diff --git a/.gitattributes b/.gitattributes
index adb801dd91c9caf483f39227280e57fc772c4e91..5ad50285c40c550fea31076f39e3bffd84a0a8ef 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3744,6 +3744,9 @@ dataset/furniture/chair/78b42bb137d45170aa4187f9f1c02394/mesh/dining_chair_6_gs.
 dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/5e84202e9a055d94a3eedc987043f8f5.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/5e84202e9a055d94a3eedc987043f8f5/mesh/lounge_chair_25_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/8faec18bd3ab546f9d78097cdfba70c1/8faec18bd3ab546f9d78097cdfba70c1.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/8faec18bd3ab546f9d78097cdfba70c1/mesh/bar_stool_37.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/8faec18bd3ab546f9d78097cdfba70c1/mesh/bar_stool_37_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/82c5af57f9c45881beb56e8447e52420.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/82c5af57f9c45881beb56e8447e52420/mesh/office_chair_18_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/852d5b46e381566696eb4349ecee9668.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/computer_chair_46.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/computer_chair_46_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/852d5b46e381566696eb4349ecee9668.urdf b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/852d5b46e381566696eb4349ecee9668.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a11e097e941332d89013aaf90d78ba9c6e406b14
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/852d5b46e381566696eb4349ecee9668.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="computer_chair_46">
+   <link name="computer_chair_46">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/computer_chair_46.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_46_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="12.5000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.100000</scale>
+         <version>v0.1.5</version>
+         <category>computer_chair</category>
+         <description>ergonomic blue office chair with armrests, high backrest, and wheeled base</description>
+         <min_height>1.0</min_height>
+         <max_height>1.2</max_height>
+         <real_height>1.1</real_height>
+         <min_mass>10.0</min_mass>
+         <max_mass>15.0</max_mass>
+         <generate_time>20251021131300</generate_time>
+         <gs_model>mesh/computer_chair_46_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.90539288520813</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Backrest and seat are merged; armrests are merged with support struts and fragmented.","merge_groups":[]}</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/852d5b46e381566696eb4349ecee9668/852d5b46e381566696eb4349ecee9668.usd b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/852d5b46e381566696eb4349ecee9668.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c428b07a17e89dfcbcf1cc27f439bc8296b61e84
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/852d5b46e381566696eb4349ecee9668.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12a949b37973fc0e8cd6295ebc4f7088177eb9b576bca91a70e1c65369e0617c
+size 937718
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/computer_chair_46.glb b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/computer_chair_46.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4197a2026b3966b268c34f6ec26e06d5326d3030
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/computer_chair_46.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b3f95b03dd49531d76477da3af7392341d771e6680d244a3a918bffe19c7edf
+size 2648536
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/computer_chair_46.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/computer_chair_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3493da077aa780e8102de87dec164c0c81385778
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/computer_chair_46.obj
@@ -0,0 +1,59870 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/computer_chair_46_collision.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/computer_chair_46_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d80c0721149d8fdb4cfd6754b1d0716afcb6a7b
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/computer_chair_46_collision.obj
@@ -0,0 +1,18520 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/computer_chair_46_gs.ply b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/computer_chair_46_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a4ba4db73e43871ad3ee144e285c2d46828e7c7f
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/computer_chair_46_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f39f653824b167d25c4f92ba64811b5033809627c579fea0e4fa5ad9d58a5301
+size 22463082
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/material.mtl b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Ks 0.98039216 0.98039216 0.98039216
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/material_0.png b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..75efaf4a4f2e77ef38ab72df0f5aea0e0a7cdf2b
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:6e61f0ca737a9113f2e2cedaa2a92281301cb697e5625231f29ac77190d795de
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/852d5b46e381566696eb4349ecee9668.xml b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/852d5b46e381566696eb4349ecee9668.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bd35ca59598812ed8d52339d3ae9dac537ebf84b
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/852d5b46e381566696eb4349ecee9668.xml
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+<?xml version='1.0' encoding='utf-8'?>
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb1c1068704a25d697866d8a0237831a66b8a5ed
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46.obj
@@ -0,0 +1,59870 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1dd618ea5be45cd32368709fb38014fb623d4f8
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision.obj
@@ -0,0 +1,18520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_0.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26d22828f61a4d99759025b9f0ff186ee250db21
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_0.obj
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_1.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f81cc0b21a4338b0a029e5482bd3045d77b3e1c
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_1.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_10.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5de8393b91765c35ed31e63d6ca8c10fe43cf990
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_10.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_11.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07ed73e87311586a53ebc3dae6d522b26e1c1af8
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_11.obj
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+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_12.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33530aa656915a2b242f6800f5156de0a54b2419
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_12.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.03147426 -0.19239280 -0.22690378
+v -0.03147426 -0.17977570 -0.22690373
+v -0.03254760 -0.19328333 -0.22690378
+v -0.09119946 -0.22640299 -0.28126506
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+v -0.03854635 -0.19133226 -0.24003253
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+v -0.03339434 -0.17853847 -0.22690373
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+v -0.09447910 -0.22454710 -0.29215647
+v -0.07465815 -0.20951678 -0.27657075
+v -0.05145024 -0.17046244 -0.22690370
+v -0.07544527 -0.19507782 -0.27573341
+v -0.07878453 -0.18566260 -0.27253525
+v -0.08826567 -0.18216162 -0.27567160
+v -0.10683438 -0.17586664 -0.28088054
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+v -0.07031710 -0.20583245 -0.22690383
+v -0.09963111 -0.22286134 -0.25327120
+v -0.12260050 -0.22785102 -0.26632449
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+v -0.15183102 -0.18504391 -0.29113378
+v -0.14326818 -0.17965993 -0.28095603
+v -0.11717419 -0.16777026 -0.27166361
+v -0.07985787 -0.16547271 -0.22690368
+v -0.08189721 -0.20505747 -0.22690382
+v -0.15148517 -0.20581188 -0.27186278
+v -0.14954124 -0.21784434 -0.27542467
+v -0.15186680 -0.22308555 -0.28751027
+v -0.09013805 -0.19636282 -0.22690379
+v -0.15330984 -0.21311966 -0.29254077
+v -0.15327406 -0.19507096 -0.29251325
+v -0.15183102 -0.18504393 -0.28678954
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+v -0.15148517 -0.20164470 -0.27186276
+v -0.15307132 -0.19541091 -0.28095609
+v -0.15309517 -0.21233793 -0.28138167
+v -0.09319109 -0.17726044 -0.22690372
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+f 1 28 38
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+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_13.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..750992e2578596e32d4afb40244892d47bfbad7c
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_13.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.19710264 -0.04493785 -0.22612434
+v -0.14194717 -0.09104565 -0.22612450
+v -0.12261651 -0.04493785 -0.22612434
+v -0.13804604 -0.04493773 -0.25774880
+v -0.13436366 -0.07911541 -0.25515363
+v -0.12381237 -0.09773956 -0.22612453
+v -0.12261651 -0.09727434 -0.22612453
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+v -0.12417696 -0.08012337 -0.25593222
+v -0.12261651 -0.08004584 -0.25587339
+v -0.12287172 -0.09737772 -0.22612453
+v -0.12417696 -0.04493772 -0.26136490
+v -0.12261651 -0.06875148 -0.25871432
+f 1 2 6
+f 1 6 13
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+f 1 7 3
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+f 1 5 2
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+f 8 10 14
+f 8 15 10
+f 9 14 10
+f 10 15 11
+f 11 15 12
+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_14.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb42e7c8caa730cc6d6bdb885e5b2f92a44f425b
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_14.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03745344 -0.05023974 -0.39006555
+v 0.03745344 -0.04702456 -0.40950748
+v 0.03745344 -0.04575584 -0.37695439
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+v 0.02952351 -0.15474680 -0.40541019
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+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_15.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0fc125071ad1d6c6b56088ed58490511b2ea397
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_15.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02109015 -0.14965136 -0.09513819
+v -0.02109015 -0.14090544 -0.09545522
+v -0.08138946 -0.02345315 -0.10870409
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+v -0.09036281 -0.02345315 -0.11008910
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+v -0.12260922 -0.13920067 -0.11265928
+v -0.12260922 -0.14965091 -0.21827006
+v -0.03440609 -0.14965093 -0.21271335
+v -0.02109015 -0.06410629 -0.25751708
+v -0.02109015 -0.02345257 -0.26561003
+v -0.10621273 -0.02345313 -0.11304267
+v -0.12260922 -0.02345312 -0.11743130
+v -0.12260922 -0.08005401 -0.25586513
+v -0.11512645 -0.14965091 -0.21832012
+v -0.07030941 -0.14965092 -0.21625096
+v -0.07392657 -0.14965091 -0.21655131
+v -0.11208566 -0.07953520 -0.25546465
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+v -0.07030941 -0.05065388 -0.26175549
+v -0.08825610 -0.05065388 -0.26177215
+v -0.10621273 -0.05065388 -0.26173879
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+v -0.12260922 -0.07010985 -0.25836812
+v -0.10539788 -0.14965091 -0.21798637
+v -0.10973053 -0.14965091 -0.21816994
+v -0.11437122 -0.14965091 -0.21830342
+v -0.12260922 -0.06875102 -0.25870185
+v -0.12260922 -0.03417498 -0.26307368
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+f 25 34 26
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+f 27 34 28
+f 28 35 29
+f 28 34 35
+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_16.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd13a9cc2f31c59b756c1a29b0de8cb42c6845a7
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_16.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.06255527 0.12987294 -0.43682805
+v -0.05845397 0.12987294 -0.43627258
+v -0.03877660 0.07951944 -0.43328277
+v -0.06255527 0.11725332 -0.43643034
+v -0.06255527 0.13667004 -0.43673887
+v -0.06255527 0.14371702 -0.43643711
+v -0.06006243 0.14214269 -0.43603936
+v -0.01562251 0.07951942 -0.42686392
+v -0.03432155 0.07951944 -0.43211697
+v -0.05266683 0.07951944 -0.43211010
+v -0.06209097 0.10261791 -0.43540858
+v -0.06255527 0.10315935 -0.43546344
+v -0.06255527 0.10409228 -0.43556632
+v -0.06255527 0.15290474 -0.43341968
+v -0.00608783 0.07951940 -0.42215949
+v -0.05553553 0.07951944 -0.43159577
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_17.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f319443848ab8fc4709ee8c0027bd851795c17
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_17.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_18.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b0da6b43795f46cfc850092343a14d2f0fa33ee
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_18.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_19.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dae89dfddf95084bccaa5ac203cfab7dcaefdef
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_19.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_2.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b683ce1fc024d3b4d685c1282cc2dafbd878297c
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_2.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_20.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c129ce5448b15af2d41186c1f983ba4d0e451e
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_20.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_21.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfdd886eeffa443c275cf55e9aacd50637df97be
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_21.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_22.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1728aa3f0023cd27317f89c4319ef8804c82586
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_22.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_23.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1cd47cb2a2a26013d17692bff01764ee2b6d3aa
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_23.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_24.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b73a4bccefda3badfd2ac98502e57cdc10728f97
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_24.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_25.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0cc888c88567c789fba6c47895d29d7c623bc6f
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_25.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_26.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..297fad3ffe53bef949b5570834b906c413a481b0
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_26.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_27.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b1a357d799c61cab21d537d723f59fd0d294c28
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_27.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_28.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bce5aad0d56d3ccdeff2265216ac4164ea9fd41e
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_28.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_29.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56a0122cd78a4322154263d7b78fcc1a4f70146c
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_29.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_3.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2080948e6ec14965dcc8f835c4c899956d4226bd
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_3.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_30.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a60eaa7b5427bf3465b3450c1121fbfc179b2ad8
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_30.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_31.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc879b91cb7edc39b83538eedd52db3e5207c5a7
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_31.obj
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_32.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..282fb6fa3dccbc335887ca58c18ad3f3398c6fe9
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_32.obj
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_33.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc3b4172b1fdffc508ee932f382395a06fd45a81
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_33.obj
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+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_34.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89e906a1a7de5543874a9702931201922dc5ddb4
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_34.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.10924762 0.05282311 -0.27094075
+v 0.11423375 0.05219060 -0.27094075
+v 0.11924564 0.04903545 -0.29127269
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+v 0.09963578 0.04891777 -0.29098598
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+v 0.12538177 0.04830726 -0.27094076
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+v 0.08262627 0.04864558 -0.27094076
+v 0.12720115 0.00351656 -0.30404682
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+v 0.12720115 -0.01124458 -0.29651653
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+v 0.09197206 -0.01887161 -0.27094101
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+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_35.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6974499e84e910ac5533aec33a0efb9521528d84
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_35.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.12260922 0.27390679 -0.07235394
+v -0.12260922 0.27429692 -0.07196322
+v -0.11528409 0.26451740 -0.05261793
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+v -0.12260922 0.20101605 -0.07235421
+v -0.12260922 0.27665073 -0.06367236
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+v -0.11502046 0.26563576 -0.04053424
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+v -0.11675519 0.23818314 -0.06654095
+v -0.11859840 0.23818317 -0.07235408
+v -0.12248229 0.20209542 -0.07235421
+v -0.12260922 0.19547607 -0.07033393
+v -0.12260922 0.27728790 -0.04596614
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+v -0.11502046 0.26563574 -0.03408262
+v -0.11361662 0.25741680 -0.02779303
+v -0.11152605 0.23818300 -0.02741192
+v -0.11271726 0.23818307 -0.04554698
+v -0.11451708 0.23818311 -0.05747819
+v -0.11487509 0.22629691 -0.05589630
+v -0.11729112 0.22022379 -0.06263383
+v -0.12037978 0.22017181 -0.07235414
+v -0.11970499 0.20209538 -0.06367264
+v -0.12260922 0.17795885 -0.06367273
+v -0.12260922 0.27304813 0.02351503
+v -0.11549022 0.26421819 -0.02200847
+v -0.11378912 0.25278710 -0.00928634
+v -0.11220519 0.23818293 -0.00928640
+v -0.11300800 0.22013256 -0.00928646
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+v -0.12260922 0.27204678 0.02500166
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+v -0.11407769 0.23818287 0.00763838
+v -0.11445416 0.22013251 0.00487471
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+v -0.11690056 0.23545185 0.02500152
+v -0.12064992 0.20222511 0.02500140
+v -0.12101010 0.20013137 0.02500140
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+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_36.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a165beb542eef9c55f60e8b6d7ce63342c66047
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_36.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.12260923 -0.26886031 0.02959907
+v -0.12260923 -0.28533624 0.02969432
+v -0.12417680 -0.26746471 0.03024720
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+v -0.12260923 -0.26746471 0.02962290
+v -0.12417680 -0.28533624 0.03035198
+v -0.12260923 -0.30396647 0.03049487
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+v -0.13404177 -0.26746473 0.03536550
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+v -0.13794722 -0.26746477 0.04529231
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+v -0.13352976 -0.28533640 0.07267081
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+v -0.12260923 -0.31661572 0.07505829
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+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_37.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a80620ea6e6c92963f443643f5941c4c5665c597
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_37.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.24456441 -0.08916499 0.31456082
+v -0.21636958 -0.08916470 0.23672931
+v -0.21636958 0.02187915 0.21063811
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+v -0.22710823 0.02187995 -0.00892401
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+v -0.24456441 -0.04950092 0.06244767
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+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_38.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fefb31e5d6190aed066a79293c024b46aa3e133
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_38.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.02109015 -0.02345257 -0.26559841
+v -0.01644068 -0.02345257 -0.26637185
+v -0.02109015 -0.05065401 -0.26128936
+v -0.02109015 -0.02345318 -0.10050626
+v 0.00152464 -0.02345257 -0.26600355
+v 0.00152464 -0.05065401 -0.26092105
+v -0.01644068 -0.05065401 -0.26125253
+v -0.02109015 -0.06409310 -0.25751431
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_39.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec75fe568ebe844829bfc91f1b32be5bdef5dd3b
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_39.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_4.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da86d5e6d9d524d12942dbce3ecf60e3dceaccf6
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_4.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_40.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53e4cc71c700b3d2ddc1ee1a85084a715eac1ee0
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_40.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.14527225 0.01091077 -0.00890892
+v -0.14527225 0.01091057 0.04759185
+v -0.13074484 0.01091077 -0.00890892
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+v -0.14434709 0.01091057 0.04512344
+v -0.14527225 -0.19506056 0.14187513
+v -0.14272529 -0.19506054 0.13575712
+v -0.13219581 -0.19961093 0.11117904
+v -0.12260923 -0.12369647 0.00885403
+v -0.12261144 -0.10481326 -0.00890935
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+v -0.12260923 -0.19977429 0.07631849
+v -0.12260923 -0.19506031 0.07297176
+v -0.14213071 -0.25293565 -0.00890989
+v -0.12260923 -0.26745919 0.02963052
+v -0.12400028 -0.26745919 0.03017569
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+v -0.13395073 -0.26745921 0.03530936
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+v -0.13002601 -0.19418846 0.10063912
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+v -0.14527225 -0.25446183 0.06415797
+v -0.13689259 -0.26745932 0.06433965
+v -0.13221356 -0.26745934 0.07150257
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+f 20 43 21
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+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_41.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616f8a1960e6b45b1b0743f962e7f62f9b53be42
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_41.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.10770703 0.32845689 -0.07235374
+v 0.11698555 0.33994720 -0.05114965
+v 0.11463638 0.34274195 -0.06367419
+v 0.11296138 0.34366764 -0.07235369
+v 0.10959053 0.32086040 -0.07235377
+v 0.11690214 0.31672609 -0.05090842
+v 0.13531324 0.31741121 0.00266481
+v 0.13685618 0.32489642 0.00982401
+v 0.13657123 0.32845658 0.00982403
+v 0.13529934 0.33934622 0.00273729
+v 0.13328377 0.34232342 -0.00928852
+v 0.13014924 0.34504257 -0.02741975
+v 0.14515472 0.34978639 -0.00928850
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+v 0.12782092 0.34740579 -0.07235367
+v 0.11297528 0.31305920 -0.07235380
+v 0.11458078 0.31389581 -0.06367430
+v 0.13326293 0.31430503 -0.00928863
+v 0.14545358 0.30811472 0.00982395
+v 0.14388285 0.34539846 0.00982409
+v 0.16419829 0.34726752 0.00982410
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+v 0.13917756 0.34196767 -0.07235369
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+v 0.11956407 0.30952128 -0.07235381
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+v 0.16868813 0.34451287 0.00982409
+v 0.14246500 0.32845689 -0.07235374
+v 0.15682412 0.34193190 -0.02741976
+v 0.15482246 0.33896365 -0.03832747
+v 0.17870336 0.32845658 0.00982403
+v 0.12779311 0.30908517 -0.07235381
+v 0.12720930 0.30711371 -0.06367432
+v 0.16374652 0.30432760 0.00982394
+v 0.14515472 0.30628131 -0.00928865
+v 0.14131821 0.32059783 -0.07235377
+v 0.17513096 0.31624968 0.00982398
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+v 0.13557040 0.31212467 -0.07235380
+v 0.16829197 0.30552916 0.00982394
+v 0.13951812 0.31467462 -0.07235379
+v 0.17176011 0.30966785 0.00982396
+v 0.14139466 0.31265419 -0.06367430
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+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_42.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26e22c0f1016559eda51d5503aacc72223f2af8a
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_42.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.04203219 -0.27147303 -0.17633404
+v 0.04480731 -0.27147301 -0.18366122
+v 0.04607634 -0.27733573 -0.18201004
+v 0.06232271 -0.31412589 -0.18353753
+v 0.06232271 -0.31412591 -0.17738683
+v 0.14135117 -0.30919411 0.01547259
+v 0.13913386 -0.30321076 0.01547262
+v 0.13981717 -0.28591428 0.01547268
+v 0.14709667 -0.27093072 0.01547273
+v 0.16323147 -0.26763736 0.01547275
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+v 0.05978465 -0.30338098 -0.18560148
+v 0.07335351 -0.31506612 -0.18450762
+v 0.07234944 -0.31610700 -0.17179343
+v 0.07335351 -0.30338096 -0.18952307
+v 0.15296767 -0.31900383 0.01547256
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+v 0.17048306 -0.31762615 0.01547256
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+v 0.17438777 -0.31275901 0.01547258
+v 0.12266436 -0.31598156 -0.09994586
+v 0.13974745 -0.31573030 -0.06368152
+v 0.13792061 -0.31428217 -0.07290756
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+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_43.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..668ea166501666a7eec5e5dab9b13c9cb2b2abc7
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_43.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.12260921 0.13046640 -0.22762628
+v -0.10737147 0.13046639 -0.22660796
+v -0.12260921 0.13046599 -0.11726717
+v -0.12260921 0.25484138 -0.21587709
+v -0.09437530 0.13046639 -0.22499687
+v -0.10622166 0.25624182 -0.21464596
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+v -0.11877283 0.25693328 -0.07236920
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+v -0.09437530 0.28139988 -0.12883297
+v -0.09437530 0.28146580 -0.12889377
+v -0.09437530 0.28794079 -0.13778508
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+v -0.09437530 0.29632698 -0.15366789
+v -0.12260921 0.29240583 -0.17246894
+v -0.12260921 0.28331133 -0.19964457
+v -0.11781373 0.28357494 -0.19994855
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+v -0.09437530 0.19356788 -0.10808681
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+v -0.09437530 0.23818409 -0.11173439
+v -0.09437530 0.24882739 -0.11442455
+v -0.09437530 0.25589548 -0.11624839
+v -0.09437530 0.29878191 -0.17265128
+v -0.10622166 0.29662358 -0.17246892
+v -0.12260921 0.28797395 -0.19199952
+v -0.10622166 0.29056060 -0.19060121
+f 1 2 5
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+
diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_44.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53397e20392b121a84f8ed917465b9a18688a866
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_44.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00239736 0.05434979 -0.27094072
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_45.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e901b586a17422154c428585ef319ace909cd32a
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_45.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_46.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1848e3a15d5a35f005f524db46ccc88964b96c49
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_46.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_47.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..907a129bfbe61ac5711efdc909b6526615adf44d
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_47.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_48.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3fa20e0cf0e8c05285e6621f82d0bf646eb96d8
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_48.obj
@@ -0,0 +1,934 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_49.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5615c15953d2416975ff0030869ed28f13866b8
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_49.obj
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_5.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa975341fe906202c80a03283e61187c177cbf34
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_5.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_50.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78297c79ac23230d34bbaa1e4c22d7bc75097e17
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_50.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_51.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..712b2bd6cea840c09fc04f96542db5d03d8b4fb3
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_51.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_52.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6737a67f518f550b709235658c10c8bc9dc1c9e
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_52.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_6.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..669995f5895d3aa5fc99a116e3742486f858f704
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_6.obj
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_7.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71a4c2dbd2593fa02a2ea69923e7cc36db23077f
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_7.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_8.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c688cd541d5d82cb1a2db8df05fb3cb645c48adc
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_8.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_9.obj b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f27959ebc888bfd3fe651f4a92ad431a25745b53
--- /dev/null
+++ b/dataset/furniture/chair/852d5b46e381566696eb4349ecee9668/mjcf/mesh/computer_chair_46_collision_9.obj
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