diff --git a/.gitattributes b/.gitattributes
index cb3cc0b2beb4735c52a455c933ecc7b11c1c3a0f..369a14572b83b4eb2f672f4a10a2c5626cd708e2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3753,6 +3753,6 @@ dataset/furniture/chair/9728e6d691495044806972186fa7f0c4/mesh/lounge_chair_27_gs
 dataset/furniture/chair/a426a51f50ac5358afe018a568c01d24/a426a51f50ac5358afe018a568c01d24.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/a426a51f50ac5358afe018a568c01d24/mesh/bar_stool_39.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/a426a51f50ac5358afe018a568c01d24/mesh/bar_stool_39_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/9f58a180b2ba5763b50f001292852a49/9f58a180b2ba5763b50f001292852a49.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/9f58a180b2ba5763b50f001292852a49/mesh/office_chair_14.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/9f58a180b2ba5763b50f001292852a49/mesh/office_chair_14_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/9635cc79def4539bb07519e13a01b7a0.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/9635cc79def4539bb07519e13a01b7a0.urdf b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/9635cc79def4539bb07519e13a01b7a0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..56f862979a0e0f22d1186e19c22a63983b3cb5db
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/9635cc79def4539bb07519e13a01b7a0.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="computer_chair_41">
+   <link name="computer_chair_41">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/computer_chair_41.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/computer_chair_41_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="17.5000" />
+         <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>1.300000</scale>
+         <version>v0.1.5</version>
+         <category>computer_chair</category>
+         <description>ergonomic gaming chair with red accents, adjustable armrests, and wheeled base</description>
+         <min_height>1.2</min_height>
+         <max_height>1.4</max_height>
+         <real_height>1.3</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>20.0</max_mass>
+         <generate_time>20251021125850</generate_time>
+         <gs_model>mesh/computer_chair_41_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.855762958526611</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Seat, armrests, and wheel/base are merged across colors; key chair parts are not cleanly separated.","merge_groups":[{"colors":["Yellow","Navy"],"target_part":"seat and lower chair body","reason":"yellow is small seat/lower-body fragments within navy region"},{"colors":["Orange","Navy"],"target_part":"base with wheels and supports","reason":"base and caster pieces split between orange and navy"}]}</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/9635cc79def4539bb07519e13a01b7a0/9635cc79def4539bb07519e13a01b7a0.usd b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/9635cc79def4539bb07519e13a01b7a0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b5bfb2c096959e66b58adeb65b2fed11749e7a33
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/9635cc79def4539bb07519e13a01b7a0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9184e8126a44be41ebd4e8989f2b474d45d986441efc800bfaaae468b9ea365
+size 895773
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41.glb b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8104b08e2eeb68e01f3e1caf8db68f15c658ca54
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:747b40723cc13e00ce508429a95b0c323c4aa920e0ef655ac5b71cb0bfef3c3d
+size 1825336
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47f5f916139740538c980059dfca918866e641d7
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41.obj
@@ -0,0 +1,58114 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41_collision.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f14c5d96750cac9501a13b7f3896253a7cbb66d
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41_collision.obj
@@ -0,0 +1,16341 @@
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41_gs.ply b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..58339f549fcb08c6e0ab453b80360904eb0163c0
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09536ddaf32f31b138ab60578d22ff470248fdd2f73d9ad9d2fa62a7fc86f358
+size 19210602
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/material.mtl b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/material_0.png b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b5f774131c828ce8889009ea5fedf9cf33e2760
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/9635cc79def4539bb07519e13a01b7a0.xml b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/9635cc79def4539bb07519e13a01b7a0.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a3277d79db6dfc22b0d2cfd0f64fa91ffb54860b
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+    <mesh name="collision_mesh_0_5" file="mesh/computer_chair_41_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/computer_chair_41_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/computer_chair_41_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/computer_chair_41_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/computer_chair_41_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/computer_chair_41_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/computer_chair_41_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/computer_chair_41_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/computer_chair_41_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/computer_chair_41_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/computer_chair_41_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/computer_chair_41_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/computer_chair_41_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/computer_chair_41_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/computer_chair_41_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/computer_chair_41_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/computer_chair_41_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/computer_chair_41_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/computer_chair_41_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/computer_chair_41_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/computer_chair_41_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/computer_chair_41_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/computer_chair_41_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/computer_chair_41_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/computer_chair_41_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/computer_chair_41_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/computer_chair_41_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/computer_chair_41_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/computer_chair_41_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/computer_chair_41_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/computer_chair_41_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/computer_chair_41_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/computer_chair_41_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/computer_chair_41_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/computer_chair_41_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/computer_chair_41_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/computer_chair_41_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/computer_chair_41_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/computer_chair_41_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/computer_chair_41_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/computer_chair_41_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/computer_chair_41_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/computer_chair_41_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/computer_chair_41_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/computer_chair_41_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/computer_chair_41_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/computer_chair_41_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/computer_chair_41_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/computer_chair_41_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/computer_chair_41_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="computer_chair_41">
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+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef585a157f8711181e914ca24b2343bf0043b193
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41.obj
@@ -0,0 +1,58114 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..075d7d354d760f068a9144611ee053c6e1acdc37
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision.obj
@@ -0,0 +1,16341 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_0.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2cf82d58692a3fd5e304e148ac3c75bdf946639
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_0.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_1.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e15436f37ae063d768f8fbc0ade0708f924664c
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_1.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_10.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1c24e704921c4763484e6588ddf0c9a98df3aa8
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_10.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_11.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68d50cc6f821798fdf4224ae08a4f3bb80c30d00
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_11.obj
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_12.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d4cbc0054403afa792477982a4fec2161147a5e
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_12.obj
@@ -0,0 +1,676 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_13.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fd389069eff3c79ba4778133bbfa1ffd3e65e9b
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_13.obj
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_14.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1fa1ae766673f7f7d732db1e8d99f491fac271f
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_14.obj
@@ -0,0 +1,844 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_15.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b104173094061aba0b811f2f0697834fbc0440b
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_15.obj
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_16.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dce75247ddf66a8d078754fd7ce718221d652273
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_16.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_17.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7eab5aeadc5dc0c298fcb219e1c549b74461f28
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_17.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_18.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e508a38c42f4c703219b37677b0909161cb296
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_18.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_19.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21503d15704afc3ffd5f8f58ef018d3b9cee26ee
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_19.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_2.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db16175b91449bf7d1d002abad7ee5ff2b140a8
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_2.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_20.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96d0e53a9aebc87ab6cf63281627afbad66d87b1
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_20.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_21.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c73234656a928bc9ad42a4296e5af132a004a60
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_21.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_22.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c366ff4fe62b7ce175f2fd9b39ca5adba1a6d9c5
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_22.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_23.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..644942e96bf4e643fcdc49ab7f343528baaab153
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_23.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_24.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72e16b9ed111923c42a1c4f99edf78b63a6d93ad
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_24.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_25.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76f71ffc1e5b5e523d8c4635d1dc06fbf16eea0e
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_25.obj
@@ -0,0 +1,490 @@
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+
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_26.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53751bd21b251314e18026f92e98fa01de13a65c
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_26.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.10836638 -0.26212667 -0.29175197
+v -0.05956789 -0.25214703 -0.26819081
+v -0.05956789 -0.24869024 -0.24675245
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+v -0.10836638 -0.18382974 -0.24104829
+v -0.10836638 -0.25658485 -0.31453524
+v -0.10836638 -0.24899656 -0.32382030
+v -0.05956789 -0.18382944 -0.32382007
+v -0.10836638 -0.18382944 -0.32382007
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+
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_27.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a34733fbdd9d9f69bf736d91bf514a948e2d965b
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_27.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.00450418 0.20356556 -0.33421803
+v 0.07327499 0.27657401 -0.33466462
+v 0.07327499 0.26812016 -0.33482011
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+
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_28.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09a97477f7de2e954ebbc16f844222f69c805445
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_28.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.01782493 0.02841932 -0.41848274
+v 0.01591342 0.02669257 -0.41848274
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+f 18 20 19
+
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_29.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ed96fa250377a32132a05e2898ce9c2cc9d33d
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_29.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.15617688 0.22508143 0.13766216
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_3.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e26b79e849830abad66ba7d2a1c9b8059da1667
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_3.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_30.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef8159051e5d4853d3a13752329542cf7253d43c
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_30.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_31.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c5c58b45a246720e7f4259dd5725aa2dc1716c1
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_31.obj
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_32.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e053ebd7fb50b4e52bc57c034d5f6a138ad49ea2
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_32.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_33.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12ace99b70832129ebe34a4a5038c50f88d0eb94
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_33.obj
@@ -0,0 +1,169 @@
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_34.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..215a8f101decee3776f3a576fa7d7d43f058d579
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_34.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_35.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acd1b6e83548d304fa91b50fff04364e37306e8d
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_35.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_36.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0e1778c818017bf1ec157fecda5ff10117920a5
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_36.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_37.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2be4fc534bfd055d2156656e7e89fd105b97348
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_37.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_38.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4fab317bdd93ecc3a3f105de07486c42ff367d1
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_38.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_39.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d179a85170fd3155b7b0f018f720952ca92b9bcd
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_39.obj
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_4.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dcfb4eb413b81d166c0fcbf2bf660dd12ddadd4
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_4.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_40.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26282b5484923aa22dc3efc5eb58e65767ea04d4
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_40.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_41.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cccfce0f20f644ed32315873ac86802ec8aee7e8
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_41.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_42.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2049a8bc3d35c3786cea0b84682804900109b630
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_42.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_43.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee3373a6a718a3d9bf4532d87998b60a6700fbf9
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_43.obj
@@ -0,0 +1,265 @@
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+
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_44.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..182c88e6979302c5936fe8ac8d82102407ed1013
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_44.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.15645329 -0.22427212 -0.35186968
+v 0.15645329 -0.22407815 -0.35186968
+v 0.14779186 -0.21721449 -0.34283646
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+v 0.14779186 -0.21551348 -0.34283645
+v 0.15345009 -0.09747299 -0.35186922
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+v 0.14665964 -0.21721449 -0.34283646
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+v 0.14665964 -0.21551348 -0.34283645
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+v 0.13337312 -0.09747299 -0.35186922
+v 0.12934811 -0.23688042 -0.35186973
+v 0.13526958 -0.24838454 -0.35186977
+v 0.13598004 -0.24947378 -0.35186978
+v 0.13853884 -0.22537630 -0.34546137
+v 0.13697073 -0.09747299 -0.35009865
+v 0.12753657 -0.22625662 -0.35186969
+f 1 2 5
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+f 1 3 4
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+f 1 15 14
+f 1 14 13
+f 1 13 18
+f 1 18 12
+f 1 12 6
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+f 2 6 5
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+f 7 16 13
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+f 10 11 17
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+f 12 16 17
+f 13 16 18
+
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_45.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c41bdff7e024489a0a5c9a43a1c55c82b430451d
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_45.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.05956789 -0.09030776 -0.01873549
+v -0.05847700 -0.09030776 -0.01903749
+v -0.05956789 0.13897522 -0.01816421
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+v -0.03286373 0.00988053 -0.03299626
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+v -0.05956789 0.16049100 -0.01910368
+v -0.05956789 0.20121237 -0.33368729
+v 0.00665085 -0.00772468 -0.36096879
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+v -0.03286373 -0.09030771 -0.03336574
+v -0.02096996 -0.03315102 -0.04188866
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+v -0.03286373 0.16049106 -0.03453927
+v -0.04843169 0.16049102 -0.02450614
+v -0.05956789 0.17059259 -0.02115055
+v -0.05956789 0.16280238 -0.01950635
+v 0.01190835 0.20121237 -0.33395577
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+v 0.01242350 0.02900055 -0.36096865
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+v -0.05956789 0.20121133 -0.05212225
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+v -0.01113677 -0.09030763 -0.05380110
+v -0.01075799 -0.01163518 -0.05380081
+v -0.01068223 0.00988061 -0.05380073
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+v -0.02153814 0.16049109 -0.04242483
+v -0.01072011 0.13897535 -0.05380026
+v -0.02215176 0.17136312 -0.04299524
+v -0.05956789 0.17376003 -0.02390208
+v -0.05468160 0.20121134 -0.05504159
+v 0.01782493 0.20121194 -0.21906138
+v 0.01782493 -0.05466621 -0.20308986
+v 0.01749160 0.16049136 -0.11812627
+v 0.01394620 0.13897551 -0.09668432
+v 0.01263561 -0.09030747 -0.09668516
+v 0.01489316 -0.09030742 -0.11071141
+v 0.01782493 -0.03315042 -0.20295554
+v 0.01782493 0.01730040 -0.20292181
+v 0.01782493 0.03881619 -0.20292173
+v 0.01782493 0.06038905 -0.20302231
+v 0.01782493 0.07442853 -0.20312293
+v 0.01782493 0.09594431 -0.20345842
+v 0.01782493 0.11746011 -0.20399521
+v 0.01782493 0.13897590 -0.20486758
+v 0.01782493 0.14807873 -0.20614266
+v 0.01782493 0.15929322 -0.20839085
+v -0.02115178 -0.09030768 -0.04205664
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+v -0.00140964 0.00988065 -0.06514253
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+v -0.00180357 0.16049117 -0.06544398
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+v -0.03314403 0.20121150 -0.09829476
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+v 0.00421149 -0.09030755 -0.07621624
+v -0.00162176 -0.09030759 -0.06547845
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+
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_46.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d8f220fb34ab5ceb46d693030245ac0b612ab78
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_46.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.05956789 -0.31294424 -0.38542456
+v -0.05956789 -0.32496645 -0.38518982
+v -0.05956789 -0.30372117 -0.38419026
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+v -0.05956789 -0.33516227 -0.38164128
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+
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_47.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..252d3b4eeef7482612c3088e0b2c8508b5255de3
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_47.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.11385245 -0.08056023 -0.34088950
+v 0.01783433 -0.05568443 -0.34088940
+v 0.11385245 -0.07800882 -0.35336308
+v 0.11385245 0.08234438 -0.34088890
+v 0.01783433 -0.02905427 -0.41845814
+v 0.02957458 -0.03838270 -0.41848857
+v 0.04018686 -0.04447408 -0.41848859
+v 0.01783433 0.05829777 -0.34088899
+v 0.11385245 -0.07105628 -0.37236974
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+v 0.03832572 0.04354799 -0.41848827
+v 0.09641598 0.07861302 -0.34088891
+v 0.01783433 -0.02895860 -0.41848854
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+v 0.06519951 0.04330880 -0.41848827
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+v 0.08677186 0.02465195 -0.41848834
+v 0.11385245 0.00986983 -0.37908483
+v 0.11385245 0.03144481 -0.37825674
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+
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_48.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d108c47dc84145cc74fcb8fad3ff6a470bd13b7e
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_48.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.01169018 -0.33446677 -0.11816437
+v 0.01987886 -0.34577216 -0.21958362
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_49.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c142ac0f125756d24c0d54d2907470291faf7f5
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_49.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_5.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9bf03c32a41ea5723b1ce3ffe62563ecc9b50a9
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_5.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_50.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57e8b7f4734340b7ef622cc57217b03decb4b67c
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_50.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_51.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..740707f16fdb704ad29c3ede2e72ecc292dd7a41
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_51.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_52.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70d2b675851517cbe6acc794b2cb0b513c0dd094
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_52.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v -0.16775963 -0.11925475 -0.00629646
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_53.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80a1bca8c10f4301b60e682cba25bb8f1ed0d1b5
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_53.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_54.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..317ab8d1b5a22e4e96c019847e7527cd788eb876
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_54.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_6.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86c2bbe53fc1e90927e02acdd063a9f3c89e26f8
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_6.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_7.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e134426c75062a979b6fc9979dab6168c3f38f68
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_7.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_8.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..929cfb8338d444bb87c339828b844c8572b46b28
--- /dev/null
+++ b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_8.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_9.obj b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/computer_chair_41_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..819e71cdb379bb5f85d49ba50b9409597269640c
--- /dev/null
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/material_0.png b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mjcf/mesh/material_0.png
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/textures/material_0.png b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/textures/material_0.png
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diff --git a/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/video.mp4 b/dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/video.mp4
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