diff --git a/.gitattributes b/.gitattributes
index 24c6c6d3a9e6a9b774ab79ca561f72133834b39e..0f5947d37f76805327fe57e4dcfc4f1344f45952 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3732,3 +3732,6 @@ dataset/food/snack/fd036c379c7b5305b78e4a6b1784151f/potato_chips_006.usd filter=
 dataset/furniture/chair/0c608106b4045f4da0c651c17d431f5e/0c608106b4045f4da0c651c17d431f5e.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/0c608106b4045f4da0c651c17d431f5e/mesh/bar_stool_36.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/0c608106b4045f4da0c651c17d431f5e/mesh/bar_stool_36_gs.ply filter=lfs diff=lfs merge=lfs -text
+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
diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/3c8316d2a50f52c39679add8cb14316e.urdf b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/3c8316d2a50f52c39679add8cb14316e.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0001007951390e9c85972b42d30c68110c21bfc9
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/3c8316d2a50f52c39679add8cb14316e.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="computer_chair_49">
+   <link name="computer_chair_49">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/computer_chair_49.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_49_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="12.5000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.100000</scale>
+         <version>v0.1.5</version>
+         <category>computer_chair</category>
+         <description>ergonomic blue computer chair with armrests and a five-wheel base</description>
+         <min_height>1.0</min_height>
+         <max_height>1.2</max_height>
+         <real_height>1.1</real_height>
+         <min_mass>10.0</min_mass>
+         <max_mass>15.0</max_mass>
+         <generate_time>20251021132127</generate_time>
+         <gs_model>mesh/computer_chair_49_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.973665237426758</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/3c8316d2a50f52c39679add8cb14316e/3c8316d2a50f52c39679add8cb14316e.usd b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/3c8316d2a50f52c39679add8cb14316e.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1be4a928bfe237972576a5ee7603d4d00f5318e5
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/3c8316d2a50f52c39679add8cb14316e.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeaff2114f86785fc0e79659942a38536339b25ca387fbd563d6e9f1bec00b7c
+size 957146
diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/computer_chair_49.glb b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/computer_chair_49.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e8be18098c79947a259c91960ee8a64bd65293ee
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/computer_chair_49.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85664a113654624f7b56c6e598de97be9e78b2f32d2d7061747f8aefe0595119
+size 1761088
diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/computer_chair_49.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/computer_chair_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4261937da7943a45cf2965a445dd82f12d72610f
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/computer_chair_49.obj
@@ -0,0 +1,60886 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/computer_chair_49_collision.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/computer_chair_49_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f44d15f4eeebc681228f912d292128c01d1484a7
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/computer_chair_49_collision.obj
@@ -0,0 +1,15296 @@
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/computer_chair_49_gs.ply b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/computer_chair_49_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..177733aa3ca74520f831534bab0e1a961df9b530
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/computer_chair_49_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbf54008775f2f90647c1924de8148fb466c3232ffb368bfaf4b9e34da5dc027
+size 24405610
diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/material.mtl b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/material_0.png b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a693d6cb30cea6297bce57d13bc41219f6acc834
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf6ee87125b8958a5987ed82e3370d8917337ff18106b49885c252f17ca6913e
+size 1097354
diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/3c8316d2a50f52c39679add8cb14316e.xml b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/3c8316d2a50f52c39679add8cb14316e.xml
new file mode 100644
index 0000000000000000000000000000000000000000..67f48847fbc0d1b5d75bc5334e67e3ec64e20cd7
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/3c8316d2a50f52c39679add8cb14316e.xml
@@ -0,0 +1,98 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="computer_chair_49">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/computer_chair_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/computer_chair_49_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/computer_chair_49_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/computer_chair_49_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/computer_chair_49_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/computer_chair_49_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/computer_chair_49_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/computer_chair_49_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/computer_chair_49_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/computer_chair_49_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/computer_chair_49_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/computer_chair_49_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/computer_chair_49_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/computer_chair_49_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/computer_chair_49_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/computer_chair_49_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/computer_chair_49_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/computer_chair_49_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/computer_chair_49_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/computer_chair_49_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/computer_chair_49_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/computer_chair_49_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/computer_chair_49_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/computer_chair_49_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/computer_chair_49_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/computer_chair_49_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/computer_chair_49_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/computer_chair_49_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/computer_chair_49_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/computer_chair_49_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/computer_chair_49_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/computer_chair_49_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/computer_chair_49_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/computer_chair_49_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/computer_chair_49_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/computer_chair_49_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/computer_chair_49_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/computer_chair_49_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/computer_chair_49_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/computer_chair_49_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/computer_chair_49_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/computer_chair_49_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/computer_chair_49_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="computer_chair_49">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1018ae1d548a04242e198197b28354570fbd8067
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49.obj
@@ -0,0 +1,60886 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a502d56125659517379647674749f697f323981
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision.obj
@@ -0,0 +1,15296 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_0.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05791f2c7544844a8ab18080d10e514c15c3c758
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_0.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_1.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39fdef968cad7417c2059365d7215e29b7cb1504
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_1.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_10.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96f1b160ee4210da5d2d63c03077c4ab4fd18489
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_10.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_11.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5216612db72c3def8e0983b63833443f4425f8c
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_11.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_12.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ac5a9bfcb17bf8d9e97e5c2750a6829537e7c56
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_12.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_13.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40241dd9451938d4dd92729e0fe454403507a3c7
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_13.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_14.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bdcae13298d4d938997b27a4e57f101f91120f3
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_14.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_15.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165cdda37b736ddc3b54f3fb959028b13ce4bb4a
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_15.obj
@@ -0,0 +1,994 @@
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_16.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c40ff46549e31ffee3c9c9b9a899f7cca37092c2
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_16.obj
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_17.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424908d774ae796530c00e89e7cc1efa66baa81d
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_17.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_18.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3455504cfea6d5038dd7b183eeae2a07e13c8bd5
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_18.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_19.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6daa847a55a51a92792ee866247d25ab824f85ac
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_19.obj
@@ -0,0 +1,694 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_2.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f01e7f62ac915dd91a2220c749e2eade4feab76b
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_2.obj
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_20.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bab3dd72efb5d59ff1ee0134a3bec7405298ce36
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_20.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.11410047 -0.09106989 -0.07144593
+v -0.10515314 -0.16829561 -0.07144622
+v -0.11410047 -0.23665587 -0.07144647
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+
diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_21.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4da4ecfb972458a1a51dd8ba0e5880432eb3b524
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_21.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.07884876 0.33116883 0.01949349
+v 0.07859869 0.33645607 0.01949351
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+
diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_22.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6307e952f6a2f7bda0f6f9783be0ee2d5b1dc54
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_22.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.17488937 -0.27647948 0.01542042
+v 0.17068645 -0.26677255 0.01542046
+v 0.17067572 -0.29450092 0.01542036
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_23.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eb21b574d3f9d268b502b8253a2415cfe3e130b
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_23.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_24.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d0f7dfeef1299f6ac9d92e809a076325a027e4c
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_24.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_25.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b708d5af56a5808333a52accd6f9f765dcd4157c
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_25.obj
@@ -0,0 +1,1108 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_26.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12841b80f23b3ffb792dd949fbe9a2b5ea6757cb
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_26.obj
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_27.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06ff9bc84505a849e13ede621cabbf44a6aa6995
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_27.obj
@@ -0,0 +1,814 @@
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_28.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37b99c2e8686272113da294938cb217d29997fe9
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_28.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_29.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a14e115eb041a35edfa38af2b46bc575000d83e
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_29.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_3.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01bb67bb7489da893b67ce1a299c8573403fbb06
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_3.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_30.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3eb7d5dd660db278e827986baaef14dd418e923
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_30.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_31.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eecf3b53ea6d49be21f4c5876d05c98a0eb105fb
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_31.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.04392886 -0.02987938 -0.26986067
+v 0.04392886 -0.02974761 -0.26986067
+v -0.00608721 -0.03445106 -0.26986069
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+
diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_32.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c26f45bf0b1a7360d3bf8461fc7b9cde2fa84ea8
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_32.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.11410048 -0.03870652 -0.10246480
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_33.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b5931b0bcfeebd19a3a83aaff03123cacc851b1
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_33.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_34.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d82a0313e7e454cb2456e77d2507b7b1bedfdadc
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_34.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_35.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62daf685285979afd2a35bbf51641adedb5cba13
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_35.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_36.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2aca9b04948726c5b5d1112eecdec13606c70cc
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_36.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_37.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3397895b6826f1eb8f5ea17c6e63134c23bf9728
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_37.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+v -0.10063818 0.12407798 -0.23104475
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_38.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece170e59715ab887494a5f0f60dad7050d605fd
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_38.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_39.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db0f686f90355d10838dd3d67a08729edc13feae
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_39.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_4.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a18cc47e40e3f0179a94baefc7f20d3ecaca7ad
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_4.obj
@@ -0,0 +1,736 @@
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_40.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bd0dc871f02d0b707c95efbff980f9babd6de35
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_40.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_41.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3af8bed24add40a73150fac80649455cb6fb5e3f
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_41.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_5.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02eca4cfe34a836341597123b583c8639197960
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_5.obj
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_6.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3979ea72ce3983d064213ac76964aad6eb59c86
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_6.obj
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_7.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0e316db87f9f12f84f13125ff77bb447af2a673
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_7.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_8.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fda70b3f763eb4f5cb54bfe7dbea3e91ae3b3bc
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_8.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_9.obj b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dd1c946c7d410ba341a65299109aac68ffb7e3d
--- /dev/null
+++ b/dataset/furniture/chair/3c8316d2a50f52c39679add8cb14316e/mjcf/mesh/computer_chair_49_collision_9.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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