diff --git a/.gitattributes b/.gitattributes
index c4f703040bb3f48f21af1b4a49c7431f1c43b262..d1232dba312142c42f8e14a283ce800975b36513 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3738,3 +3738,6 @@ dataset/furniture/chair/40902ede11e956eaacccf3f86e30b660/mesh/bar_stool_32_gs.pl
 dataset/furniture/chair/4b026bec19645958acf827e57af54693/4b026bec19645958acf827e57af54693.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/4c497ddfe8e55e75975a894565d4dc35.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/computer_chair_47.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/computer_chair_47_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/4c497ddfe8e55e75975a894565d4dc35.urdf b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/4c497ddfe8e55e75975a894565d4dc35.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1681a450251ef182fc9ae656275984f3784f4229
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/4c497ddfe8e55e75975a894565d4dc35.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="computer_chair_47">
+   <link name="computer_chair_47">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/computer_chair_47.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_47_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="15.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.300000</scale>
+         <version>v0.1.5</version>
+         <category>computer_chair</category>
+         <description>ergonomic office chair with adjustable headrest, armrests, and rolling base</description>
+         <min_height>1.2</min_height>
+         <max_height>1.4</max_height>
+         <real_height>1.3</real_height>
+         <min_mass>12.0</min_mass>
+         <max_mass>18.0</max_mass>
+         <generate_time>20251021131549</generate_time>
+         <gs_model>mesh/computer_chair_47_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.0309871435165405</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Seat is separated, but backrest, armrests, frame, and small details are merged; not actionable by merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/4c497ddfe8e55e75975a894565d4dc35/4c497ddfe8e55e75975a894565d4dc35.usd b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/4c497ddfe8e55e75975a894565d4dc35.usd
new file mode 100644
index 0000000000000000000000000000000000000000..00564086344f498879958538673ad618dd7df46d
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/4c497ddfe8e55e75975a894565d4dc35.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc447d5e85744f0bdac7a1a8c8776543c2b34e29f66bf23892e7e695d51f34b6
+size 1060495
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/computer_chair_47.glb b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/computer_chair_47.glb
new file mode 100644
index 0000000000000000000000000000000000000000..15fbc2bb4df8e0f9d7bbdfda082e7a8529a3139b
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/computer_chair_47.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8306f84c8b9837d74b420e55b9d782d1da00a5474ed43e304a7e377c02df71d5
+size 2591672
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/computer_chair_47.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/computer_chair_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2e6d93041902c49cdca99c6f0ffeb2c5dcc433a
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/computer_chair_47.obj
@@ -0,0 +1,70304 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/computer_chair_47_collision.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/computer_chair_47_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ba4d916b2fecd5bb3dd11667880d0f605423cc8
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/computer_chair_47_collision.obj
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/computer_chair_47_gs.ply b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/computer_chair_47_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..dff1f9db4adaac70cab7b9fa906bb01c7e8a30a9
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/computer_chair_47_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:907dadf1248b30c9c2f29b5dc40e4609ac63ff9642c51de9e6be2d3618172284
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/material.mtl b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/material_0.png b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:10997fde83c81d7ae054a8bfe11917d249cd1bc927191b3ef090efba4dbefa43
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/4c497ddfe8e55e75975a894565d4dc35.xml b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/4c497ddfe8e55e75975a894565d4dc35.xml
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b605db859c063f1599e048c699239f80406bed
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47.obj
@@ -0,0 +1,70304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22e87ac2dc9723e64103f3c9232334dd77bab41a
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision.obj
@@ -0,0 +1,15659 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_0.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c57928e07a35017cf1dc5950b2cd0c90cbb52007
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_0.obj
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_1.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d50266cb8346bc2ae00ec211ba58fd3362924d
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_1.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_10.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..158b9771dcc7d646f4fdf73513213b97ee2ca112
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_10.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_11.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf25692c3da41a8b2fa108bd45d18e997ff60368
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_11.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v -0.06285316 -0.19281691 -0.07532970
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+v -0.03466311 -0.29766340 -0.02396764
+v -0.03466311 -0.23184078 0.01800087
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_12.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cef2bc02c8a2535993846cc0a74b9d97048fe98
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_12.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.04891495 -0.02538914 -0.44739263
+v 0.04891495 -0.01944371 -0.44539868
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_13.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..171b02c027f6faf1f9632622b34164cac7a76357
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_13.obj
@@ -0,0 +1,739 @@
+# https://github.com/mikedh/trimesh
+v 0.31588716 -0.03210018 -0.20389489
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_14.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..141966338c4849e9cbbfb8f05a4478103168546c
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_14.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_15.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8e5aaa15aea9f95fe3dd8b3ab06ba6909507f33
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_15.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_16.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d54771994bf6cdc5fa8701fbece5c2e8c37af6c
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_16.obj
@@ -0,0 +1,490 @@
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_17.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c7a77cfa7d4d854c48b6fe42263d47d890788fe
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_17.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01807923 0.22832433 -0.01967150
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_18.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45a01bd5f4d7451331361bd95ab9193b455c5d66
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_18.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_19.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fdce514ae5ce0be9a559e2123dbada2b272c293
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_19.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_2.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a844a36acccf6dbbcc03c741a769dfdf969a31ae
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_2.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_20.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..501b12b041a5464c1eb5d16b3f6bb37bcf7e9a15
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_20.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_21.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8ce12c41a49ec595e63be2c7edea6070495adec
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_21.obj
@@ -0,0 +1,841 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_22.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1fb49ea5f658110d94b97a42e3dc7c3e07a159a
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_22.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_23.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4209824386133188722723f9a7016d4ea02f47b3
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_23.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_24.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a937d29c8a02dde14607ac58a2d3f6fba9457cae
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_24.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.06285316 -0.18086615 -0.02742288
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_25.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed15e726b852b930e1434e4dd7fddf781ffc3dab
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_25.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00920605 -0.28382985 -0.01688515
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_26.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2054673c8506cca9200b5a618160b322e002f30
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_26.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v -0.17566435 -0.11733722 0.42616676
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+v -0.22865548 -0.10439044 0.40772601
+v -0.23152026 -0.09545305 0.40772604
+v -0.24262332 -0.05362697 0.43499499
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+v -0.32807190 -0.11096823 0.41748564
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+v -0.28746911 -0.25906178 0.43499424
+v -0.28943574 -0.25745388 0.43499424
+v -0.31051142 -0.22203835 0.41748523
+v -0.31032560 -0.22203832 0.40772557
+v -0.31641136 -0.20257652 0.40772565
+v -0.31311298 -0.21316356 0.40772561
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+f 1 7 13
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+f 1 21 29
+f 1 29 39
+f 1 39 46
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_27.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1322beed864c1f3791b9b501097cb0e4997564d2
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_27.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.11213251 0.24332192 -0.09889758
+v 0.11153265 0.24020915 -0.09889759
+v 0.11223534 0.21699671 -0.13968937
+v 0.11223534 0.22072897 -0.14125120
+v 0.11223534 0.22191674 -0.14540081
+v 0.11223534 0.22589478 -0.16146328
+v 0.11223534 0.22484017 -0.16817004
+v 0.10358032 0.26327840 -0.09889750
+v 0.10705947 0.22754308 -0.09889763
+v 0.10424873 0.22624270 -0.09889764
+v 0.08651022 0.21915707 -0.09889766
+v 0.10668242 0.21699671 -0.13749973
+v 0.11223534 0.21699689 -0.18890279
+v 0.11223534 0.22025811 -0.18449286
+v 0.07513015 0.25553787 -0.21419841
+v 0.08651022 0.26929913 -0.09889748
+v 0.06640658 0.21699669 -0.13295201
+v 0.08649308 0.21699669 -0.13278357
+v 0.08441930 0.21923387 -0.09889766
+v -0.00350199 0.21699672 -0.14141965
+v 0.01958378 0.21699670 -0.13636662
+v 0.02294295 0.21699670 -0.13604507
+v 0.10580835 0.21699695 -0.20409249
+v 0.11223534 0.21863519 -0.18682032
+v 0.08198562 0.24214998 -0.22531512
+v 0.07043416 0.25280403 -0.22531508
+v 0.05524932 0.25578371 -0.23632453
+v 0.04412633 0.25576835 -0.23629392
+v 0.03302048 0.25567620 -0.23609485
+v -0.06285315 0.24992677 -0.22531509
+v 0.02760466 0.25814338 -0.09889752
+v 0.04412633 0.22228518 -0.09889765
+v -0.06285315 0.21699682 -0.16743509
+v 0.09956988 0.21699700 -0.21746005
+v 0.09934707 0.21842540 -0.21733754
+v 0.07782092 0.23775735 -0.23826925
+v 0.06351015 0.24490954 -0.24108666
+v 0.04412633 0.24499147 -0.24568034
+v 0.02474251 0.24689599 -0.24402660
+v 0.00174244 0.24419792 -0.24595595
+v -0.01944094 0.24377299 -0.24564970
+v -0.04064146 0.24327638 -0.24505254
+v -0.06184197 0.24259546 -0.24413382
+v -0.06285315 0.24255450 -0.24407256
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+v -0.06285315 0.22368343 -0.25194311
+v -0.06184197 0.21699713 -0.25188187
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+v -0.05519217 0.21699713 -0.25244842
+v -0.06184197 0.22368343 -0.25205028
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_28.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27cf4cf15c1afa233fcbe6550443b9f91e2efbe1
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_28.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.17168579 -0.28784199 -0.01688517
+v 0.16607293 -0.27173060 -0.01688511
+v 0.17039495 -0.30914526 -0.01688525
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+v 0.10557622 -0.27107550 -0.10498978
+v 0.14981062 -0.26382702 -0.01688508
+v 0.16976105 -0.31224055 -0.01688526
+v 0.10903384 -0.29424388 -0.10498986
+v 0.08652477 -0.26224598 -0.10498974
+v 0.12890358 -0.26006373 -0.01688507
+v 0.16503566 -0.32255819 -0.01688529
+v 0.10389351 -0.30465411 -0.10498990
+v 0.08652477 -0.26155155 -0.09676146
+v 0.06532960 -0.26134649 -0.10498974
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+v 0.05394253 -0.26149201 -0.10056509
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+v 0.11122366 -0.31892056 -0.01688528
+v 0.12930698 -0.32642729 -0.01688531
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_29.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d265a5d281aa856a79c6bc1b6f46ed52413a8e0
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_29.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.13370308 -0.18125577 0.19973697
+v -0.14569153 -0.15994520 0.22464758
+v -0.13791667 -0.18125581 0.20955813
+v -0.13638284 -0.20051635 0.19973690
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+v -0.30032495 0.01137511 0.26327353
+v -0.16298663 -0.15994534 0.26327290
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+v -0.14976408 -0.21911886 0.19973684
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+v -0.17312393 -0.23969557 0.19973676
+v -0.29498304 0.01137533 0.20471357
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_3.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be8c60020af410388e300d80b1e8e7c61a8c00f4
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_3.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.03492340 -0.00966695 -0.43712912
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_30.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8dbb7cb0d29d96e39c701fb814bb888faa68404
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_30.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_31.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d5961ae7623e601c41da66082d4068a03b09d29
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_31.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_32.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb2685d86d5122a07e8e578d77d9c4c6871931c5
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_32.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_33.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49a0a2e9171ecfb956a99013337a9b773d85bba9
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_33.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_34.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33dda7e94eb1f3fec114a5ab2605c6e8c108415c
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_34.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_35.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3156d7bdbfa09aab0c777fa970284e4fe5220e6c
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_35.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.11894862 -0.18126602 0.16317426
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+v -0.11973269 -0.20093852 0.16317419
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_36.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4322e386ed1c958f944016bee186d927ef6c6a
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_36.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00417505 -0.01077940 -0.54880352
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_37.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6eaba6772d0548b162d434ee9f60bd16a0e07b6
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_37.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_38.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b1c588790e04a8434d04fdbe71e15a406ad2022
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_38.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_39.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde58d26d4b6e6465a8020724ed35e9f55431af8
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_39.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.14946359 0.32061017 -0.31609565
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_4.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2181fbe81023bd0948896d77c30b833564bb81f3
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_4.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_40.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..687e4c25769499f54143eeb90d011b6a4b352522
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_40.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_41.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52b438fc070aa4e8b59fc8bffc8628f39e9f45dd
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_41.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_42.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a13ba54c760ac230d2ec212bf6cd1a8375abf918
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_42.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_43.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56b8b8c350c4f6f07ea1fefc265aef0e841d21bf
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_43.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_44.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d0f7fda909e6880aca035350a990f81402b16f
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_44.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_45.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c950b14803e8a33fd88ca3dd6fb91572b9a620d7
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_45.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_46.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d04210a2427140260b1d43e332e4f1ed622f6a
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_46.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_47.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae185cb1df941342af5b389af108bba049104b43
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_47.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_48.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5df10a345aaf0fa75dee9e84ae60b5c8f6696c5d
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_48.obj
@@ -0,0 +1,616 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_49.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8a88eaef71bccdf6df080893431246265b969f6
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_49.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_5.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d7c7be0918ab9bd355d45ca4cc1200c162175e0
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_5.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_50.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..704d2712e1c1b6536bc92ddafbbe8a2d6e2fcc41
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_50.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_51.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9e04783bd2182cec2018bbdb74dba21e3150ace
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_51.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_52.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1167ed60d630ced15e6ac17c393076e7f7e16441
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_52.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_53.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..149a9b25bb7df75c36ac3cbc395acf4c28fa7c76
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_53.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_54.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf4738fa707f3f044988baa70b2817a98f73e134
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_54.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_55.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c24f642a3de7967d910a4f78dbf9aabcbe6f926
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_55.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_56.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..841a6f38b98c0391d540a853e705eac9a1c1b254
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_56.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_57.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16c74833b80c2d91caab221a6ee3a9a4594adcd3
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_57.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.11123804 -0.28754360 -0.10498985
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+v 0.10902773 -0.29424339 -0.10498987
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_58.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74479ba838a440f59a1907d68bb17552919c4cab
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_58.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.27845975 0.03176827 0.16317505
+v -0.23560406 0.03176842 0.12188355
+v -0.28496526 0.00216355 0.14913194
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+v -0.27447928 -0.11085785 0.16317452
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_59.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d63e0a2432539eab24afa9f7c243fdec8013122b
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_59.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.22989151 0.26630942 -0.28960650
+v 0.22903704 0.26630949 -0.30702229
+v 0.22661206 0.28761948 -0.30350599
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_6.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f11384c90f99be1a1cd834b2cb0fc6d93d5891b5
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_6.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_60.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a9c6bb4a2337fc5af799ce6fdf62ed9220c228
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_60.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_61.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52468b10f02e3e228468d5e76e56068fd1297114
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_61.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_62.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a96c01bca076b6e773d3c79ac33f5fa4e2e155
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_62.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_63.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..619fd850a731c7d8c0b7352b1874e531320b8ef4
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_63.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.16842454 0.32312687 -0.30809557
+v 0.15010174 0.32127997 -0.29797786
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_64.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58802e5e4790c6386cc35570378bbe44eb1bcf15
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_64.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_65.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d4f68e8b0ad8869da91ee7fc2572702a6df841d
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_65.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_7.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01609c34a5d39f55524e3049477bc36589d3e9a0
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_7.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_8.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db7c27007708a5578617f45b392c05d12429f60b
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_8.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_9.obj b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c733c907a39ad58c85c670574da97e5b5d5dc3e
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/computer_chair_47_collision_9.obj
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/material_0.png b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a8723b4f4ce06601258353dab9671cc94251e97
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 1829524
diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/textures/material_0.png b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a8723b4f4ce06601258353dab9671cc94251e97
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/textures/material_0.png
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diff --git a/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/video.mp4 b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5d2f80bf79eda03a1e66b7f83887dfb37340a7d
--- /dev/null
+++ b/dataset/furniture/chair/4c497ddfe8e55e75975a894565d4dc35/video.mp4
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