diff --git a/.gitattributes b/.gitattributes
index 21340796b1297aac7ee9d0f880cd58543f79ff4c..51e6d55b906fe8b4b098a1aaa39ece8e3a277cb5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3744,3 +3744,6 @@ dataset/furniture/chair/78b42bb137d45170aa4187f9f1c02394/mesh/dining_chair_6_gs.
 dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/5e84202e9a055d94a3eedc987043f8f5.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/82c5af57f9c45881beb56e8447e52420.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/82c5af57f9c45881beb56e8447e52420.urdf b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/82c5af57f9c45881beb56e8447e52420.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3b5d04c3932e2d3ea8775d9fdd96172ea6f49a3f
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/82c5af57f9c45881beb56e8447e52420.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="office_chair_18">
+   <link name="office_chair_18">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/office_chair_18.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/office_chair_18_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="15.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.200000</scale>
+         <version>v0.1.5</version>
+         <category>office_chair</category>
+         <description>ergonomic office chair with adjustable headrest, armrests, and wheeled base</description>
+         <min_height>1.1</min_height>
+         <max_height>1.3</max_height>
+         <real_height>1.2</real_height>
+         <min_mass>12.0</min_mass>
+         <max_mass>18.0</max_mass>
+         <generate_time>20251021114737</generate_time>
+         <gs_model>mesh/office_chair_18_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.966714262962341</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Backrest, arms, and frame are merged; seat/base confusion remains and cannot be fixed by merging alone.","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/82c5af57f9c45881beb56e8447e52420/82c5af57f9c45881beb56e8447e52420.usd b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/82c5af57f9c45881beb56e8447e52420.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ba7edf7d9d93444471e746de30d6d46abdfdaabf
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/82c5af57f9c45881beb56e8447e52420.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fd9fd07d8f67fb94ff78d649dac3e100e372bd6606be2bd008784dbe627dd71
+size 925672
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/material.mtl b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/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/82c5af57f9c45881beb56e8447e52420/mesh/material_0.png b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f93ae650771ac11b208848e9180b1d4f3e258560
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6548ec2576d2c26f41c292e7d3a8e55eb71df86b9a78a89d78e4e6bd6c7c4cdb
+size 2013721
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18.glb b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18.glb
new file mode 100644
index 0000000000000000000000000000000000000000..152b17d845daa9e47c46505b4a3a43e622f878f6
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:101f3424b436fd80c1b5d4c03a687ecde75985c2784f2dd5d64b599c90e6e447
+size 2671116
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..757096c8f29b421acee1d5de1b3adb82b2aa7be4
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18.obj
@@ -0,0 +1,60508 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18_collision.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..497f174b714ac6cd2a2d235c9692d9e930c43490
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18_collision.obj
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18_gs.ply b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b1f05ed7c4bf8335c7ec745ba4559ef8ba2874b6
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18_gs.ply
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+version https://git-lfs.github.com/spec/v1
+oid sha256:734a1c1df4104ae8ca0efbf1715271112161b751b023b1d0b283993c870e8ef0
+size 16088938
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/82c5af57f9c45881beb56e8447e52420.xml b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/82c5af57f9c45881beb56e8447e52420.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d6871f5fd166b8f1ce05c1ca9000a172ddeb7d73
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/82c5af57f9c45881beb56e8447e52420.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="office_chair_18">
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+    <mesh name="collision_mesh_0_58" file="mesh/office_chair_18_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="office_chair_18">
+      <joint type="free" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/material_0.png b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f93ae650771ac11b208848e9180b1d4f3e258560
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6548ec2576d2c26f41c292e7d3a8e55eb71df86b9a78a89d78e4e6bd6c7c4cdb
+size 2013721
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1491a3dcdcb702b7aadc8daf5e74b9a2d66638f5
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18.obj
@@ -0,0 +1,60508 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.035884 0.175999 -0.199643
+v 0.037701 0.174652 -0.207579
+v 0.036071 0.175691 -0.204458
+v -0.158714 -0.016561 0.075566
+v -0.159551 -0.030370 0.079666
+v -0.159671 -0.010564 0.080102
+v -0.156317 -0.018690 0.061022
+v -0.156188 -0.027530 0.058949
+v -0.157218 -0.012510 0.064872
+v -0.153086 -0.013015 0.031760
+v -0.152862 -0.029389 0.031707
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+v -0.148906 -0.018402 -0.006839
+v -0.148910 -0.012532 -0.009521
+v -0.152303 -0.001994 0.031001
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87441b5d4d682215a07d89657d076b3be03fe928
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision.obj
@@ -0,0 +1,15202 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_0.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..640af426100f815ad42418c7c8c945dc36f8ab1e
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_0.obj
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_1.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1adbd872257b1b9a45d4043a85925aef1277bde1
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_1.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_10.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d08831fd06d8eef316a232da8918d2cf98a52ff3
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_10.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_11.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dab8296f7205f56b41b43406762a5134c5b17ba0
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_11.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_12.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf473b10e86f8bc1b57f6edda6103114f00294ea
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_12.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.09442168 -0.20955294 -0.03464480
+v -0.09442168 -0.18990528 -0.03312581
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+
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_13.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04787f2010bd64198d9698fbf861ccd5e335b168
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_13.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.11899143 0.02478331 0.09909368
+v -0.10929944 0.13501664 0.08865181
+v -0.11325552 0.13501661 0.09909409
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+
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_14.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9128294800a249ad69feb968d34a6187f857ba70
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_14.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v -0.09442168 -0.07376189 -0.21698892
+v -0.09442168 -0.07376228 -0.11292453
+v 0.02898030 -0.07376189 -0.21698892
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_15.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23f813c91b59c2e846d5d060a0e9cc0dd9173197
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_15.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_16.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e22c58d0c8ecf143d80e474e46b2c4b6a0f6e81d
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_16.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_17.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54ee5e68533ee9cca2c06b9c44bf5a3043ba748b
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_17.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_18.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f093c889874937ca0fc0e2149b590a3c36e14db3
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_18.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_19.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3abe9f0bcdd604eabdde24fc5eac4efbf894717a
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_19.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_2.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19fac0d69e0aa1eaf76bf9e4964ce9895eb0b6c1
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_2.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_20.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b990086a87d26d529478ccdef3440df86247cdf
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_20.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_21.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c86cc5054dd23e6a613594a3d20b7bdc993f61e
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_21.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_22.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d14a9a9321f22b4468389357607e11958dedf07
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_22.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_23.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4369b8d9d15f00bb18f907f73a70ce1957f7cfa
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_23.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_24.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..566580df8f138e823d4da1ab74ef15d4c4f09275
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_24.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_25.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66500d35e9e69573f5198b76aeae2269e112e1f3
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_25.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_26.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05911c68a7b0a9b41847f8e029d31e1d37e7c948
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_26.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_27.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d140ced0154aa68bbd3196a49a4602c4624cdddc
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_27.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_28.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11f04b81608d37cffef0873d4c96e84c9913806f
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_28.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_29.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..286f7ebf47e0d5d4c86ed8de0a6318d16811fdf6
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_29.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_3.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff1b8ac9cc311a5d35a8733d48c96857d291432d
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_3.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_30.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7e324ea1260459ad88da29fd80a0454b8204d0c
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_30.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_31.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5916c8e736228a3f6a133108c502c5c757e56747
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_31.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_32.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1aaa05816a035d493e7d074e498383fe941dc55
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_32.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_33.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b45c636d37a27cd1a90b0e62ba12463da8f2f9d1
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_33.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_34.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c9e14a7b270164d0b52dd596742416a6e672195
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_34.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_35.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bac594742adec8c73580b4821b9adf649dbdab37
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_35.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_36.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..805c873b9794c865bb367ddb5a2e579b94d80790
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_36.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_37.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3048beac524a2cceadf4becd1b7f74812b64d2ce
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_37.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_38.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4f2f93e6611c7a836325a5ba938c419c35393ab
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_38.obj
@@ -0,0 +1,676 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_39.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bde53bf281c78baf9ca330baae67dff7b7ed1265
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_39.obj
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_4.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..132ed9303a1936493b2ee9922ac2a1d942ecc946
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_4.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_40.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc2386109525700cea07d474295a9c075e3a874d
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_40.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_41.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b9a275564d389664ed07651c5f4edf14cfcdeda
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_41.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_42.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0639b17f8bccfa935393ff305d2984d1bf506e87
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_42.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_43.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8089f8a7f6e3aba6dfd365795d04278df058ad94
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_43.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_44.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6160c00ee9e3c3de6e40387561aee29e83537b16
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_44.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_45.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f3da3b50281bb07894b32b1d1620ac58b82213
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_45.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_46.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46cdc48a8767fe4f84da8799252ec469ae183e04
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_46.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_47.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0526d05d0a97a8a3747878c187e7bc87e57bb76c
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_47.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_48.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76580ecffc453aff752680e7a25e17fe12f4cad4
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_48.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.04566448 -0.28544570 -0.14866488
+v 0.04675914 -0.28544569 -0.15274511
+v 0.04631536 -0.30782545 -0.14866496
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_49.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4bdacffd23794063f6bb09867d5923dd63c5737
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_49.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_5.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30aa134afa304c3ae42031771c5e334b42c83bfb
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_5.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_50.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d968b761ed194970b77447e37952eeeef67ad4a3
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_50.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_51.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18981ed5a606325a3157c905d8f8a3b01ebf815a
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_51.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_52.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df1cb86a71c7aa5e1f50a62a9718fa70b422cfab
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_52.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_53.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9438483ce0ff16367154b9005b556856499b083d
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_53.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_54.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bddb8c68d0484bb1b69443e639ee46fabcecc70
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_54.obj
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_55.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b39dd773a47cac3f03ac419f418d68e43de6f3
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_55.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_56.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2e314170f5f852a7a2b699b619ba61ae04a0754
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_56.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_57.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ce21a72f178ab7a154af56e7cace8f04bc99ec6
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_57.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_58.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf2b8a1cd2335d942e7f5ba2855564d0e0264de5
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_58.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_6.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e976b75b516440e08e39a560b2dc2826f1003986
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_6.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_7.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f07869ee6adb908e24557ccbc4a631b15469449c
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_7.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_8.obj b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebfe2a09b2faa071af3f46a07b0a41d84abcaaee
--- /dev/null
+++ b/dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mjcf/mesh/office_chair_18_collision_8.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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