23927854 -0.04311963 -0.03742639
+v 0.25721686 -0.04311963 -0.03814243
+v 0.26222513 -0.04311963 -0.03886723
+v 0.25856068 0.10200478 -0.03886670
+v 0.21223270 0.04757852 -0.03886690
+v 0.23927854 0.08385039 -0.03795862
+v 0.22134021 0.06571445 -0.03837291
+v 0.25827837 0.10307485 -0.03886669
+v 0.25721686 0.10700462 -0.03886668
+v 0.24749392 0.11030710 -0.03886666
+v 0.23927854 0.10200478 -0.03845748
+v 0.20931922 -0.02498369 -0.03886716
+v 0.22134021 -0.04311963 -0.03797303
+v 0.23927854 -0.06125556 -0.03768200
+v 0.25721686 -0.06125556 -0.03837803
+v 0.26093214 -0.05751030 -0.03886728
+v 0.21497118 0.05927555 -0.03886685
+v 0.22590807 0.08848124 -0.03886674
+v 0.22134021 0.07984683 -0.03886678
+v 0.23927854 0.11213360 -0.03886666
+v 0.21239081 -0.04311963 -0.03886723
+v 0.22134021 -0.06125556 -0.03834247
+v 0.23927854 -0.07634732 -0.03798137
+v 0.25721686 -0.07634732 -0.03859913
+v 0.26056513 -0.06125556 -0.03886730
+v 0.21655779 -0.06125556 -0.03886730
+v 0.22134021 -0.07634732 -0.03883680
+v 0.25905190 -0.07634732 -0.03886735
+v 0.22112000 -0.07634732 -0.03886735
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 22
+f 1 22 36
+f 1 36 49
+f 1 49 58
+f 1 58 61
+f 1 61 62
+f 1 62 59
+f 1 59 54
+f 1 54 45
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+f 1 32 31
+f 1 31 30
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+f 34 48 35
+f 35 48 36
+f 36 48 49
+f 38 40 50
+f 39 44 40
+f 40 44 51
+f 40 51 52
+f 40 52 50
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+f 44 53 51
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+f 47 57 48
+f 48 58 49
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+f 55 60 56
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+
diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_38.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7311dcd87998be10a134a3251295df63bb1b76be
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_38.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.07938840 -0.07634669 -0.20949610
+v -0.07938840 -0.08298919 -0.20065142
+v -0.07938840 -0.07634672 -0.20065140
+v -0.02501824 -0.07634666 -0.21905440
+v -0.02390472 -0.13809314 -0.21958471
+v -0.02930023 -0.13809318 -0.20840650
+v -0.03272178 -0.13809321 -0.20065163
+v 0.02396653 -0.07634672 -0.20065140
+v -0.01483459 -0.07634666 -0.21909331
+v -0.01415636 -0.13809314 -0.21958471
+v 0.00213141 -0.13809321 -0.20065163
+v 0.02396653 -0.07988252 -0.20065141
+v 0.02402726 -0.07637089 -0.20455849
+v 0.02396653 -0.07634671 -0.20458630
+v -0.00624024 -0.07634667 -0.21612778
+v 0.02048424 -0.07634670 -0.20595043
+v -0.00729302 -0.13809316 -0.21579253
+v -0.00518746 -0.13809316 -0.21462485
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 16
+f 1 16 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 11
+f 2 11 12
+f 2 12 8
+f 2 8 3
+f 4 9 5
+f 5 9 10
+f 5 10 17
+f 5 17 18
+f 5 18 11
+f 5 11 7
+f 5 7 6
+f 8 12 13
+f 8 13 14
+f 9 15 10
+f 10 15 16
+f 10 16 14
+f 10 14 13
+f 10 13 17
+f 11 18 13
+f 11 13 12
+f 13 18 17
+
diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_39.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b506a2ec02ae98900906a0f6418b18d1d183634
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_39.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.02403861 -0.07637505 -0.20455029
+v 0.02562725 -0.07634671 -0.20453589
+v 0.09573187 -0.07634671 -0.20541417
+v 0.02403861 -0.12458323 -0.18525680
+v 0.02403861 -0.07634716 -0.08240992
+v 0.11169775 -0.07634672 -0.20110910
+v 0.13994158 -0.12458325 -0.17929593
+v 0.09573187 -0.12458323 -0.18426333
+v 0.02403861 -0.12458367 -0.06572252
+v 0.02403861 -0.07634719 -0.07395814
+v 0.12928631 -0.07634676 -0.18970567
+v 0.13994158 -0.10610088 -0.18000136
+v 0.13994158 -0.12458366 -0.06900532
+v 0.03484139 -0.12458367 -0.06588090
+v 0.13994158 -0.07634725 -0.05832164
+v 0.13994158 -0.07634680 -0.18092275
+v 0.13994158 -0.07940201 -0.18086517
+v 0.13994158 -0.07985106 -0.05898397
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 16
+f 2 16 11
+f 2 11 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 7
+f 4 7 13
+f 4 13 14
+f 4 14 9
+f 6 11 7
+f 7 11 12
+f 7 12 17
+f 7 17 16
+f 7 16 15
+f 7 15 18
+f 7 18 13
+f 9 14 15
+f 9 15 10
+f 11 16 17
+f 11 17 12
+f 13 18 14
+f 14 18 15
+
diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_4.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a1e5d3796af55fb3760f1ac657ef915d0ab7298
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_4.obj
@@ -0,0 +1,2314 @@
+# https://github.com/mikedh/trimesh
+v -0.26310689 0.26474625 0.29933107
+v -0.28102627 0.26479805 0.31754637
+v -0.26304403 0.26474625 0.29933107
+v -0.28102627 0.26469439 0.29933107
+v -0.29897709 0.26230852 0.31754636
+v -0.29897709 0.26256744 0.42631625
+v -0.29897709 0.26256738 0.44445700
+v -0.29897709 0.26246359 0.46259774
+v -0.28102627 0.26401967 0.42631626
+v -0.28102627 0.26370834 0.46259775
+v -0.26310689 0.26339729 0.42631626
+v -0.24517180 0.26111569 0.29940561
+v -0.24517180 0.26111569 0.29933106
+v -0.29891421 0.26163434 0.29933106
+v -0.30943006 0.25753700 0.29933105
+v -0.31004307 0.25795185 0.31754635
+v -0.31037317 0.25810739 0.33566222
+v -0.31152065 0.25867756 0.42631624
+v -0.31177215 0.25872937 0.44445699
+v -0.31192932 0.25872930 0.46259773
+v -0.31191360 0.25857363 0.48073844
+v -0.29897709 0.26210047 0.48073845
+v -0.28102627 0.26324150 0.48073846
+v -0.26310689 0.26251539 0.48073845
+v -0.26310689 0.26293037 0.46259775
+v -0.26310689 0.26318976 0.44445701
+v -0.24723096 0.25914422 0.46259773
+v -0.24677511 0.25929988 0.44445699
+v -0.24635072 0.25945554 0.42631624
+v -0.23486031 0.25701835 0.29933104
+v -0.31576471 0.24711210 0.29933101
+v -0.31578043 0.24711210 0.29940556
+v -0.31725798 0.24711203 0.31754631
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_5.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee15c02156b0bcb1853340f2eee33a9d99e0ed1c
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_5.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_6.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c140593ecb4fd7b5d080bc5757de9f716c95144
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_6.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_7.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e263d344ca7d9a7499cc45a613c379b9ceb81407
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_7.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_8.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d6b67318477305785f2f6123a30bd22f38143e
--- /dev/null
+++ b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_8.obj
@@ -0,0 +1,940 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_9.obj b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/mjcf/mesh/office_chair_12_collision_9.obj
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/textures/material_0.png b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/textures/material_0.png
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diff --git a/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/video.mp4 b/dataset/furniture/chair/83d7618902f8503ca48746637668f8d1/video.mp4
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