diff --git a/.gitattributes b/.gitattributes
index 766082c0047ef8e7faca9bf83b5e007d68663db3..0fc98ed9543f1e438fe09a1dc2fbccf5984248a9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3762,6 +3762,6 @@ dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mesh/dining_chair_5_gs.
 dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/a0ced45e962556f2a6a28e516df3db06.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/a0ced45e962556f2a6a28e516df3db06/mesh/office_chair_11_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/abf4d4dbd52f5ccaa3611c94c5d06123/abf4d4dbd52f5ccaa3611c94c5d06123.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/abf4d4dbd52f5ccaa3611c94c5d06123/mesh/computer_chair_40.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/chair/abf4d4dbd52f5ccaa3611c94c5d06123/mesh/computer_chair_40_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/afe23b0ac0725274b6c6cb4884208067.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/afe23b0ac0725274b6c6cb4884208067.urdf b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/afe23b0ac0725274b6c6cb4884208067.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cbd3286c8ec6652bec9b7cbb3a06fa816aee21e3
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/afe23b0ac0725274b6c6cb4884208067.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lounge_chair_23">
+   <link name="lounge_chair_23">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/lounge_chair_23.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/lounge_chair_23_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="20.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.430770</scale>
+         <version>v0.1.5</version>
+         <category>lounge_chair</category>
+         <description>cushioned lounge chair with woven base and reclining backrest</description>
+         <min_height>0.8</min_height>
+         <max_height>1.0</max_height>
+         <real_height>0.9</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251021120202</generate_time>
+         <gs_model>mesh/lounge_chair_23_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.416921615600586</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</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/afe23b0ac0725274b6c6cb4884208067/afe23b0ac0725274b6c6cb4884208067.usd b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/afe23b0ac0725274b6c6cb4884208067.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2183752f363e13ea4e8c500ab98e0b8f90052c92
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/afe23b0ac0725274b6c6cb4884208067.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6955b28003bbdf48233e427bde6076e9ac3918830744aa30c6a5cf0baf2dae8d
+size 238387
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23.glb b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4dbbbd1d498cb557086c9acafd68a0e5387d06cb
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73c093fa30cb3fb0e8d47d0ec8897ffe72cf637c0984bb7795c0bfba4c28205a
+size 1713084
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9f6264809751f878f8a2fc410c58ddc08cfcb89
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23.obj
@@ -0,0 +1,15498 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23_collision.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4e1a8a852c92d95a02786df3562980b6ac3bfa6
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23_collision.obj
@@ -0,0 +1,10331 @@
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23_gs.ply b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b246a40b14b653d06f38700a7cdf3e3e039c79b8
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/lounge_chair_23_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3594c5ec9c60292fc070a425f72bdbbbc9f346543a96725036b6dbe230ee849c
+size 21805418
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/material.mtl b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/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/afe23b0ac0725274b6c6cb4884208067/mesh/material_0.png b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4748ff02ca88cb5791bbcc0b5cb553ee7401336
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bb13c01901d0fa6b192b12632622cfec91a66abb4715c8fca97a591ca8ee9cc
+size 1543859
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/afe23b0ac0725274b6c6cb4884208067.xml b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/afe23b0ac0725274b6c6cb4884208067.xml
new file mode 100644
index 0000000000000000000000000000000000000000..42546874949214931d14b94909f1b1bbdaaaddc1
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/afe23b0ac0725274b6c6cb4884208067.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_11" file="mesh/lounge_chair_23_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/lounge_chair_23_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/lounge_chair_23_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/lounge_chair_23_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/lounge_chair_23_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/lounge_chair_23_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/lounge_chair_23_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/lounge_chair_23_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/lounge_chair_23_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/lounge_chair_23_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/lounge_chair_23_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/lounge_chair_23_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/lounge_chair_23_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/lounge_chair_23_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/lounge_chair_23_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/lounge_chair_23_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_32" file="mesh/lounge_chair_23_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/lounge_chair_23_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/lounge_chair_23_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/lounge_chair_23_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/lounge_chair_23_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/lounge_chair_23_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/lounge_chair_23_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c68236a426e696873e8879d5faf8be7c81bedcf
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23.obj
@@ -0,0 +1,15498 @@
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..786a3552ab4dcdf334d9581394b5fc31c8245270
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision.obj
@@ -0,0 +1,10331 @@
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_0.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1784ffb1acea8980b58bd9d9b92d6e97e298685
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_0.obj
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_1.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6a5139374732d4bba4369ff584466e616068612
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_1.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_10.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b5dcecf0465ff4a0d929ef8c440174cad6c9f6
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_10.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_11.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00642ee173bb09fe3a5daafc8c8c3a4dfeb1cba7
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_11.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_12.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2887e3c6d11f300e555f3060867029e46513b381
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_12.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.43801936 0.29050242 -0.34163369
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_13.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36684bfffb391d7f904d7fc37046f9476fc02771
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_13.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.71249544 -0.17493807 -0.20285501
+v 0.71133384 -0.00141408 -0.20285438
+v 0.66276778 -0.17493807 -0.20285501
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_14.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83cb1d6ef10e832cf02bbad88acac8dc801684ee
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_14.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_15.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cfb01ebe1ea2301cd08509863fc3b179394b69d
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_15.obj
@@ -0,0 +1,991 @@
+# https://github.com/mikedh/trimesh
+v -0.09788880 0.04961630 0.11625990
+v -0.09797970 0.05776966 0.11625993
+v -0.10411610 0.05776963 0.12397328
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_16.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5717ed7a92cc231723ce24fc9495cf4343c0e23d
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_16.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_17.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01b965baa524111e6046929013c5e348da0ff651
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_17.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_18.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da713c7128b63d1ae510997646136f5e266880da
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_18.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.43655652 -0.19850233 0.01613661
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_19.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf22f8db075e8b9275bd62f43703658a6aa47724
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_19.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_2.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f2b6873b50fdad0962b06f402711616376786e4
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_2.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_20.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e0c243a6afbd80d4061eb3a708637ac2a443967
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_20.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_21.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36321b214bce8d4694db489fcbde5450bedda6cf
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_21.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_22.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5388def4600122216e05bbd3729297e176c8d3e8
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_22.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_23.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20eabc80c1ef0db038ee620896cb0f37e9667bfd
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_23.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.59535659 -0.19850564 -0.39122385
+v -0.59528585 -0.19850564 -0.39135090
+v -0.59282648 -0.21341084 -0.38681906
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+v -0.51667448 -0.19850580 -0.34857339
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_24.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ca30b2f51a9dcd96b908566e824862ef3420e55
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_24.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+v -0.40972546 -0.30575091 0.11625086
+v -0.40718087 -0.30509165 0.11155345
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_25.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d6fa9ad05e2afd74267e40e2938b0673b8e7cef
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_25.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.09047564 0.24036060 0.01613822
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_26.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaa4acf3ead81839adae8e799a776df208febd3a
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_26.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_27.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59e90c5a7c86185768f3c104a2cc68d92bc90433
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_27.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.71597427 0.26722632 -0.18576209
+v 0.71507863 0.26722654 -0.24437557
+v 0.71299183 0.28837139 -0.18576201
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+v 0.71538329 0.22069302 -0.18576226
+v 0.70775628 0.30249195 -0.24437544
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+v 0.70846728 0.30342837 -0.18576196
+v 0.70271470 0.30577014 -0.24437543
+v 0.69565097 0.31177285 -0.18576192
+v 0.71406289 0.17398940 -0.18576243
+v 0.69099719 0.17398962 -0.24437591
+v 0.69565097 0.31028298 -0.24437541
+v 0.68570628 0.31358955 -0.24437540
+v 0.67204048 0.31788954 -0.24437538
+v 0.67204048 0.31895365 -0.18576190
+v 0.68562321 0.17398940 -0.18576243
+v 0.66200348 0.17398957 -0.23073098
+v 0.66199423 0.17406058 -0.24437591
+v 0.66209580 0.31777601 -0.24437538
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+v 0.66078465 0.17401779 -0.18576243
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+v 0.62165236 0.31683916 -0.18576191
+v 0.62165236 0.31672579 -0.22758605
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_28.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..017bad4e92c964ddbe0052ed7ddbb7db2628bb48
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_28.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.41640932 0.24665194 0.01613825
+v -0.41964722 0.26620553 0.01613832
+v -0.43802709 0.24665194 0.01613825
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_29.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6091d74285e8156cd5902192f29238f7e0d95673
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_29.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.71607039 -0.26805196 -0.17867358
+v 0.71123341 -0.29293000 -0.17867368
+v 0.71113045 -0.28916939 -0.22403254
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_3.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d38afc73fc55fe70b6cdbff54fbcd0436df4adf
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_3.obj
@@ -0,0 +1,823 @@
+# https://github.com/mikedh/trimesh
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+v -0.35779422 0.12753679 0.27193353
+v -0.35749949 0.10428971 0.27231436
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_30.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..726ddb6af11981a31279ba6a7301b5b928245850
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_30.obj
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_31.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..216789a77ae568f2ca1f1b7ea5db71e2dd42e070
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_31.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_32.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05bf8cfa6c617c89f782cc49bf9ebe85b5b755a3
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_32.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_33.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1441b5ebbc91b985dd44589cb97e709c936c32b
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_33.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_34.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c01e0a62632f6f50993308487750aa72ffd04013
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_34.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_35.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..080a92ff6b1f3b3a1c95fa9260bc724a814509b0
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_35.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_36.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83952d59ab4ea7366e6129b1d5388cbcd6f5d902
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_36.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_37.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbb8a8983366ed4d6f78ab097213524bb09a3135
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_37.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_38.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7c74df0737af86e08661775f4559680bb65dd5
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_38.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_4.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a3bb01a214243ae7849dd1119023ce0fc3a51e2
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_4.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_5.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dcaf4a6bfe76482b2845be6330db905b37aed0a
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_5.obj
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_6.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86250e2cefe354f1a1969aaa134a3e9d484fe2ed
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_6.obj
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_7.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0a070806d0bbc9f1625344c0e5b5f01800f2fa9
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_7.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_8.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d7d9792fee1c63263697617b597ead46dc56a73
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_8.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_9.obj b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a245dac8ea07ee91e0d1c0d68ec43a288b2233bf
--- /dev/null
+++ b/dataset/furniture/chair/afe23b0ac0725274b6c6cb4884208067/mjcf/mesh/lounge_chair_23_collision_9.obj
@@ -0,0 +1,673 @@
+# https://github.com/mikedh/trimesh
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