diff --git a/.gitattributes b/.gitattributes
index 150aca3e62ac94ac7c4495f6b2e1dbefbccc7b13..11c63f8c1dac2cb8784fe373c990b727a2df961e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3759,3 +3759,6 @@ dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41_
 dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/a4539947ba215e03a1cb360dc16404b7.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mesh/dining_chair_5.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mesh/dining_chair_5_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/a0ced45e962556f2a6a28e516df3db06.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/a0ced45e962556f2a6a28e516df3db06.urdf b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/a0ced45e962556f2a6a28e516df3db06.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cfee5cc889dca5c29c51bc565ddb421dbd4d5b1e
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/a0ced45e962556f2a6a28e516df3db06.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="office_chair_11">
+   <link name="office_chair_11">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/office_chair_11.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_11_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="12.5000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.100000</scale>
+         <version>v0.1.5</version>
+         <category>office_chair</category>
+         <description>modern black office chair with armrests, adjustable height, and rolling wheels</description>
+         <min_height>1.0</min_height>
+         <max_height>1.2</max_height>
+         <real_height>1.1</real_height>
+         <min_mass>10.0</min_mass>
+         <max_mass>15.0</max_mass>
+         <generate_time>20251021112722</generate_time>
+         <gs_model>mesh/office_chair_11_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.055724740028381</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>15</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/a0ced45e962556f2a6a28e516df3db06.usd b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/a0ced45e962556f2a6a28e516df3db06.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c48f96c5ccd35f0a2f0a225915701f36d712b71e
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/a0ced45e962556f2a6a28e516df3db06.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03df392ddd46c0567e153050af287a62fc05622b2b0e3fa177a7e7e50687abcb
+size 369209
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/material.mtl b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/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/a0ced45e962556f2a6a28e516df3db06/mesh/material_0.png b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..655fc48deaf2fb0a40ea9aa5e3f82cd62f37c21a
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53970deefa479402210bfe514c6f6db1aa675314251dcfb2b58231c69c8b3557
+size 1052741
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11.glb b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11.glb
new file mode 100644
index 0000000000000000000000000000000000000000..23c0de8b3bbd885584d6e78b8c6d541c3866bd14
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:700aca6e530c2bac6358d775b564aa412a099f269d511b54328cce534fec4bb7
+size 1325848
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bfd0292cc274a1d45142b7dfe84671deec3371f
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11.obj
@@ -0,0 +1,25236 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11_collision.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff05bebfb139fa5b4a14addd8e804a793f200b10
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11_collision.obj
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/a0ced45e962556f2a6a28e516df3db06.xml b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/a0ced45e962556f2a6a28e516df3db06.xml
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/material_0.png b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/material_0.png
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11.obj
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index 0000000000000000000000000000000000000000..ed385759284c06e4a428bdfdbc0f292730089d3f
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+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11.obj
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d189c43f2705066286e6a587c847d5a8bca907d1
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision.obj
@@ -0,0 +1,25334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_0.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eed33a862cebf60ec7425ae27d08b245bac95f2
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_0.obj
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_1.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca6d9f317c670b4e8884a93f51e83d7d30436872
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_1.obj
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_10.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bdfb957c45adbd6e13aa0c83b45cec98bb2a2fa
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_10.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_11.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7a8d961ed161aa0f8e537669432ce13f764dac6
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_11.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_12.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77b52b409ca5a1b2dc5e50ed60eb4e34fdc3b216
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_12.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_13.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbb59bb49909bc0ab021af6c337a47a1046d650d
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_13.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_14.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a809e2120be1b927772332bd27a8674f6015b8e2
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_14.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_15.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ef47bc0bc950b4b3e31986f833ca2391749c212
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_15.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+v -0.17306984 0.22225745 -0.00841770
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_16.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ee3fd88a95bf99e87740db3db52ead57859657
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_16.obj
@@ -0,0 +1,724 @@
+# https://github.com/mikedh/trimesh
+v 0.12157539 0.15869165 -0.21174595
+v 0.12157539 0.13376407 -0.21586890
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_17.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cfdc58304833014b05a337f6affb7ef69493e39
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_17.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_18.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49a6b30a5ea6399d9d022fbcc2a61f7b60b596f1
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_18.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_19.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f237702bb19ae6b48caf1b402d866897057cdc8
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_19.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_2.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46ca5588a9ff8a1c1943275add8e28c3229b8aad
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_2.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_20.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a656097874a7f08614a7a8a2c3a42c7b3fd819c
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_20.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_21.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3705a796326ea09214de3b85b1a07eb4d0c707e6
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_21.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_22.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98acf6e097ed9e2906ea7226c5d674629c05ec8a
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_22.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_23.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d050b5b64d9429fb7e750367cf09da470f3852e0
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_23.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.31998237 0.36351242 0.00888380
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+v 0.31975114 0.36351242 0.00787843
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+v 0.31953534 0.34474661 0.00787836
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_24.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d9326d56dddf32251ff3fc54e30cdda6e19f242
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_24.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.27079586 -0.10255437 -0.08644000
+v -0.27079586 -0.09974503 -0.08385101
+v -0.25371969 -0.16785163 -0.08644024
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_25.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b8c71c83a7fd4bdb9d313adbe06e90ee7378b6
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_25.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.32032389 -0.28696245 0.00640380
+v 0.32028376 -0.28941653 0.00640379
+v 0.31598939 -0.30502444 -0.00925820
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+v 0.30955454 -0.33218622 -0.01845578
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_26.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2395e43a9a406de7c58544f02dec192d5dc2c4f
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_26.obj
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_27.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df29f656271c69b097e607a322e70841d06621c6
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_27.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_28.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1110c1947f77b79bf2c531496768b60a6dae5eb7
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_28.obj
@@ -0,0 +1,910 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_29.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..990a6c2eaf911461ef5b391a47ca0f8c62cb092e
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_29.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_3.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ea5761e9e1d493d084b09f42af00fed9b016202
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_3.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_30.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09479dbe8a4eedff8d74f4b74d4605293d6e8847
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_30.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_31.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12cc4e1f1fe20a3d289ff99ab4581be6e3f4ddff
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_31.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_32.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c987107062f708df62b5c949d4316a731554b047
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_32.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_33.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1001560be2d9bb55385027dc83b3acff3ce5ae9a
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_33.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_34.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4f3707564b0fb29933e257f9ec75f7645c6b030
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_34.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_35.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..109f4160919d48063454212e12587e7a146be53b
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_35.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.20469897 0.27561288 -0.00841097
+v -0.20469897 0.27562706 -0.00822795
+v -0.26379698 0.25708022 -0.00841104
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+v -0.20469897 0.27895922 0.00773426
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+v -0.22692012 0.27843437 0.05835967
+v -0.27873481 0.25783173 -0.00841103
+v -0.24084824 0.27849110 0.05835967
+v -0.20920557 0.37277118 -0.00841061
+v -0.20920557 0.39964121 0.04513673
+v -0.20469897 0.39894641 0.04473800
+v -0.20469897 0.28979232 0.02808905
+v -0.21711252 0.28627567 0.05835970
+v -0.28053894 0.27469122 -0.00841097
+v -0.24767123 0.29123850 0.05835972
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+v -0.21907998 0.37260101 -0.00841061
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+v -0.24353586 0.36263279 -0.00841065
+v -0.23210976 0.38777288 0.05836007
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+f 21 25 22
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+f 34 37 35
+f 36 37 38
+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_36.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2d3d3bbe7395df09d3ce337acdb615cc8d26860
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_36.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.30381441 -0.20116379 0.15388684
+v -0.28549761 -0.22515956 0.16432559
+v -0.28624509 -0.22515957 0.16649156
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+v -0.30320974 -0.20116383 0.16649165
+v -0.29754085 -0.20116374 0.14144247
+v -0.24605060 -0.22515920 0.06404864
+v -0.24397622 -0.22515957 0.16649156
+v -0.25004822 -0.20116383 0.16649165
+v -0.29564282 -0.20116373 0.13829378
+v -0.24296841 -0.21658594 0.06404867
+v -0.21801693 -0.22515920 0.06404864
+v -0.24476566 -0.22004144 0.16649158
+v -0.24219576 -0.22515955 0.16117689
+v -0.24725157 -0.20116379 0.15474922
+v -0.24878007 -0.20479749 0.16649164
+v -0.23746750 -0.20767231 0.12369344
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+v -0.24269966 -0.21587189 0.06404868
+v -0.21836127 -0.22410692 0.06404865
+v -0.21871400 -0.22494547 0.06931318
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+v -0.23532592 -0.20482774 0.08609962
+v -0.22601216 -0.21688659 0.06404867
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+v -0.24971228 -0.20116361 0.10490156
+v -0.24189342 -0.20116363 0.11168028
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+f 29 34 36
+f 30 38 31
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+f 32 39 40
+f 32 40 34
+f 34 40 36
+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_37.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbd3bb46da4ed63acb2ed07f689690e1d5ed647d
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_37.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.22546525 0.08306300 0.16650896
+v -0.19961737 0.08306300 0.16650896
+v -0.22547884 0.08161552 0.16650895
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+v -0.33123494 0.08306239 0.33264729
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+v -0.23330658 -0.14443745 0.24111179
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+v -0.19494247 -0.14443719 0.17122472
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+v -0.22553319 0.06353308 0.16650888
+v -0.33169701 0.03825715 0.33264712
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+v -0.30481629 0.08306239 0.33264729
+v -0.25303902 0.08306267 0.25618949
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+v -0.33169701 0.02019698 0.33264705
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_38.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b3b3d105b1c30484d9f88b3e087389ff6605b5e
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_38.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.25963189 0.15871796 -0.10844024
+v 0.25928270 0.15871796 -0.10846291
+v 0.25963189 0.15871832 -0.20825917
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_39.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b7c0c4b7f16bcdbe819660d0e6862630294c731
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_39.obj
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_4.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af1ad9e233f7b740121083d79c57e0888cd0b554
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_4.obj
@@ -0,0 +1,577 @@
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_40.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e6dcfeb809ecc46fd8738b40b3fcdce44a081fa
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_40.obj
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_41.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3d5be0d16d54c9c8ad02786c7bf96ab792d348c
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_41.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.20469155 0.37276110 -0.00841061
+v -0.20469155 0.39894997 0.04473800
+v -0.19596375 0.37272601 -0.00841061
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+v -0.20469155 0.27561785 -0.00822795
+v -0.20469155 0.32140017 0.05835983
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+v -0.19043296 0.22225722 0.05835947
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+v -0.20469155 0.28979103 0.02808905
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+v -0.14387081 0.32736421 0.05835985
+v -0.14691303 0.30931428 0.05835979
+v -0.16900639 0.22225722 0.05835947
+v -0.15662912 0.38309266 0.05836006
+v -0.16469607 0.38863568 0.05517025
+v -0.15545032 0.38146130 0.05836005
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+v -0.16472585 0.34543189 -0.00841071
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+v -0.16345180 0.29893009 -0.00127953
+v -0.16448771 0.32736445 -0.00841078
+v -0.16462464 0.33952049 -0.00841073
+v -0.14411491 0.34587018 0.05835992
+v -0.16469013 0.30931452 -0.00841084
+v -0.14700829 0.30892838 0.05835978
+v -0.16967320 0.22225732 0.03031123
+v -0.16914928 0.22225725 0.04844356
+v -0.14837164 0.36349909 0.05835999
+v -0.16923858 0.22225726 0.04513608
+f 1 2 3
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+f 40 42 44
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_42.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0af06248dc0ecb0490c41aa7eedfb2b63b6eb98
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_42.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.32330646 -0.04738804 0.16413660
+v -0.32997108 -0.04738804 0.16376504
+v -0.31634130 -0.04738803 0.16197479
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+v -0.33691047 0.11654026 0.15908736
+v -0.33284817 -0.04738804 0.16305570
+v -0.31194405 -0.04738802 0.15883343
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+v -0.33937535 -0.04738803 0.16082633
+v -0.34640925 0.11654027 0.15425709
+v -0.30559720 -0.04738800 0.15271959
+v -0.31034661 0.11654032 0.14042492
+v -0.35148499 0.11654029 0.15087926
+v -0.35035989 -0.04738800 0.15180757
+v -0.30134598 -0.04738794 0.13576293
+v -0.30857739 0.11654036 0.13098392
+v -0.35998749 0.07438689 0.13885407
+v -0.35804650 0.11654034 0.13578042
+v -0.35903416 0.11053905 0.13578040
+v -0.36511477 0.08861993 0.12872069
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+v -0.36503747 -0.00874859 0.12838254
+v -0.35169968 -0.04738798 0.14800753
+v -0.30874057 -0.04738759 0.03981604
+v -0.30754677 -0.04453118 -0.00838540
+v -0.30472120 -0.03398881 -0.00838536
+v -0.30469542 -0.03323464 -0.00838536
+v -0.30879209 0.11654067 0.04515359
+v -0.36575030 0.05633491 0.12985213
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+v -0.37011321 0.00214684 0.11764112
+v -0.37487117 0.00214690 0.09950225
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+v -0.38189648 0.02021507 0.07133131
+v -0.38146706 0.00214701 0.06943967
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+v -0.38699799 0.00214717 0.02703118
+v -0.38350249 -0.00929386 0.04515313
+v -0.38613914 -0.01643423 -0.00838530
+v -0.37753357 -0.02704079 -0.00838534
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+v -0.32950729 -0.04738754 0.02785857
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_43.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66cf68e167036ee09c5aaec38217f6a46de3e5e4
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_43.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.19257677 0.22225684 0.16649321
+v -0.16879295 0.29164352 0.16649346
+v -0.21713872 0.22225684 0.16649321
+v -0.18549237 0.22225689 0.15192861
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+v -0.20851159 0.29164352 0.16649346
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+v -0.16177622 0.27080618 0.05835964
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_44.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39a4d8d601d2b36446ddcfa21b022be6b9b652e9
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_44.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.03834909 -0.33777817 0.11764982
+v -0.11819733 -0.33772945 0.09953346
+v -0.10000241 -0.33752506 0.09953346
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+v -0.10000241 -0.33291220 0.12752504
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+v -0.13299227 -0.33210440 0.11652023
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_45.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da8539763ac19f4d475745e4c671f4c2ef53bef2
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_45.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_46.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f3875e716c21ad46a998fef4a61c36e95f72a7
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_46.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_47.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c195afb118f618c411cb38f1b9c34f364790e89f
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_47.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_48.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f712c913d03d1bb2fc9eb9aa77a30075687dd78c
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_48.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_49.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d1aa073dca112306fb15925e270a0020ca4c15f
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_49.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_5.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb8bd959b5774f3c0f5d0e06d6f5f21e0990d53c
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_5.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_50.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f9e12aed00063ad4df4269a10064239fe3d27c9
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_50.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_51.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9ffcc3056b47356bdd3411d72332d39b74178f4
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_51.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_52.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..315af7db8a14cb4e82009600f4d019d47d8e5d0c
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_52.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.26914618 -0.01693256 -0.21589663
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_53.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..041adcd2c0caa60369040071b1a395228ec1f3a6
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_53.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.21802290 -0.22515920 0.06404864
+v -0.21772276 -0.22515919 0.06156589
+v -0.21805149 -0.22504788 0.06404864
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+v -0.29072858 -0.19609497 -0.00841924
+v -0.28291062 -0.21454635 -0.00841931
+v -0.27380634 -0.22460699 0.00068881
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+v -0.21772276 -0.21096555 -0.00841929
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_54.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e33cfc700728e6dd062edaf9d7100e7f6c13c24
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_54.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.34113601 0.08306234 0.34579863
+v -0.34113601 0.08985005 0.34613289
+v -0.34113601 0.08306215 0.39729359
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+v -0.34113601 0.09249246 0.34626660
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_55.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3b87ff7682939bc9203cad7c4658e839d8c7887
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_55.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.19100615 0.12853758 -0.24142612
+v -0.18640975 0.12853758 -0.24112955
+v -0.21027177 0.12853757 -0.23939758
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_56.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9307ae71cad75a6ef54c0afe60deb09019adcfd9
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_56.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_57.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d920ceada19e56f7bb16458a1e625c21d19167c
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_57.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_58.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..673e184b9b6711de4d516dd0f3e05a3e04a86ba2
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_58.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_59.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb70c7475f8bddc912db1a5bf936bdfbba879a8e
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_59.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_6.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3c359e20bd20d22700425f6be6c539070f88765
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_6.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_60.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4965b7f558430c7d7d01b60858a4955e699358d
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_60.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.28686197 -0.20662656 0.40840574
+v -0.27306611 -0.20662647 0.38289889
+v -0.27255976 -0.20522716 0.38123796
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+v -0.33679529 -0.20662656 0.40810175
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+v -0.25362934 -0.20497582 0.33266367
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_61.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b126427eb8adfb0eec7fb8a4f2ba075a03b42489
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_61.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.25371721 -0.18180863 -0.12023711
+v -0.25371721 -0.16486010 -0.08176407
+v -0.22835618 -0.19674669 -0.12020433
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+v -0.25371721 -0.15702624 -0.06364945
+v -0.22835618 -0.20167674 -0.02738758
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_62.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06585312d19942943396a4def27f0d18bc041eda
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_62.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_63.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1946bbf6ca3cdebdfb4707b74bc77f57b4245b9c
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_63.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.24056984 0.30929012 -0.21857211
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_64.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa6e7a672b326e2c195ce71a101f7d644ddc3e9
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_64.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_65.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f11e9fb2e5b79bfe1d23a7a6f6d17477f117248d
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_65.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_66.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ff0058cb2ca644ca4dec2d1c3b5b22b28b0e5e5
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_66.obj
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_67.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36be9c678e103aece0372a90aaed6e9358094333
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_67.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_68.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc2f12f1ea784a22d2bbf370a7d3b27be99e57c0
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_68.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_69.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..add037bb833b698df74b136680c93d09ad7f2670
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_69.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_7.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55f15d4b955700cf40f0cb87e445b420f48b4aa2
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_7.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_70.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1781fb8941ca3afce93a40260cd5ad7012eca53
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_70.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_71.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f3b84b59a74a05b8a0b355a992f136e5a88d544
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_71.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_72.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce7a0ed5eb4c1ffff9bdb91b44c6696fe3d256e5
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_72.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.25372605 -0.30441998 -0.12023084
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_73.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47c5189318c960b3493bf3a31b772989b082a59b
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_73.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_74.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..131a25b0406d5bdc0a6076a2580ebd639ef174e2
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_74.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_75.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f7e3887347821dbbe5e3fd7a8a89118846f8ffc
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_75.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_76.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28eeccbcd346618194800916ae947514a0edad84
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_76.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_77.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeb9cff94d3d5a9486a4b4c082de72c459339d12
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_77.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_78.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6055817c1973068751bc91af1a7d53e9637b46f2
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_78.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_79.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b03b327dfac2c33843a3d2e5842c0fd1d92c67b0
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_79.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_8.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11768a6a2b1c51249d9bb9aad5febc8944cbb50b
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_8.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_80.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4b5278dba1fa8978510ec06d03726f477e2441d
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_80.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_81.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c083c0acb42d27fd157cfd337e942c2516ed623a
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_81.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_82.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1bdf14bc59044b5b4f5ad5ea428b7329b66ecd6
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_82.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_83.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb3fa492ba9fe62357840efcb3236df0aa268779
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_83.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_84.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d71e8abede4a31169212c684f55f7b1461f7be54
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_84.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_85.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f66c73f04c6cd2f1909c3a9c4a92e7742f27d4b
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_85.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_86.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c02d79e37fab575ad4bc7799ebb152e4e0908896
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_86.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.31283932 0.15335654 0.12782517
+v -0.31242626 0.15279056 0.12782517
+v -0.30999256 0.18150877 0.05385115
+f 1 2 6
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+f 45 51 46
+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_87.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8972a0f90794560a85120df48ea14d9f784d5b35
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_87.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.35790207 -0.26928709 0.40840558
+v -0.35790207 -0.26834412 0.42586530
+v -0.37300608 -0.26632116 0.42586531
+v -0.37300608 -0.26707400 0.40840559
+v -0.35790207 -0.22532204 0.40840574
+v -0.35790207 -0.26553791 0.44399287
+v -0.37300608 -0.26454163 0.44399288
+v -0.38667681 -0.26119540 0.44399289
+v -0.38953655 -0.26194823 0.42586533
+v -0.38873118 -0.26264023 0.40840561
+v -0.37084249 -0.21711613 0.40840577
+v -0.35790207 -0.21401341 0.44783781
+v -0.35790207 -0.26461009 0.44718527
+v -0.37300608 -0.26363666 0.44783763
+v -0.38541415 -0.26089121 0.44783764
+v -0.39117458 -0.25870855 0.44783765
+v -0.39576787 -0.25774268 0.44399290
+v -0.39862762 -0.25908871 0.42586534
+v -0.39782224 -0.25749920 0.40840562
+v -0.37136806 -0.21681953 0.40840577
+v -0.39197993 -0.20719148 0.40840581
+v -0.41063301 -0.19250620 0.44783789
+v -0.35790207 -0.26441998 0.44783763
+v -0.39449158 -0.25702022 0.44783766
+v -0.40655158 -0.24803861 0.44783769
+v -0.40682459 -0.24870783 0.44399294
+v -0.40616254 -0.25005386 0.42586537
+v -0.40449041 -0.24847194 0.40840566
+v -0.39268292 -0.20691771 0.40840581
+v -0.41317197 -0.19159359 0.44783790
+v -0.41564948 -0.23776412 0.44783773
+v -0.41592933 -0.23776410 0.44399298
+v -0.41526044 -0.23621259 0.42586542
+v -0.41938965 -0.22536009 0.41381389
+v -0.41454381 -0.23121598 0.40840572
+v -0.39412985 -0.20666673 0.40840581
+v -0.41464620 -0.19159359 0.44783790
+v -0.42136894 -0.22873688 0.44783776
+v -0.42136211 -0.22873686 0.44399301
+v -0.42042707 -0.22718534 0.42586546
+v -0.42733411 -0.21469024 0.44399306
+v -0.41938965 -0.22052325 0.41381391
+v -0.41454381 -0.23069884 0.40840572
+v -0.39489425 -0.20666673 0.40840581
+v -0.42385329 -0.19319065 0.44783789
+v -0.40201970 -0.20536629 0.41246289
+v -0.42761393 -0.21469026 0.44783781
+v -0.42641955 -0.19688674 0.44783788
+v -0.42125975 -0.20333579 0.43044760
+v -0.41167043 -0.21459885 0.40840578
+v -0.40789615 -0.21125261 0.40840579
+v -0.42514325 -0.19703882 0.44531717
+v -0.41030542 -0.21261392 0.40840579
+f 1 2 3
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+f 1 4 10
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+f 1 35 43
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+f 1 53 51
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+f 49 53 50
+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_88.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68c16de62b38a96064c14b1a8a7c2f161e580668
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_88.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.32694396 0.22225708 0.09953326
+v -0.32626352 0.22454257 0.09953326
+v -0.31994036 0.22225715 0.08169418
+v -0.32367451 0.22225684 0.16649321
+v -0.31043070 0.27334309 0.16567612
+v -0.31422295 0.25531427 0.11870640
+v -0.31745920 0.23878071 0.09781423
+v -0.31148456 0.26975231 0.15391491
+v -0.31130198 0.26686177 0.13578460
+v -0.31930138 0.22225716 0.08022872
+v -0.31218989 0.22225684 0.16649321
+v -0.31035601 0.27334309 0.16649339
+v -0.30864661 0.27334313 0.15391492
+v -0.30999919 0.26478633 0.12544188
+v -0.31242226 0.24943304 0.10270851
+v -0.30868808 0.24597233 0.09061849
+v -0.30116998 0.27334320 0.13718432
+v -0.30019911 0.22677817 0.07314570
+v -0.31857944 0.22225716 0.07985296
+v -0.27255805 0.24586203 0.16328996
+v -0.26883219 0.25137324 0.16649331
+v -0.27515537 0.22225699 0.12468081
+v -0.27089843 0.22622784 0.12961264
+v -0.25096633 0.27334309 0.16649339
+v -0.30019911 0.26657175 0.12252037
+v -0.29878844 0.27334321 0.13446948
+v -0.24645215 0.27334329 0.11072161
+v -0.29655622 0.24679751 0.08958517
+v -0.30165128 0.23878076 0.08332879
+v -0.26324755 0.27334328 0.11539979
+v -0.30019911 0.22225719 0.07052479
+v -0.28200963 0.24718760 0.08925638
+v -0.28200963 0.23703539 0.08177877
+v -0.26920561 0.24290641 0.15391481
+v -0.26600253 0.25398882 0.16649332
+v -0.26947945 0.22225702 0.11580355
+v -0.26875750 0.22340227 0.11766355
+v -0.25618586 0.24787758 0.13987089
+v -0.26010257 0.25148331 0.15391484
+v -0.24731515 0.27334312 0.15693976
+v -0.25351386 0.26760180 0.16649337
+v -0.25384578 0.24432192 0.10670090
+v -0.27009350 0.22341737 0.08640054
+v -0.26966201 0.23703537 0.08686089
+v -0.27139631 0.24683252 0.08973547
+v -0.24393781 0.27334327 0.11721282
+v -0.29483852 0.22225719 0.07151115
+v -0.26419353 0.25569419 0.16649333
+v -0.26842558 0.22225705 0.10782810
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+v -0.24624470 0.27316307 0.15391492
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+v -0.25387897 0.24444690 0.11766363
+v -0.26757088 0.22225708 0.10077326
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+v -0.26903135 0.22225711 0.09356811
+v -0.24228649 0.27334321 0.13281614
+v -0.24217862 0.27334321 0.13418766
+v -0.27321361 0.22225714 0.08430569
+v -0.28069851 0.22225716 0.07980600
+v -0.24574681 0.27334314 0.15186704
+v -0.24619490 0.27334313 0.15391492
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+f 55 62 65
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_89.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..386a686fdce421c0b28488b1018c15bf5d8b179f
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_89.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.31043659 0.27334807 0.16567837
+v -0.31035448 0.27334807 0.16649339
+v -0.31036360 0.27359705 0.16649339
+v -0.30873933 0.28077739 0.16649342
+v -0.30870285 0.28068786 0.16596419
+v -0.30864811 0.27334811 0.15390814
+v -0.25096919 0.27334807 0.16649339
+v -0.30806410 0.28144726 0.16649342
+v -0.30117476 0.27334818 0.13718424
+v -0.24772983 0.29164418 0.05835972
+v -0.25069544 0.27391943 0.16649340
+v -0.24731922 0.27334810 0.15694595
+v -0.29544427 0.29164378 0.16649346
+v -0.29879313 0.27334819 0.13446396
+v -0.24767509 0.29123582 0.05835972
+v -0.24260160 0.28176109 0.05835968
+v -0.24084961 0.27849062 0.05835967
+v -0.21721595 0.29164418 0.05835972
+v -0.24702721 0.28569926 0.16649344
+v -0.24625159 0.27334811 0.15409866
+v -0.24537560 0.29164378 0.16649346
+v -0.26324228 0.27334826 0.11539025
+v -0.22692490 0.27843330 0.05835967
+v -0.24645233 0.27334827 0.11072238
+v -0.21721595 0.28613486 0.05835970
+v -0.21721595 0.29164415 0.06418133
+v -0.24544859 0.29123542 0.16649346
+v -0.24619684 0.27334811 0.15390814
+v -0.24108685 0.29123546 0.15390821
+v -0.24111422 0.29164382 0.15420458
+v -0.24393384 0.27334825 0.11720025
+v -0.22170542 0.28036944 0.05835968
+v -0.24218185 0.27334819 0.13418876
+v -0.24229136 0.27334819 0.13281274
+v -0.23645138 0.28210115 0.12702293
+v -0.24574058 0.27334812 0.15186528
+v -0.24102299 0.29164382 0.15392938
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 9
+f 1 9 14
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+f 27 29 30
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+f 29 37 30
+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_9.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba40d4bf7bfd25c4ae0d4814e95b9b56ffa04068
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_9.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.04557175 0.05297669 -0.40809582
+v 0.02814905 0.05025238 -0.42623758
+v 0.02872655 0.05017616 -0.40809583
+v 0.06114646 0.05010848 -0.40809583
+v 0.04559841 0.05291754 -0.42623757
+v 0.02937513 0.05005784 -0.44436409
+v 0.01905122 0.04698650 -0.42623759
+v 0.01964649 0.04672415 -0.40809584
+v 0.07026206 0.04568347 -0.40809584
+v 0.06116423 0.05010001 -0.40811107
+v 0.06072888 0.04998163 -0.42623758
+v 0.06036461 0.04974479 -0.44436409
+v 0.04559841 0.05249456 -0.44436408
+v 0.03276904 0.04894951 -0.45502465
+v 0.02027730 0.04581897 -0.44436410
+v 0.00994451 0.03679128 -0.44436413
+v 0.00965132 0.03795035 -0.42623762
+v 0.00992674 0.03767954 -0.40809587
+v 0.07857804 0.03665578 -0.40809588
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_90.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff47fcd5c0ef9095cf38ebfb9da947d8cbad26a1
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_90.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_91.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec73bf235cd6d62ac889dad4d9258991507b584
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_91.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_92.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e4d9af6b8da66fabb9ea5053b0dcad47382682e
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_92.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_93.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df6941b7a8e114d5953c271b7f2014773136c28b
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_93.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_94.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebcb15a6f6e836507e0802702fad2d4a48d5bd90
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_94.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_95.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3030f0faebfdedcf05115934baeab98de590cfd8
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_95.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.20187039 0.12853712 -0.12023971
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+v -0.23177902 0.12853712 -0.12023971
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_96.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a79dcc69652ddc9965b93244eadce14fb8580e1b
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_96.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.31456574 -0.14443780 0.33265649
+v -0.31014861 -0.14443777 0.32482525
+v -0.28682412 -0.19052302 0.29209028
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+v -0.28839452 -0.14443780 0.33265649
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+v -0.30438007 -0.14443774 0.31582644
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+v -0.25065493 -0.19052302 0.29209028
+v -0.28783769 -0.14443780 0.33179075
+v -0.27422340 -0.19052317 0.33265632
+v -0.26455076 -0.19052312 0.31796677
+v -0.26301790 -0.14443765 0.29209045
+v -0.25153084 -0.19052303 0.29393688
+v -0.26933702 -0.14443769 0.30243153
+v -0.26786673 -0.14443768 0.30003686
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_97.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d45bf34160c7590ae67b682983ef954e5913054
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_97.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.27317647 -0.03934199 -0.14813281
+v -0.28635949 -0.03934209 -0.12024032
+v -0.27317647 -0.03934195 -0.15839780
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+
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_98.obj b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b82e2a9fccff8e4cfc13b311b8c50e4e77e91093
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mjcf/mesh/office_chair_11_collision_98.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.25025824 -0.19327930 -0.18230494
+v -0.24256136 -0.19327932 -0.17795443
+v -0.25025824 -0.19327953 -0.12023716
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+v -0.23241359 -0.19327934 -0.17057192
+v -0.25025824 -0.03935831 -0.17560847
+v -0.23309488 -0.03935852 -0.12023659
+v -0.25025824 -0.03935843 -0.14480850
+v -0.23241359 -0.19327949 -0.13130789
+v -0.23241359 -0.05114065 -0.12029739
+v -0.23241359 -0.04993532 -0.12023663
+v -0.24330206 -0.03935833 -0.17197493
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+v -0.23241359 -0.12433432 -0.16685915
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+v -0.23241359 -0.03935852 -0.12023659
+v -0.23540778 -0.03935836 -0.16466533
+v -0.23241359 -0.10628446 -0.16579575
+v -0.23241359 -0.03935837 -0.16087382
+v -0.23241359 -0.08820448 -0.16448322
+f 1 2 5
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diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/textures/material_0.png b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..655fc48deaf2fb0a40ea9aa5e3f82cd62f37c21a
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53970deefa479402210bfe514c6f6db1aa675314251dcfb2b58231c69c8b3557
+size 1052741
diff --git a/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/video.mp4 b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82644b51b1a7c9814fce52fb7f9183d11f361e1e
--- /dev/null
+++ b/dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a24a2e143946855a794c3b8aa858240200604f78fea1835ee985ad5a755c764
+size 260523