diff --git a/.gitattributes b/.gitattributes
index 04cc6ef501c5f9417d0be6c19381e20ed3f8bf80..c60a67ba9aeef8ae0cd37b44b6c80f8af59bdff1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3741,6 +3741,6 @@ dataset/furniture/chair/4a4a3b28ff5153a78501a4e26ac4f2c3/mesh/bar_stool_33_gs.pl
 dataset/furniture/chair/78b42bb137d45170aa4187f9f1c02394/78b42bb137d45170aa4187f9f1c02394.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/78b42bb137d45170aa4187f9f1c02394/mesh/dining_chair_6.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/78b42bb137d45170aa4187f9f1c02394/mesh/dining_chair_6_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/6fdbc06a65b85145add05b8eeb37e22c.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/office_chair_13.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/6fdbc06a65b85145add05b8eeb37e22c/mesh/office_chair_13_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/7fe403bbf4d9554bb49bb01f69efa232.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/lounge_chair_22.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/lounge_chair_22_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/7fe403bbf4d9554bb49bb01f69efa232.urdf b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/7fe403bbf4d9554bb49bb01f69efa232.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a183062f16d7b03deecb6a658e7dfe3e28fb89a1
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/7fe403bbf4d9554bb49bb01f69efa232.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lounge_chair_22">
+   <link name="lounge_chair_22">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/lounge_chair_22.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/lounge_chair_22_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>0.940027</scale>
+         <version>v0.1.5</version>
+         <category>lounge_chair</category>
+         <description>modern orange lounge chair with curved armrests and metal legs</description>
+         <min_height>0.75</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>12.0</min_mass>
+         <max_mass>18.0</max_mass>
+         <generate_time>20251021115853</generate_time>
+         <gs_model>mesh/lounge_chair_22_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.509079337120056</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/7fe403bbf4d9554bb49bb01f69efa232.usd b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/7fe403bbf4d9554bb49bb01f69efa232.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5c1ad88326a01c717ca26e1e9763875842870e17
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/7fe403bbf4d9554bb49bb01f69efa232.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d241c335cf0f7d17a94e4a7d6a2b8612917617e5f965bf5d678a71e6e3797b82
+size 255528
diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/lounge_chair_22.glb b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/lounge_chair_22.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c3745efa9e5781a9c9c3c024df0d57feddd1ec17
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/lounge_chair_22.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81e85fa70442df7391eda8052298162091e8f9a7a0c47129183cc2fbbf3ed6df
+size 1322756
diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/lounge_chair_22.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/lounge_chair_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27d2be5a8bb1d0252c3fac1f06b066d10f6be22c
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/lounge_chair_22.obj
@@ -0,0 +1,16108 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/lounge_chair_22_collision.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/lounge_chair_22_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b5265a5988415a704b92c5e5f4664d777568297
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/lounge_chair_22_collision.obj
@@ -0,0 +1,26563 @@
+# https://github.com/mikedh/trimesh
+
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index 0000000000000000000000000000000000000000..76deb945df6b2c2f6f9ef3821cc0f869bd320160
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/material.mtl b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/material.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mesh/material_0.png b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/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/7fe403bbf4d9554bb49bb01f69efa232/mjcf/7fe403bbf4d9554bb49bb01f69efa232.xml b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/7fe403bbf4d9554bb49bb01f69efa232.xml
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84c5fb82059057beab57d61abe121c7cb3dd5434
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22.obj
@@ -0,0 +1,16108 @@
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36f9add3f12467a05939582775a9604e85021218
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision.obj
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_0.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a47ab221ecdbc3012962eb41767f6ba60789f40
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_0.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_1.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba4288fc2aa4f71e2ef5b03d2de4f69800a97b0d
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_1.obj
@@ -0,0 +1,976 @@
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_10.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67cd94b688e803e6a7937de24d2ea1a7f099cf58
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_10.obj
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_11.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48c08c52e1777f8f2651cfd3eb5d95c0366f8618
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_11.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_12.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..672c2f8539135096720da71cd18cb7dbbfadbc8f
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_12.obj
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_13.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0aa90e082e5de9546598a85fc8d40ef10080725
--- /dev/null
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_14.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ebc1f53e1b3cdcc94e3ee6abb2db0d2c32a728f
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_14.obj
@@ -0,0 +1,688 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_15.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a88695a86936eb3b4ecf66e6210c97e8771ffa3a
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_15.obj
@@ -0,0 +1,2206 @@
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_16.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb7fbf48aba06b71f4e4bb0289ac14da286b566c
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_16.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_17.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7efd3dd7dc2176c114795d31513a752c5b6f98e0
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_17.obj
@@ -0,0 +1,889 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_18.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbe8ce0ac3aab235b1e852990b76594574c94b31
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_18.obj
@@ -0,0 +1,61 @@
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_19.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5e18b8f380d069c11a70327edfd994ae05a558e
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_19.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_2.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21cd86d1ba91c5dc685141120c9418615b8308d4
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_2.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_20.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..413cc80fddaa39da56dd6be1242e2069fdbbe2ce
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_20.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_21.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa0d7a2dc71af45674e0e60ca87ca48effd9b496
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_21.obj
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_22.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acd3c9c76641f60e661571b56c6f89f6280aece6
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_22.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_23.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77d96637292d745fe88f1beb0809aca17c159a34
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_23.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_24.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c1026f9f75eba713cefb3d7eef477917d0e54e8
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_24.obj
@@ -0,0 +1,817 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_25.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16727197d6c00cf5a5a85cdbf869894a77ade2f1
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_25.obj
@@ -0,0 +1,61 @@
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_26.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce1c4a493918b06b9867e7c9d34d349b1b376129
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_26.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_27.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df962099b949dc483b1a6e82bf4a703a4a5bfcd9
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_27.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+v -0.09515537 -0.20439592 -0.22478341
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+
diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_28.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..708f56afb0ee21bffa438252843c7da5445630f1
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_28.obj
@@ -0,0 +1,922 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_29.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77c3fdb54502e4d49dbb751da0c2f3bfb4509a53
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_29.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_3.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e709b34fdce968a7cba4efb2b969a10a2c57f5a4
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_3.obj
@@ -0,0 +1,976 @@
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_30.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460cf6e7c11017c27e131aa35e43d235f347e492
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_30.obj
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_31.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5223f8ae2ac201ff5e285939552b32f455ace48
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_31.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_32.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f54b71565d5b9f44938da02f4370cd984b53d9
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_32.obj
@@ -0,0 +1,961 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_33.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130c2405338019dd1309f846495763fd56a6623c
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_33.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.13875140 -0.20110139 0.06892113
+v -0.13875140 -0.20110165 0.13949390
+v -0.12498916 -0.20110139 0.06892113
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+v -0.11735870 -0.37925129 0.06892048
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+
diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_34.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e68d96c17bd2ef527e96ee35815ffe303b31d20d
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_34.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.02375806 0.23583924 -0.22480541
+v 0.02375806 0.23967261 -0.22459638
+v 0.03830685 0.27088215 -0.22283451
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_35.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d53995e9ce3562b2184ffbbf69d180919cfe87ff
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_35.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.02374611 0.23583822 0.05225427
+v 0.02374611 0.24095801 0.05070997
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+
diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_36.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e11d4d25041e9045c4d0db371f80ba7fda514f28
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_36.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.07011250 -0.41952911 0.13949310
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_37.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35e7ec163ffff61e09484434dec4a1e2c7d6393f
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_37.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_38.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0afc5e6d4de584426e272eb0cd91a7c376a2b6ae
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_38.obj
@@ -0,0 +1,550 @@
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_39.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d11e17d81dddad4f5fb4dbd4c03000d21f8acd93
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_39.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_4.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ee189ac397c863c960b9ed4ef519a8025c4f6dc
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_4.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_40.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6745f4676d249eddc5c14fb79a14e5d0bd10afc2
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_40.obj
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_41.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bcfbd5b469c84bf7f83075028494bd5924a95d0
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_41.obj
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_42.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad7d1234c24f8d7ceaeb59f38ea7dcd87f8b751f
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_42.obj
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_43.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9384aa81d2320e4e45866062a0f86014cdfd34d3
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_43.obj
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_44.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fe3adf79f0316ac85036dc5780bdb4d71510524
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_44.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_45.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7583271453dd4d3cb2b6e8f29fe74c41e4f6eb7c
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_45.obj
@@ -0,0 +1,577 @@
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_46.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6084bd53f07e1ff99e86c16ba6ae40f111dbb472
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_46.obj
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_47.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd93fd40e00687429ff8525464ece247d4ebe0d3
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_47.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_48.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4521e552007d6df84f6e2838161267df29aedcd4
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_48.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_49.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5082da0b33b4233c57f46a0b554ac2a343e959fe
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_49.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_5.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bf15dddfc978faaaad00daec578b05fd2a4b6a2
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_5.obj
@@ -0,0 +1,1639 @@
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_6.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ba3be4c38d07f1cee2e73656f7fb17db926f0c2
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_6.obj
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_7.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e47c9e36288ff094cae0f8be337e06c1438d493
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_7.obj
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_8.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..720eac52926ab826abf35f2bc834d309f2e43bc8
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_8.obj
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diff --git a/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_9.obj b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac85b1df6796afcd4b160dc5143075c811ca0519
--- /dev/null
+++ b/dataset/furniture/chair/7fe403bbf4d9554bb49bb01f69efa232/mjcf/mesh/lounge_chair_22_collision_9.obj
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