diff --git a/.gitattributes b/.gitattributes
index 0f5947d37f76805327fe57e4dcfc4f1344f45952..4080c6a0d1da509f6c25f6d01c704758ed409c65 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3735,3 +3735,6 @@ dataset/furniture/chair/0c608106b4045f4da0c651c17d431f5e/mesh/bar_stool_36_gs.pl
dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/3c8316d2a50f52c39679add8cb14316e.usd filter=lfs diff=lfs merge=lfs -text
dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/computer_chair_49.glb filter=lfs diff=lfs merge=lfs -text
dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/computer_chair_49_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/434ed81864ea5776945d0223b873d78b.usd filter=lfs diff=lfs merge=lfs -text
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+dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/computer_chair_42_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/434ed81864ea5776945d0223b873d78b.urdf b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/434ed81864ea5776945d0223b873d78b.urdf
new file mode 100644
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/434ed81864ea5776945d0223b873d78b.usd b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/434ed81864ea5776945d0223b873d78b.usd
new file mode 100644
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/computer_chair_42.glb b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/computer_chair_42.glb
new file mode 100644
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/computer_chair_42.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/computer_chair_42.obj
new file mode 100644
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/computer_chair_42_collision.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/computer_chair_42_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba88afd86552b9c08f1c9a33abf929517bcf809
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/computer_chair_42_collision.obj
@@ -0,0 +1,17085 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/computer_chair_42_gs.ply b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/computer_chair_42_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5bee47c3da7f7b5bdccd4637c0b8dc9c10110c1d
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/computer_chair_42_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb07adc9b8b69610e9138f3f399fbf858042954ea0a261c4e55b031f819179dd
+size 33213290
diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/material.mtl b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/material_0.png b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2442ad15c1adba0256914f5f857dc29622da8b41
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fed5164495bfbfb2ff8291a92336a1e8dec233c1e02104206c07b455c89a9f28
+size 1743666
diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/434ed81864ea5776945d0223b873d78b.xml b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/434ed81864ea5776945d0223b873d78b.xml
new file mode 100644
index 0000000000000000000000000000000000000000..627af7f9c90d9bbd31596b06a80dec65d8a8f536
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/434ed81864ea5776945d0223b873d78b.xml
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f12608c7828f9fe26c5cb115cc215e4fa1e823ca
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42.obj
@@ -0,0 +1,17406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e2ecfabf708329b6ec90b495397d0d2c9cf8a1e
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision.obj
@@ -0,0 +1,17085 @@
+# https://github.com/mikedh/trimesh
+
+o computer_chair_42_collision.obj
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_0.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c58d13200ceba02d2dc4ce2abf93fe18d976872e
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_0.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_1.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a755b1e7ffdfb90961c4f7c7364742600b8a4d
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_1.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_10.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..480b710bd2a98a57496302edc292e27f01b84b98
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_10.obj
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_11.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a131eac0157b6501f501f8922231c7cdd95883b4
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_11.obj
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_12.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..478d8bc44239f56462dc767a5c81800e3d2bfca5
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_12.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_13.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..760f84c2f24b34b3b65585fb33b6f7eb9c76e467
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_13.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_14.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7082d90bd7f74f036c5ae53fcd706149c527182a
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_14.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.08113617 0.07174937 -0.45735800
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_15.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28023832b7af66d4e26452607e6998b54604aeb5
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_15.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_16.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7adfefda70fc501b46ba366b8f344bfa0bdb4254
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_16.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_17.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd9855a57c89bc4fddffd103beac79116cca773d
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_17.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_18.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a44f995044e6a13846a32f934d8dabc99668de4e
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_18.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_19.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988d0263d0b0d54a7a73695a51c90afcf7323b39
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_19.obj
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_2.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f7e8734b7790d5b8701fdadbe03de4a56a994fa
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_2.obj
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_20.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc603ec1f4b8aec838eb2f03ae57e0221546fe68
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_20.obj
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_21.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..063bbbb17091a51c3f0154063f5416f7e65e9344
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_21.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_22.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf13fac98a22229895faee761b4db2eb14e0883c
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_22.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_23.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afc470266c1da8275b010319cb5a74fee4664185
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_23.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_24.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c64d9f2e8e831eac89874cd6bb66e54965da97d1
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_24.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_25.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8a498337481ac9d5cc90305cb1254335edda615
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_25.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_26.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfb04ffd5afae0b27fd4d0b42a908b26801517f4
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_26.obj
@@ -0,0 +1,1477 @@
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_27.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bc2c60dd6b6f3471b21f104c0cdf65351efb2ba
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_27.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_28.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..753c7fffe79603352fc1ba3dffe4ae3064880acb
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_28.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_29.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b0fb92f99991f69700fb39d582f7d7ae4e7b28a
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_29.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_3.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31f3f917e62ee6e0682da3981d4e196b811528a8
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_3.obj
@@ -0,0 +1,892 @@
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_30.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e7d0f66d7ae1a1dc4046cdd38677b7eb56f5aee
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_30.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_31.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15d28d1bb337e45f86a5b827d050af638581ebdb
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_31.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_32.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48b7c741cfbb29258a09ba0e8da5745d6f4a6d0
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_32.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_33.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2407fb66be86c06630a537dc8e01cd2d299f675
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_33.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_34.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89f0f098224d9d608c9b87bcebeae5e72c0f2de6
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_34.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_35.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9f9a184653ae3e67ee888bb3e85fe0d63770504
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_35.obj
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_36.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db81f4af140fd41c1b1f3056f4b2320848164b80
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_36.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.23775411 -0.04730840 -0.27939947
+v 0.23775411 -0.03205651 -0.26630310
+v 0.20616461 -0.06467483 -0.25161303
+v 0.20616461 -0.06597694 -0.26099669
+v 0.20616461 -0.06112927 -0.27593709
+v 0.20616461 -0.05955636 -0.27939952
+v 0.23775411 0.03329609 -0.27939918
+v 0.23775411 -0.01240823 -0.25954679
+v 0.22678931 -0.01240826 -0.25161284
+v 0.20616461 0.06360647 -0.25161256
+v 0.20616461 0.05650276 -0.27939909
+v 0.20616461 0.05982903 -0.27511252
+v 0.20616461 0.06573381 -0.26670256
+v 0.23775411 0.03222600 -0.27737014
+v 0.23775411 -0.00570408 -0.25954676
+v 0.23775411 0.00753661 -0.25955487
+v 0.22619252 0.00733030 -0.25161276
+v 0.23775411 0.02532842 -0.26805451
+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 14
+f 1 14 18
+f 1 18 16
+f 1 16 15
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+
diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_37.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4badae91ac414584dacdf1493897b1c22553018
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_37.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.11574322 -0.22969098 -0.32062693
+v -0.11574322 -0.20232315 -0.31943031
+v -0.06784325 -0.21535057 -0.31892733
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+v -0.11574322 -0.23633806 -0.31960137
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+v -0.06784325 -0.14217149 -0.27352752
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+v -0.11574322 -0.24194907 -0.31847325
+v -0.11574322 -0.14217150 -0.27087074
+v -0.10740586 -0.14217149 -0.27147633
+v -0.07654637 -0.14217149 -0.27317589
+v -0.06805426 -0.14217149 -0.27352752
+v -0.06784325 -0.14217150 -0.27073400
+v -0.06784325 -0.23853326 -0.30692311
+v -0.07249491 -0.24126186 -0.30243983
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+v -0.11574322 -0.24405195 -0.31187040
+v -0.11574322 -0.14217150 -0.27073400
+v -0.06784325 -0.23414306 -0.27073434
+v -0.06789483 -0.23464570 -0.27073434
+v -0.07249491 -0.24126190 -0.29263320
+v -0.06784325 -0.23425590 -0.27100784
+v -0.08930093 -0.24677043 -0.27073439
+v -0.10740586 -0.24485209 -0.30629313
+v -0.11574322 -0.24564194 -0.30629313
+v -0.11574322 -0.23705629 -0.27073435
+v -0.06813867 -0.23478931 -0.27073434
+v -0.07973501 -0.24142611 -0.27073437
+v -0.09172993 -0.24684223 -0.27073439
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+v -0.11574322 -0.24451362 -0.29547556
+v -0.11574322 -0.24293394 -0.28837455
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+
diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_38.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c3e2dc6bf51aeefdee649e27ce4622fc32ea0db
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_38.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.06784325 -0.33193612 -0.22711107
+v -0.11574322 -0.32366969 -0.22711104
+v -0.11574322 -0.32160766 -0.24185182
+v -0.06784325 -0.32589880 -0.24304927
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+v -0.11574322 -0.30706316 -0.05982169
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+
diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_39.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..596cdf45956b9d7ffc6e03aff4a08a6a8fd7a37a
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_39.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.23775413 -0.28872579 -0.33938292
+v 0.24864061 -0.28850706 -0.33779405
+v 0.25676058 -0.29894533 -0.33606625
+v 0.23775413 -0.29601676 -0.33891716
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+v 0.24555799 -0.26918600 -0.33789164
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+v 0.25865719 -0.30074378 -0.32608984
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+v 0.23775413 -0.31357590 -0.32608989
+v 0.23775413 -0.30540998 -0.33804954
+v 0.24680218 -0.30204397 -0.33720439
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+v 0.25920846 -0.30124205 -0.31302215
+v 0.23775413 -0.31257948 -0.32145104
+v 0.23775413 -0.18943503 -0.30383411
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+v 0.26252372 -0.18943503 -0.30501358
+v 0.24680218 -0.30485111 -0.31106895
+v 0.23775413 -0.30737863 -0.31114032
+v 0.24820819 -0.18943504 -0.30102451
+v 0.23775413 -0.28894464 -0.30658401
+v 0.24828152 -0.18943504 -0.30101325
+v 0.23775413 -0.29915198 -0.30819168
+f 1 2 3
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+f 33 34 35
+
diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_4.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b35e6052ed9102f959a9e75ba867b41b09e0d843
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_4.obj
@@ -0,0 +1,982 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_40.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4952710f940f7a4dbe308aff22ef6964ddf069b1
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_40.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_41.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be11b5643f5798cf24cebfcce750ece7ea8407ae
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_41.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_42.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32fbec45c4a221f2602b1b010a267692b5b7dcdd
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_42.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_43.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b1dde0dc99e7b640f8016f4ed82e58bf91b646e
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_43.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_44.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06f6347beef778aa671cf00e6d8c64805db8cc3c
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_44.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_45.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37ae1ee3a5abb31b88ec9bd56ca935c23152f17c
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_45.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_46.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e430761bd899e142f187ff49b17b04dac8c329a1
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_46.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_47.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7113179cc5d58e1e01dc8f0ed467999b02047b30
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_47.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_48.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9e81e79d03dd26f568a650faf6f7c9839afa9b2
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_48.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_5.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c596c9a6fd874fd738dc183c953bddf4ee3c988
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_5.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_6.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2adc2591593a7239ac6923ca94ed7579c1d51dfb
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_6.obj
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_7.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d0194f088b3603ed9fdfdba280cfc4a5420ecf
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_7.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_8.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b11a30fb98dc9e2e4726cd2ba5d51cebd2f3746f
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_8.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+v 0.20826729 -0.15242403 -0.47779343
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_9.obj b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef44f2b078b063cf368e094eaa45165609b2f540
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/computer_chair_42_collision_9.obj
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/material_0.png b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2442ad15c1adba0256914f5f857dc29622da8b41
--- /dev/null
+++ b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/mjcf/mesh/material_0.png
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diff --git a/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/textures/material_0.png b/dataset/furniture/chair/434ed81864ea5776945d0223b873d78b/textures/material_0.png
new file mode 100644
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