diff --git a/.gitattributes b/.gitattributes
index b2576ade3233cbfd6284cf06c56f9682b7c987e9..5ccbcba57fb0e0c7a58f153f9c75d79f1d550e42 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3771,3 +3771,6 @@ dataset/furniture/chair/b134115a03ed50678ebbb555d7a2b356/mesh/lounge_chair_29_gs
 dataset/furniture/chair/b37ffd01532957e5b4c71e16dbffa20f/b37ffd01532957e5b4c71e16dbffa20f.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/b37ffd01532957e5b4c71e16dbffa20f/mesh/dining_chair_3.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/b37ffd01532957e5b4c71e16dbffa20f/mesh/dining_chair_3_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/b2157cd26a9d5676a4fc7147a23684d2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/b2157cd26a9d5676a4fc7147a23684d2.urdf b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/b2157cd26a9d5676a4fc7147a23684d2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0fa457ac5ed92df021e4792999fc073d1fb6bd88
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/b2157cd26a9d5676a4fc7147a23684d2.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="computer_chair_45">
+   <link name="computer_chair_45">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/computer_chair_45.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_45_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="12.5000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.100000</scale>
+         <version>v0.1.5</version>
+         <category>computer_chair</category>
+         <description>modern ergonomic office chair with curved 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>20251021131008</generate_time>
+         <gs_model>mesh/computer_chair_45_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.471383094787598</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>NO: {"summary":"Seat/back shell is over-merged; wheel/caster tips are fragmented noise.","merge_groups":[{"colors":["Orange","Magenta"],"target_part":"seat and backrest shell","reason":"same continuous upholstered shell"},{"colors":["Cyan","Red"],"target_part":"base and casters","reason":"red marks tiny caster/base fragments"}]}</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/b2157cd26a9d5676a4fc7147a23684d2/b2157cd26a9d5676a4fc7147a23684d2.usd b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/b2157cd26a9d5676a4fc7147a23684d2.usd
new file mode 100644
index 0000000000000000000000000000000000000000..55719b8d570964c21d81a6165a19c60875ca587e
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/b2157cd26a9d5676a4fc7147a23684d2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73a110b72c223c7823aa15aae4a12268b6cbce422e51fc5871cbf84d431381fd
+size 721040
diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45.glb b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d524f6c266bd450e10a08334e217bc7ebd9342b7
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9de76f201950090add6a5bb898784f94ca2c5e55a7662191db3847a661c3922
+size 1258952
diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68fd4d314f802950c953fe7a7f7c5bef9038c9ed
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45.obj
@@ -0,0 +1,45262 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45_collision.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4fe5422d2508caa12cdd82bf2c94a2bd9eed29b
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45_collision.obj
@@ -0,0 +1,17567 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45_gs.ply b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5e68ea434d6ee210ab2e22e348cfce227b9105bb
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/material.mtl b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/material_0.png b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:c16d0c7c65610c7f60b8c8e2fc42e64e7f81b687e93016ce6c4be987d83e8e88
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/b2157cd26a9d5676a4fc7147a23684d2.xml b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/b2157cd26a9d5676a4fc7147a23684d2.xml
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+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/b2157cd26a9d5676a4fc7147a23684d2.xml
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+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbddffc2dd41dc8e2fa9a0fec8ac82b0b4fd944d
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45.obj
@@ -0,0 +1,45262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d6219de32a17341a95be5cb86adfe35ac4cfb0a
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision.obj
@@ -0,0 +1,17567 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_0.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..668638e906ab530faf9554ec702bce36d38a668c
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_0.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_1.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..909f775b3f4158019f703c7cd626aab189fe15f9
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_1.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_10.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae5f9bd3a8c927bcc7495e585d1c675f100e4a1a
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_10.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_11.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d9b9ab31e6d03da29de5765a088f7c49f966dbb
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_11.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_12.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bb4c810b5075f7432fbe50587048d29d8657363
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_12.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_13.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0b1721b797ad57618648bc8e7ff4166eef7ae33
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_13.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_14.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edcaffb96293b18de1dd1e866492f08e00469076
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_14.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_15.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d42bd5518de5744b59c48d083cd2def384446e9
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_15.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_16.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..336fcd5f96f90fc69831a538fe71c5097ad925b9
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_16.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_17.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81e1891ef9c24f73f5a8d9e64ce6532fb76fb9bb
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_17.obj
@@ -0,0 +1,1000 @@
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_18.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6508f005c7b02c5bf8758db400fcfee84804719
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_18.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_19.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f0184653f8ad62d83376fd966954a83a77018b
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_19.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_2.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d57b0f6e277d9dd3a2529fee71e2e05a572852fb
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_2.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_20.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d4891b94ad67b2fb5281aea64c2e844207c5d9c
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_20.obj
@@ -0,0 +1,589 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_21.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d6d48b96e3b58953d32e6ca7773a5e4a58cb3dc
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_21.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_22.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b6b29260dad179b1ae39923951e61a5c5ce61ad
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_22.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_23.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..718c3e3d38aec394fe7878460321fe7fb7921530
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_23.obj
@@ -0,0 +1,805 @@
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_24.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a83197083e69c6ae95fdea93e84ba12a291c516
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_24.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_25.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe6e64487fe3a4a387c971636d299d8ffea2ba0a
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_25.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_26.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c00cd28e08ba6da832a5e064409eceed45f1f5a
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_26.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_27.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c83a4071c33fe17980094ee5644c1ec5b0923e0
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_27.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_28.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..852d5d3ab10d69763c88d3ddc04cb8c51575f342
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_28.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_29.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..283995614fb7562aafe718724f0bdca1dc2ca4d8
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_29.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_3.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3124e4c43e476d0b4700f9bfe2a942a68de54990
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_3.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_30.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18cd6c9bc2ddef4ad861ebf9fc9dece2595c7d62
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_30.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_31.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345d65f472343534e8e5e55484b137ba016975fd
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_31.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_32.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb3e0b7fcedb1baa0107cba46d4b55d7a2e18174
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_32.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.29800500 -0.02559765 0.26311354
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_33.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e09556a94ab690262e5e4feed56cc62cd537158
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_33.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_34.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a97e3d2667bf98e0cfb55ab003c4ba317c283795
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_34.obj
@@ -0,0 +1,760 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_35.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72998393d4545cce7fde83cf4e63eae06fae574d
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_35.obj
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+f 202 217 207
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+f 222 226 225
+f 222 225 224
+f 222 224 223
+
diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_36.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65cb409bb78fc35e7fb2fdd38758791714b2b19c
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_36.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.13216699 -0.13417784 -0.21343865
+v -0.06809232 -0.13417783 -0.21408368
+v -0.06446096 -0.16761982 -0.24200030
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+v -0.05355866 -0.16761983 -0.23841511
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+v -0.05553865 -0.15233966 -0.09151220
+v -0.12308858 -0.13417823 -0.10712796
+v -0.04823485 -0.16761985 -0.23520494
+v -0.04823485 -0.13417829 -0.08876698
+v -0.13216699 -0.16762029 -0.11401345
+v -0.13216699 -0.16041531 -0.11290337
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+v -0.04937684 -0.16762037 -0.09124224
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+v -0.04823485 -0.15233967 -0.08981711
+v -0.04867028 -0.13425358 -0.08885699
+v -0.05769940 -0.13425358 -0.09101710
+v -0.05770761 -0.13417829 -0.09101710
+v -0.04823485 -0.16762038 -0.09097223
+v -0.04867850 -0.13417829 -0.08885699
+v -0.04823485 -0.13425358 -0.08876698
+f 1 2 3
+f 1 3 4
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+f 1 9 8
+f 1 8 7
+f 1 7 14
+f 1 14 21
+f 1 21 22
+f 1 22 15
+f 1 15 5
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+f 1 18 29
+f 1 29 31
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+f 1 20 11
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+f 1 10 6
+f 1 6 2
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+f 20 31 32
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+f 27 31 29
+f 27 29 28
+
diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_37.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..547e84ba33a861f85ecaa0bffda387616df970d8
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_37.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.13037220 0.13237468 -0.10453715
+v -0.13037220 0.22376357 -0.10453682
+v -0.13037220 0.14654200 -0.08442170
+v -0.13773797 0.12039679 -0.10453720
+v -0.13531127 0.22104049 -0.10453683
+v -0.13037220 0.22420513 -0.09976591
+v -0.13037220 0.22543783 -0.08442141
+v -0.20324485 0.03754507 -0.08442210
+v -0.20328055 0.03747148 -0.08443589
+v -0.20328055 0.05995538 -0.10453742
+v -0.13659600 0.22190517 -0.08442142
+v -0.14434006 0.21520793 -0.10453685
+v -0.20328055 0.03756347 -0.08442210
+v -0.20328055 0.16056227 -0.10453705
+v -0.14562478 0.21599903 -0.08442145
+v -0.14465411 0.21539191 -0.09976594
+v -0.15678051 0.20617391 -0.10453688
+v -0.20328055 0.16113258 -0.08442165
+v -0.20328055 0.16070945 -0.09976614
+v -0.20201010 0.16231020 -0.10453704
+v -0.15759417 0.20694662 -0.08442148
+v -0.16581643 0.19910862 -0.10453691
+v -0.20225990 0.16256772 -0.08442164
+v -0.20207432 0.16236539 -0.09976613
+v -0.19198921 0.17452719 -0.08442160
+v -0.19298130 0.17266895 -0.10453701
+v -0.16662296 0.19975252 -0.08442151
+v -0.17581590 0.19007460 -0.10453694
+v -0.18528006 0.18214447 -0.08442157
+v -0.18494462 0.18181334 -0.09976606
+v -0.18484469 0.18170297 -0.10453697
+v -0.17767876 0.18935696 -0.08442154
+v -0.18264637 0.18464677 -0.08442156
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+f 27 31 32
+f 29 33 30
+f 30 33 32
+f 30 32 31
+
diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_38.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11e13e570e5d021ad96858a94439b11d1cf64d3b
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_38.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.20328055 0.03748358 -0.08443589
+v -0.20328055 0.05994823 -0.10453742
+v -0.20328055 0.03755670 -0.08442210
+v -0.20954592 -0.02559637 -0.08442233
+v -0.21574496 -0.02559630 -0.10453773
+v -0.20328055 0.16055446 -0.10453705
+v -0.20328055 0.16113930 -0.08442165
+v -0.26391408 -0.02559637 -0.08442233
+v -0.26488495 -0.02559630 -0.10453773
+v -0.20861123 0.15326123 -0.10453708
+v -0.20328055 0.16059101 -0.10362343
+v -0.20867757 0.15353534 -0.08442168
+v -0.26387790 -0.02292768 -0.08442232
+v -0.26484274 -0.02559631 -0.09976682
+v -0.26460756 -0.00761002 -0.10453767
+v -0.21764445 0.13969841 -0.10453713
+v -0.21771079 0.13968005 -0.08442173
+v -0.21766254 0.13971667 -0.09976622
+v -0.26363671 -0.00761009 -0.08442227
+v -0.26456535 -0.00761003 -0.09976676
+v -0.26323872 0.01048594 -0.10453760
+v -0.22310177 0.13066871 -0.10453716
+v -0.22309575 0.13066870 -0.09976625
+v -0.22305354 0.13063207 -0.08442176
+v -0.26255127 0.01048587 -0.08442220
+v -0.26319649 0.01048593 -0.09976669
+v -0.26051307 0.02856361 -0.09976663
+v -0.26054923 0.02856362 -0.10453754
+v -0.22921036 0.11900686 -0.10453720
+v -0.22919829 0.11900685 -0.09976629
+v -0.22901740 0.11900679 -0.08442180
+v -0.26007890 0.02856355 -0.08442214
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+v -0.25580952 0.04830460 -0.08442206
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+v -0.24400241 0.08588577 -0.10453732
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+v -0.24485870 0.08281487 -0.08442194
+v -0.24519035 0.08281494 -0.10453734
+v -0.24978537 0.06948974 -0.10453738
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+f 47 54 55
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+f 50 54 51
+f 51 53 52
+
diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_39.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..767976eaac541741276ca3a4a93b4b650fa0b65d
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_39.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.04823485 -0.13417829 -0.08876675
+v -0.04823485 -0.13378503 -0.08873459
+v -0.04867850 -0.13417829 -0.08886320
+v -0.04823485 -0.13417783 -0.21411066
+v -0.04823485 -0.11400519 -0.08767352
+v -0.13216699 -0.11251711 -0.10722182
+v -0.13216699 -0.11615210 -0.10743083
+v -0.05770761 -0.13417829 -0.09101737
+v -0.04995194 -0.13417783 -0.21414282
+v -0.04823485 -0.04397266 -0.24436521
+v -0.04823485 -0.09806227 -0.08685358
+v -0.12220949 -0.09806221 -0.10415127
+v -0.13216699 -0.09806220 -0.10648228
+v -0.13216699 -0.12798174 -0.10842757
+v -0.12308858 -0.13417823 -0.10712545
+v -0.05002588 -0.13417783 -0.21414282
+v -0.04823485 -0.02772149 -0.24886639
+v -0.06809232 -0.13417783 -0.21407851
+v -0.13216699 -0.13417784 -0.21343547
+v -0.04823485 -0.07997236 -0.08600149
+v -0.13216699 -0.09246092 -0.10628935
+v -0.04823485 -0.07827178 -0.08593718
+v -0.04823485 -0.06189310 -0.08534232
+v -0.13216699 -0.13417822 -0.10942430
+v -0.04823485 -0.02723258 -0.24893070
+v -0.13216699 -0.11615171 -0.21346757
+v -0.12220949 -0.07997230 -0.10355639
+v -0.12220949 -0.06189303 -0.10307406
+v -0.13216699 -0.07997229 -0.10596777
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+v -0.04823485 -0.02692435 -0.24893070
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+v -0.13216699 -0.07365889 -0.10580700
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+v -0.13216699 -0.02567069 -0.10508340
+v -0.13216699 -0.03663942 -0.10516382
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+f 1 19 18
+f 1 18 16
+f 1 16 9
+f 1 9 4
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+f 44 49 50
+f 44 50 51
+f 44 51 45
+
diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_4.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3a8a08c06f715a68e76ac56cb46c1cf4ab81214
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_4.obj
@@ -0,0 +1,865 @@
+# https://github.com/mikedh/trimesh
+v 0.26419006 -0.27772929 -0.06171247
+v 0.26476164 -0.28191378 -0.08164946
+v 0.26455991 -0.27748311 -0.06513024
+v 0.29149192 -0.20661733 -0.15415205
+v 0.29458526 -0.18853174 -0.15415198
+v 0.29071859 -0.18853181 -0.13603072
+v 0.29142466 -0.18021452 -0.13603069
+v 0.26412281 -0.26207928 -0.06171241
+v 0.25564981 -0.29280922 -0.06171253
+v 0.26348397 -0.28383109 -0.09977072
+v 0.26768683 -0.27402385 -0.11790976
+v 0.28685195 -0.22069973 -0.15415210
+v 0.28604499 -0.21887297 -0.17227337
+v 0.29001251 -0.20661727 -0.17227333
+v 0.29327397 -0.18853168 -0.17227326
+v 0.29455163 -0.18021442 -0.16394243
+v 0.29525770 -0.18021445 -0.15415195
+v 0.29350931 -0.18021448 -0.14583895
+v 0.28651575 -0.18021457 -0.12380149
+v 0.26022253 -0.24280181 -0.06171234
+v 0.23910731 -0.29893708 -0.06171255
+v 0.25571705 -0.29165614 -0.08164949
+v 0.25571705 -0.29267967 -0.06352823
+v 0.26698075 -0.27123834 -0.14941726
+v 0.26758597 -0.27270236 -0.13603103
+v 0.25447301 -0.29047714 -0.09977075
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_40.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6ba7fd557265bb310712a9360d6bb0c54f5ec58
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_40.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_41.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcc982e49cd53b950d000f8cb303956514d9ef79
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_41.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.04823485 -0.30199840 -0.04797132
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+
diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_5.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef9aded2085dd5481391fd01136b97a82f9417e
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_5.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.02896563 0.17530537 -0.07520099
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_6.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f4b5710cbc76c77932dc9a6c2798425366316aa
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_6.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_7.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3590008756f7d79c433c03a6269eb003192a469b
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_7.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_8.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7d6011c4a0f2964a31b26ec7390ec0a8e7a3eb0
--- /dev/null
+++ b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_8.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_9.obj b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/computer_chair_45_collision_9.obj
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/material_0.png b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mjcf/mesh/material_0.png
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/textures/material_0.png b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/textures/material_0.png
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diff --git a/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/video.mp4 b/dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/video.mp4
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