diff --git a/.gitattributes b/.gitattributes
index 0fc98ed9543f1e438fe09a1dc2fbccf5984248a9..8bffaaaf4c07789396a64a7e9de9f5fc7e7a4ad4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3762,6 +3762,6 @@ dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mesh/dining_chair_5_gs.
 dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/a0ced45e962556f2a6a28e516df3db06.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/afe23b0ac0725274b6c6cb4884208067.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/aeea9a5e33665bb3b31544206cb2a929.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/computer_chair_44.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/computer_chair_44_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/aeea9a5e33665bb3b31544206cb2a929.urdf b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/aeea9a5e33665bb3b31544206cb2a929.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8ee86c3d7c9106a7b0d1bfc0324225e5c3ff04da
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/aeea9a5e33665bb3b31544206cb2a929.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="computer_chair_44">
+   <link name="computer_chair_44">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/computer_chair_44.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/computer_chair_44_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>1.200000</scale>
+         <version>v0.1.5</version>
+         <category>computer chair</category>
+         <description>ergonomic office chair with armrests, high backrest, and wheeled base</description>
+         <min_height>1.1</min_height>
+         <max_height>1.3</max_height>
+         <real_height>1.2</real_height>
+         <min_mass>12.0</min_mass>
+         <max_mass>18.0</max_mass>
+         <generate_time>20251021130733</generate_time>
+         <gs_model>mesh/computer_chair_44_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.18208122253418</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>12</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/aeea9a5e33665bb3b31544206cb2a929.usd b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/aeea9a5e33665bb3b31544206cb2a929.usd
new file mode 100644
index 0000000000000000000000000000000000000000..217153831b72df629bccffc014abdc42aebb89da
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/aeea9a5e33665bb3b31544206cb2a929.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:139195dbb9d9faa0657519960e52cba90e3aff8d53a05c163203f4eb920bb0d1
+size 854036
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/computer_chair_44.glb b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/computer_chair_44.glb
new file mode 100644
index 0000000000000000000000000000000000000000..48df28cee02e0171b4bf77ba1703f046c238349d
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/computer_chair_44.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51aa773a9faf550a7b7f190657797a2fd027858379e82be3d6b91942688511b6
+size 2431280
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/computer_chair_44.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/computer_chair_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4083be1751eb4c582b815330aa66f3815708b585
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/computer_chair_44.obj
@@ -0,0 +1,55638 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/computer_chair_44_collision.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/computer_chair_44_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72cfdc486cf8ebe72f1a5c5a5573a6ca626a6b09
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/computer_chair_44_collision.obj
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/computer_chair_44_gs.ply b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/computer_chair_44_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..76bdcfe4ef78416073f8d377f123edc4d2c271f6
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/computer_chair_44_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/material.mtl b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/material_0.png b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/aeea9a5e33665bb3b31544206cb2a929.xml b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/aeea9a5e33665bb3b31544206cb2a929.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a714b3ba8d99dd216d6acb537e58bb5ea87dd04e
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/aeea9a5e33665bb3b31544206cb2a929.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_50" file="mesh/computer_chair_44_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/computer_chair_44_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/computer_chair_44_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/computer_chair_44_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_57" file="mesh/computer_chair_44_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/computer_chair_44_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/computer_chair_44_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/computer_chair_44_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/computer_chair_44_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/computer_chair_44_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/computer_chair_44_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/computer_chair_44_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/computer_chair_44_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/computer_chair_44_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
+    <body name="computer_chair_44">
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a63fc9d31faa9e86c9abe67fedb439a35419cf85
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44.obj
@@ -0,0 +1,55638 @@
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f75a8463e7356b9840fd0ebf58e3198e8797a11
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision.obj
@@ -0,0 +1,15453 @@
+# https://github.com/mikedh/trimesh
+
+o computer_chair_44_collision.obj
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_0.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d51eecb2621b87dda4a286308f588198c551e98d
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_0.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_1.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c7888169aba10d069e976ff422393b15ffc84ae
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_1.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_10.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec577d8af2b6a0e5816517e6ad73c8d3f954c466
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_10.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_11.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43029ab388b2ac755b332c32ecab89846949f5a4
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_11.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_12.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3f7b8e9b971530dea04f8e960da230266f85d56
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_12.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_13.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6151e2b1d56a167ff7ae507e09bd766259fb7a35
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_13.obj
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_14.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac25771a67b259b69ea754372a0ccd709f16c31d
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_14.obj
@@ -0,0 +1,625 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_15.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b581c010cee71ff14fc02b9a6c5930e509cfbbcf
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_15.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_16.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdf71a95cc3f58726540f1fb75fe7f0bcfa418ec
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_16.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.09475703 -0.28089283 -0.17337919
+v 0.09475703 -0.31247487 -0.15609878
+v 0.09475703 -0.27860984 -0.17331109
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+v 0.11831651 -0.27861001 -0.12709350
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+v 0.15216294 -0.31716781 -0.03427719
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+v 0.15307632 -0.31324439 -0.03427717
+v 0.09475703 -0.32198159 -0.14466016
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_17.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf07bb153f6be4753e46ca0dd7d70f1f4501d2d5
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_17.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.15743633 0.12663796 0.17249083
+v -0.15743633 0.12956449 0.17800185
+v -0.15268855 0.12663804 0.14883800
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+v -0.12146287 0.17457666 0.13271592
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+v -0.06342449 0.19891080 0.13271601
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_18.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16c5b1e2601852016ea8fc7e1f5fd857671e63d6
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_18.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.00078855 0.23284610 -0.45061513
+v -0.00977643 0.23423978 -0.45402116
+v -0.00994229 0.23284611 -0.45384188
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+v 0.03658011 0.23284614 -0.46411971
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_19.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..862073fa32ffbec6b929e96ef93361742aa91f5c
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_19.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_2.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..381f90ff57ff45f07d729c330f0c684e8c116e74
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_2.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_20.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35cc4fb612bda821f421dc9cf654abc21f2b0882
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_20.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_21.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a74223e5cfdfe6c4356b49b33d2ec19b6824c0f0
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_21.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_22.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b54e54ee27f00e98d98297615d2ecff9ec489566
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_22.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_23.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c679e2434802e0f71f48b04554d0d74d7621b836
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_23.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_24.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5dc6bfa92e2688fd7c9f04e96d5b85e2d4eb3c9
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_24.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_25.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1899dcaf50683d644d1628e2c2b6fc1bdb2dc086
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_25.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_26.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31d297d45e9cea7e174a00ce58b0f04a5a1f62b6
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_26.obj
@@ -0,0 +1,571 @@
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_27.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bae119d9fd4ab29d9c94bee9826e65b1626c385
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_27.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00153786 -0.05270049 -0.38595303
+v -0.01268233 -0.04933742 -0.34652944
+v -0.01314332 -0.04988049 -0.38595302
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_28.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f744dfd3134482f5f2937b1334489fbf7d81fec3
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_28.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.19736409 0.18940284 0.30756206
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_29.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6c50c3c1f482940b181198125c99afeb830aa67
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_29.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.15881441 0.02192265 -0.28716930
+v 0.15356156 0.00221526 -0.30388037
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_3.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57b10480e4a2002782b3926ba6f962097d79843e
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_3.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_30.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a263bbaa0694c32a822848f563b03b866a98be5
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_30.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_31.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1743acb60adb71926e27d08882b217215fe17d21
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_31.obj
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_32.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bbe98f98baa12d2e1ea85e23e9394587967836c
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_32.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+v -0.08261937 -0.07703538 -0.24412227
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_33.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33887501dca2fe06771c60ddbe2f4c1d0fcb2a9d
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_33.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+v -0.13452931 -0.11619827 -0.18609855
+v -0.14276212 -0.16116361 -0.17375119
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+v -0.11020455 -0.16116358 -0.18221972
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_34.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7759763f3f51618106f199b960bc8ad9599b56f
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_34.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+v -0.03791927 0.06686560 -0.21465412
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_35.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..421ce8ca6b3cd8091bdd55fbacf83a8557a6019b
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_35.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.19563509 0.12663652 0.56351400
+v -0.18975482 0.13650047 0.56385678
+v -0.19545709 0.12663655 0.55471040
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_36.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..466f21684d5327cea41e9f7def015e9395fe3d17
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_36.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_37.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3830686839310953eae48981452715a10dcd46c2
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_37.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v -0.18467703 -0.24369580 -0.04044450
+v -0.18641551 -0.23469117 0.01022470
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+v -0.13817271 -0.29156362 -0.04044467
+v -0.13321533 -0.29097895 0.01022449
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_38.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797a366c518a7315e86327447886bc875b003c91
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_38.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.27267869 -0.21453382 0.52427054
+v -0.27013230 -0.21453374 0.50448459
+v -0.26292805 -0.22459367 0.47333115
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+v -0.26365289 -0.20878345 0.44863582
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+v -0.25217526 -0.21453328 0.37886598
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+v -0.24923810 -0.22928436 0.42534071
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+v -0.25296313 -0.19483122 0.54420484
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+v -0.26448488 -0.18365969 0.52427066
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+v -0.20828800 -0.19168423 0.37886607
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_39.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e185e2d32e8021149ea65da12db6563c45b4f43
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_39.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.10284091 0.06686510 -0.07889033
+v 0.05736772 0.06686510 -0.07951063
+v 0.10284091 0.06686552 -0.19250382
+v 0.10284091 0.22328960 -0.07277364
+v 0.04718448 0.06686510 -0.07969671
+v 0.06761986 0.06686554 -0.19950076
+v 0.07517116 0.22329006 -0.19950019
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_4.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df4254832702d8a999c6bc2f2d2a18c7e4e49536
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_4.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v -0.12622541 -0.14484863 -0.46527928
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+v -0.10752730 -0.16826039 -0.43480866
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+v -0.03334899 -0.04084180 -0.49791543
+v -0.02285689 -0.04326307 -0.38596542
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_40.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dcd815db30dfb792fa8fe3374aa528529f6d82c
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_40.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+v -0.12073253 -0.11620932 -0.08112679
+v -0.03791927 -0.11620898 -0.17374840
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_41.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f52488b32cf9bab68ed4fbf48c5c265cfb6d4cd0
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_41.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.14427696 -0.30424557 0.06590594
+v -0.14560702 -0.30347103 0.06499471
+v -0.14427696 -0.30424554 0.05834026
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_42.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6453a81d400cdc7fb424c8953d1ff4dd0cc4d79
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_42.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_43.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d95b4935b3295b110d2b3e55ad6dbe88b8a64cb
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_43.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_44.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..365b23c759823cb98845b068f4a8f94fdc1357c0
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_44.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+v -0.13564559 -0.19227097 0.37886606
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_45.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dd29223260d778f5a3c82c5bc817d3520a9abd3
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_45.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.06048837 -0.27390872 -0.21222251
+v 0.07424146 -0.27364601 -0.20255844
+v 0.07401671 -0.29335112 -0.20175776
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+v 0.09047009 -0.29335120 -0.17991695
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+v 0.06048837 -0.29357002 -0.20937858
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+v 0.06048837 -0.31504136 -0.18802104
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+v 0.07983997 -0.19484072 -0.07348746
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+v 0.09475703 -0.32197479 -0.14465696
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+v 0.06959224 -0.32317163 -0.16270120
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+v 0.09079547 -0.31727500 -0.08144007
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+f 1 51 47
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+f 47 54 48
+f 48 54 52
+f 48 52 53
+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_46.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aed6abfd5743051c78f467e67175249f9f3cdfa7
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_46.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.06914457 -0.21452926 -0.04044440
+v -0.07383576 -0.21452911 -0.08112317
+v -0.07175528 -0.19481462 -0.04044433
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+v -0.10680035 -0.25913262 -0.04044456
+v -0.12073253 -0.25931483 -0.05684748
+f 1 2 3
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_47.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fcfdf7c652984e854dcc576f5ac5cbd96ee03f3
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_47.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.09929783 0.22328993 -0.16249371
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+f 31 34 35
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_48.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32fccd5a8d14a4cf2fe2be088b391e84b51f479c
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_48.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.01902962 -0.30427534 -0.19519794
+v -0.03791927 -0.30377129 -0.19659954
+v 0.01902962 -0.30427532 -0.20125103
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_49.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b96d4e8792ed07151846cbe1e1acb6ae2557fc9d
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_49.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_5.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46e213a8a7701e5665615730db44966d77b743ea
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_5.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_50.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b490381be4b5adcfab8ba06e2f43e4cd6687982
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_50.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_51.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e8c140e5c1cfbfa79baa724616242c0197a1f67
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_51.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_52.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cdc3663f04294e78c2c9ab447a350ec3f99bebf
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_52.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_53.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4de82038a16ef0fcf0c0b922162a9b237edc534f
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_53.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_54.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad8ca1284ad4e9fe7c5e7c4a5a9c624335d50b49
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_54.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.15589498 -0.21327469 0.30575243
+v -0.17206954 -0.20663586 0.28967880
+v -0.15589498 -0.21151303 0.28691103
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+v -0.15589498 -0.20986220 0.34615140
+v -0.16726791 -0.20654634 0.36593835
+v -0.17206954 -0.20198694 0.36593837
+v -0.19402596 -0.17448521 0.29086511
+v -0.17206954 -0.19478818 0.24893604
+v -0.19292857 -0.17448548 0.36593847
+v -0.20014185 -0.14270785 0.36581823
+v -0.20018956 -0.14270781 0.35342351
+v -0.20020691 -0.14270778 0.34620325
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+v -0.17206954 -0.20049479 0.37035645
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+v -0.17206954 -0.14270726 0.20325961
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+v -0.17206954 -0.14271480 0.37884906
+v -0.15589498 -0.14271480 0.37884906
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+f 41 45 44
+f 41 44 42
+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_55.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d53c283455bad0e413fe0f29043e7226cd887f6c
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_55.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.10274683 0.06686565 -0.22779017
+v 0.09751454 0.06686558 -0.21082807
+v 0.09886391 0.06686569 -0.24028084
+v 0.09072632 0.13645746 -0.23830909
+v 0.09838199 0.10075048 -0.22779005
+v 0.09032701 0.15307059 -0.21730177
+v 0.06762161 0.06686554 -0.19950076
+v 0.07516713 0.22329006 -0.19950019
+v 0.09785876 0.06686570 -0.24294505
+v 0.07983489 0.06686571 -0.24486327
+v -0.00709004 0.15106483 -0.23826906
+v -0.03761635 0.22329016 -0.22520976
+v 0.01684082 0.22329015 -0.22233686
+v 0.03639308 0.22329014 -0.22121788
+v 0.05733602 0.22329014 -0.21927303
+v 0.05942894 0.22329013 -0.21897108
+v 0.06503300 0.22329013 -0.21815850
+v 0.06884707 0.22329013 -0.21751909
+v 0.07403805 0.22329008 -0.20374072
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+v -0.03791927 0.06686554 -0.19950076
+v -0.03791927 0.22329006 -0.19950019
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+v -0.02907945 0.12719386 -0.23865990
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+v -0.03791927 0.06686565 -0.22971284
+v 0.06020002 0.06686570 -0.24313153
+v -0.02760614 0.14987052 -0.23744317
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+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_56.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1115a261da4b53b56bb412445db9d5ee842f46ff
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_56.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03513707 0.23868528 -0.18054181
+v 0.03513707 0.23808391 -0.18066438
+v 0.03513707 0.25493985 -0.18596617
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+v -0.01743832 0.23808408 -0.22563491
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+v -0.03791927 0.26697609 -0.20913456
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+f 34 44 42
+f 34 42 35
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+f 36 41 40
+f 36 40 37
+f 42 44 43
+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_57.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..233a23945d269054d5190605f48312e56eac6962
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_57.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.13390334 0.25392524 0.00984682
+v -0.13771339 0.25384418 0.00984682
+v -0.03791927 0.28614995 0.06390225
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+v -0.03791927 0.26601791 0.04043491
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+v -0.13771339 0.27105760 0.06908641
+v -0.13395219 0.27366531 0.06908642
+v -0.13089437 0.27128734 0.05464039
+v -0.11591793 0.28213701 0.06908645
+v -0.09715097 0.28604182 0.07007279
+v -0.07677206 0.28594727 0.06598316
+v -0.13771339 0.15135955 0.00984645
+v -0.03791927 0.28939266 0.07378955
+v -0.03791927 0.23892743 0.02833431
+v -0.05634431 0.21655248 0.00984669
+v -0.13151961 0.27242220 0.08382111
+v -0.13771339 0.26059963 0.08637109
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+v -0.05681324 0.15135955 0.00984645
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+v -0.04763003 0.19928480 0.00984662
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+v -0.10579686 0.26796336 0.09874825
+v -0.07677206 0.28860896 0.08040513
+v -0.09847961 0.27831318 0.08919780
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+v -0.05720401 0.28011021 0.09112234
+v -0.05438066 0.15135952 0.02031110
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_58.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fb171a9dc477ce22f968a0dfd9a6a7ce7b73e5b
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_58.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_59.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0db549f1afb829cefaa0652b90e5d71fc868031
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_59.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_6.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20bae4bca5fd8dc8a07e5f81e69bf754d97361be
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_6.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_60.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bb91de74964379296b4158e32b3485a013c7f51
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_60.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_61.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a237bfd4cc5bfb783d3dce8ff8ee3d5d6b881ccf
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_61.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+v 0.06048837 -0.25368706 -0.20936731
+v 0.06048837 -0.24936265 -0.07738838
+v 0.06026517 -0.24936265 -0.07738838
+v 0.04068833 -0.24894884 -0.07766796
+v 0.02111555 -0.24837485 -0.07796226
+v 0.01902962 -0.24821467 -0.07802113
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+v 0.04068833 -0.19483420 -0.07459233
+v 0.04068833 -0.17868254 -0.07554875
+v 0.06048837 -0.17868255 -0.07478357
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+v 0.06026517 -0.19483420 -0.07385659
+v 0.05672640 -0.17868254 -0.07491600
+v 0.06026517 -0.17868255 -0.07478357
+f 1 2 3
+f 1 3 4
+f 1 4 16
+f 1 16 25
+f 1 25 24
+f 1 24 37
+f 1 37 46
+f 1 46 54
+f 1 54 63
+f 1 63 75
+f 1 75 76
+f 1 76 66
+f 1 66 65
+f 1 65 64
+f 1 64 55
+f 1 55 47
+f 1 47 38
+f 1 38 26
+f 1 26 17
+f 1 17 5
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+f 34 36 35
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+f 41 48 49
+f 41 49 50
+f 41 50 51
+f 41 51 42
+f 45 53 54
+f 45 54 46
+f 47 55 48
+f 48 55 49
+f 49 55 56
+f 49 56 50
+f 50 56 57
+f 50 57 58
+f 50 58 59
+f 50 59 51
+f 52 60 61
+f 52 61 62
+f 53 63 54
+f 55 64 56
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+f 56 65 66
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+f 58 67 68
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+f 61 74 62
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+f 75 77 76
+f 77 79 78
+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_62.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee6e3da9ec227be11ca375d8ba638b228ab2ff9c
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_62.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.15125311 0.23808042 -0.03426154
+v 0.14977864 0.23339526 -0.03426155
+v 0.12257102 0.22328969 -0.09704243
+v 0.12318721 0.22926485 -0.09704241
+v 0.12363468 0.23360543 -0.09704239
+v 0.12111125 0.23808065 -0.09704238
+v 0.11665855 0.23808042 -0.03426154
+v 0.13970692 0.22368906 -0.03426159
+v 0.12196950 0.22328958 -0.06808557
+v 0.07632025 0.22328969 -0.09704243
+v 0.08389056 0.23808065 -0.09704238
+v 0.08219604 0.22328966 -0.08860487
+v 0.11968081 0.22895044 -0.03426157
+v 0.13721282 0.22368471 -0.03426159
+v 0.12001091 0.22328958 -0.06798724
+v 0.10555984 0.22328958 -0.06841127
+v 0.12213089 0.22462146 -0.03426158
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 7
+f 1 7 13
+f 1 13 17
+f 1 17 14
+f 1 14 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 15
+f 3 15 16
+f 3 16 12
+f 3 12 10
+f 3 10 11
+f 3 11 6
+f 3 6 5
+f 3 5 4
+f 7 11 10
+f 7 10 12
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 12 16 14
+f 12 14 17
+f 12 17 13
+f 14 16 15
+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_63.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10c6bcf2b51a1325aab64506acd7bf9a690ebdc7
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_63.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.06655997 0.18646510 -0.04044701
+v -0.06815122 0.17464941 -0.04044705
+v -0.07536385 0.15986570 -0.08223120
+v -0.07501544 0.16248189 -0.08223119
+v -0.07431862 0.17956802 -0.08223113
+v -0.06655997 0.19163089 -0.04044699
+v -0.06880644 0.17121507 -0.04044706
+v -0.07891037 0.14533869 -0.08223126
+v -0.07493744 0.18248862 -0.08223112
+v -0.06668477 0.19218266 -0.04044698
+v -0.07166653 0.15986555 -0.04044710
+v -0.07974240 0.14259883 -0.08223127
+v -0.07394421 0.15231187 -0.04044713
+v -0.07938879 0.19581695 -0.08223107
+v -0.06939926 0.20311359 -0.04044694
+v -0.07781833 0.14039155 -0.04044717
+v -0.08160926 0.12932743 -0.04044721
+v -0.08273250 0.12626411 -0.04044723
+v -0.09087076 0.12626426 -0.08223133
+v -0.08415214 0.19971746 -0.08223106
+v -0.08532738 0.21006799 -0.06171325
+v -0.08172886 0.21209431 -0.04967091
+v -0.07875436 0.21333103 -0.04044691
+v -0.11967970 0.12626411 -0.04044723
+v -0.11967970 0.12626426 -0.08223133
+v -0.10341876 0.21033444 -0.08223102
+v -0.11967970 0.21969561 -0.06945645
+v -0.11967970 0.22236881 -0.04967087
+v -0.09634654 0.21769769 -0.04044689
+v -0.11967970 0.22344379 -0.04044687
+v -0.11967970 0.21561439 -0.08223100
+v -0.11967970 0.22273031 -0.04661938
+v -0.11967970 0.22319647 -0.04264754
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 15
+f 1 15 23
+f 1 23 29
+f 1 29 30
+f 1 30 24
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+f 1 16 13
+f 1 13 11
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+f 3 20 14
+f 3 14 9
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+f 6 9 10
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+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 24 30 33
+f 24 33 32
+f 24 32 28
+f 24 28 27
+f 24 27 31
+f 24 31 25
+f 26 31 27
+f 28 32 29
+f 29 32 33
+f 29 33 30
+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_64.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9668991c207d1d51cd093e8d4dcb2878547724a0
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_64.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.03867157 0.21511538 -0.17362066
+v -0.03792727 0.21386605 -0.17362066
+v -0.05878354 0.21456530 -0.17362066
+v -0.03792727 0.22101693 -0.14861729
+v -0.03792727 0.12626441 -0.17362099
+v -0.08653055 0.20911112 -0.15837714
+v -0.11967970 0.21561850 -0.08223994
+v -0.05719892 0.21892851 -0.14861730
+v -0.07807920 0.20637945 -0.17362069
+v -0.03792727 0.22149234 -0.12882933
+v -0.03792727 0.12626408 -0.08322430
+v -0.11967970 0.12626441 -0.17362099
+v -0.11967970 0.21392168 -0.08925340
+v -0.09585424 0.19648744 -0.17362073
+v -0.10341725 0.21033219 -0.08223996
+v -0.03792727 0.19928410 -0.08762534
+v -0.03792727 0.21195449 -0.09556910
+v -0.03792727 0.21766972 -0.10879088
+v -0.03792727 0.21777227 -0.10903242
+v -0.11967970 0.12626407 -0.08224027
+v -0.09086027 0.12626407 -0.08224027
+v -0.03792727 0.13985743 -0.08278591
+v -0.11967970 0.15703128 -0.17362087
+v -0.11967970 0.20543755 -0.10731489
+v -0.11967970 0.18894477 -0.14011002
+v -0.11967970 0.19444547 -0.12996553
+v -0.11083619 0.17805530 -0.17362080
+v -0.08414560 0.19972228 -0.08224000
+v -0.03792727 0.17956532 -0.08269630
+v -0.03792727 0.19896710 -0.08751799
+v -0.03792727 0.14016510 -0.08277697
+v -0.03792727 0.15986522 -0.08231170
+v -0.07973585 0.14259847 -0.08224021
+v -0.11967970 0.16255064 -0.17138442
+v -0.11867930 0.16448990 -0.17362085
+v -0.11967970 0.18093610 -0.14999509
+v -0.07938371 0.19582515 -0.08224001
+v -0.03792727 0.17925766 -0.08268736
+v -0.07494195 0.18249284 -0.08224006
+v -0.07431771 0.17956532 -0.08224007
+v -0.07501398 0.16247574 -0.08224013
+v -0.07536612 0.15986522 -0.08224014
+v -0.07890353 0.14533952 -0.08224020
+v -0.11967970 0.17196714 -0.16052426
+f 1 2 5
+f 1 5 12
+f 1 12 23
+f 1 23 35
+f 1 35 27
+f 1 27 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 10
+f 2 10 19
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+f 2 18 17
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+f 7 23 12
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+f 7 28 15
+f 11 22 21
+f 13 14 24
+f 14 25 26
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+f 14 27 25
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 21 22 31
+f 21 31 32
+f 21 32 33
+f 23 34 35
+f 25 27 35
+f 25 35 36
+f 28 37 38
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+f 32 39 40
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 34 44 35
+f 35 44 36
+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_65.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dd372e4490c1e0a50e89933300cb5f480a2b039
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_65.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.12362989 0.23360543 -0.09704239
+v 0.12110455 0.23808065 -0.09704238
+v 0.12257479 0.22328969 -0.09704243
+v 0.16055862 0.22328980 -0.12883909
+v 0.16043755 0.22328981 -0.13115192
+v 0.11774897 0.23808069 -0.11004807
+v 0.08388179 0.23808065 -0.09704238
+v 0.07630577 0.22328969 -0.09704243
+v 0.15813706 0.22328982 -0.13423998
+v 0.09441555 0.23808089 -0.16249366
+v 0.11288856 0.23808074 -0.12283593
+v 0.06981946 0.23808073 -0.12003618
+v -0.01612847 0.22328980 -0.12883909
+v 0.00154888 0.22328978 -0.12149056
+v 0.02112890 0.22328975 -0.11439829
+v 0.03657496 0.22328973 -0.10904225
+v 0.15071672 0.22328985 -0.14111441
+v 0.09929326 0.22328993 -0.16249371
+v 0.08574984 0.23808089 -0.16249366
+v 0.06480338 0.23808076 -0.12913375
+v 0.04904597 0.22328993 -0.16249371
+v 0.05381990 0.23807945 -0.16249366
+v 0.05881868 0.23808084 -0.14862306
+v 0.05880138 0.23808083 -0.14760439
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 11
+f 2 11 10
+f 2 10 19
+f 2 19 23
+f 2 23 24
+f 2 24 20
+f 2 20 12
+f 2 12 7
+f 3 8 16
+f 3 16 15
+f 3 15 14
+f 3 14 13
+f 3 13 21
+f 3 21 18
+f 3 18 17
+f 3 17 9
+f 3 9 5
+f 3 5 4
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 10
+f 10 17 18
+f 10 18 21
+f 10 21 22
+f 10 22 19
+f 12 20 13
+f 13 20 22
+f 13 22 21
+f 19 22 23
+f 20 24 22
+f 22 24 23
+
diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_66.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f126d287f4a212af9a5fa99428d094157773e959
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_66.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.15921966 -0.14271737 0.13271477
+v -0.16389639 -0.14271746 0.15816545
+v -0.15589498 -0.14271737 0.13271477
+v -0.17206877 -0.19571812 0.13271457
+v -0.17206877 -0.14271763 0.20323756
+v -0.15589498 -0.14271767 0.21496048
+v -0.15589498 -0.15014787 0.13271474
+v -0.17206877 -0.24887476 0.13271438
+v -0.17206877 -0.14271767 0.21496048
+v -0.15589498 -0.18655241 0.21496031
+v -0.15599314 -0.21452819 0.13271450
+v -0.17025919 -0.24804336 0.13271438
+v -0.17206877 -0.24507122 0.14825371
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_7.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ccb4a0dcf7392f34ba5085bf7c24df64f364ca1
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_7.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_8.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e5194b8886d81186731f677d229dd42d6c22ff
--- /dev/null
+++ b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_8.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_9.obj b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/computer_chair_44_collision_9.obj
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/material_0.png b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/mjcf/mesh/material_0.png
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/textures/material_0.png b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/textures/material_0.png
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diff --git a/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/video.mp4 b/dataset/furniture/chair/aeea9a5e33665bb3b31544206cb2a929/video.mp4
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