diff --git a/.gitattributes b/.gitattributes
index d23652d763a0101f0b7180802e3bc1ee3fff8cb8..0dee75e2419a8e6ea0354cc6530b74911144141b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3786,9 +3786,6 @@ dataset/furniture/chair/e9a279d82e6c50219e06e457fc224129/mesh/dining_chair_4_gs.
 dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/0033f5a78e7f5843a139ea446f8b8bbd.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/mesh/wooden_patterned_table_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/0632cdfa6b0b596b93c124dcae3d3a9b/0632cdfa6b0b596b93c124dcae3d3a9b.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/0632cdfa6b0b596b93c124dcae3d3a9b/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/0632cdfa6b0b596b93c124dcae3d3a9b/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/0a3e25e9476e5d929e41458d50117196/0a3e25e9476e5d929e41458d50117196.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/0a3e25e9476e5d929e41458d50117196/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/0a3e25e9476e5d929e41458d50117196/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/e862f230230a58dfad3b571d3c90ef31.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/e862f230230a58dfad3b571d3c90ef31.urdf b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/e862f230230a58dfad3b571d3c90ef31.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bf4cde59f1caac200eee806443033964a34ad4fd
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/e862f230230a58dfad3b571d3c90ef31.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="office_chair_19">
+   <link name="office_chair_19">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/office_chair_19.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/office_chair_19_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="12.5000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.100000</scale>
+         <version>v0.1.5</version>
+         <category>office chair</category>
+         <description>ergonomic blue office chair with adjustable armrests and a five-wheel 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>20251021115014</generate_time>
+         <gs_model>mesh/office_chair_19_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.183999538421631</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/e862f230230a58dfad3b571d3c90ef31/e862f230230a58dfad3b571d3c90ef31.usd b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/e862f230230a58dfad3b571d3c90ef31.usd
new file mode 100644
index 0000000000000000000000000000000000000000..60cbb07c591ef9ccad06ab89ff6b897e76a747c6
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/e862f230230a58dfad3b571d3c90ef31.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebd6a7629d43c4813648d11ad956b42399b5c7d14101342698398b88cccafec7
+size 262653
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/material.mtl b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/material_0.png b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fec5cc027c87c3e6255d7a2e12b789fb6dd098a
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2379f1be140c6458287c8b5b82af5d84b04f07ecb1f5a15213929066d3edae8
+size 1622661
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19.glb b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19.glb
new file mode 100644
index 0000000000000000000000000000000000000000..87750db11b9a7635795e7c921027fa15664b80d3
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90a9e08432392bb6b76e4e9654c41d0a90774dcdf99fe1c144c56c85028c6ef3
+size 1821764
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1e8058e53db07d2d7d63364cb6cc4a9bede1314
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19.obj
@@ -0,0 +1,18428 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19_collision.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82151b39894cb2fed20e727a25be3477315188b6
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mesh/office_chair_19_collision.obj
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/e862f230230a58dfad3b571d3c90ef31.xml b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/e862f230230a58dfad3b571d3c90ef31.xml
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index 0000000000000000000000000000000000000000..acc5f00ba728be50dbbef200fbe322a858c418e6
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/material_0.png b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fec5cc027c87c3e6255d7a2e12b789fb6dd098a
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2379f1be140c6458287c8b5b82af5d84b04f07ecb1f5a15213929066d3edae8
+size 1622661
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fecb2216f75c060bbcd93908f8c467e60384ecc
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19.obj
@@ -0,0 +1,18428 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3cebf6026dbb72b08128a48c345714abd50c27b
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision.obj
@@ -0,0 +1,19591 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_0.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90522682180d4659f0d4d8b398d3f108c193b3e9
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_0.obj
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_1.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41e3eebe28cbc40ac941c33cd1cd6eadce499234
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_1.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.10027055 0.00954240 -0.38910131
+v -0.10027055 0.00438061 -0.38913099
+v -0.10027055 0.02127420 -0.39485800
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+v -0.28557723 -0.00859601 -0.43076346
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+v -0.11323984 0.02362900 -0.40827057
+v -0.28557723 0.01995941 -0.43386920
+v -0.13946865 -0.01607070 -0.39977408
+v -0.12740630 -0.01875652 -0.39801347
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+v -0.28557723 -0.01379043 -0.43212847
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+v -0.25804241 0.02270588 -0.44452212
+v -0.27614501 0.02235150 -0.44452212
+v -0.28557723 0.02195516 -0.44452212
+v -0.27614501 0.02034643 -0.43331530
+v -0.11323984 -0.01984763 -0.39646051
+v -0.28557723 -0.01884498 -0.43398805
+v -0.10027055 -0.02032792 -0.39511530
+v -0.10027055 0.02436586 -0.44452211
+v -0.28557723 0.02259871 -0.46265282
+v -0.28557723 -0.01969360 -0.43926010
+v -0.11323984 -0.02254739 -0.40827074
+v -0.10027055 -0.02109728 -0.39846848
+v -0.10027055 0.02146561 -0.45749947
+v -0.23993982 0.02068231 -0.47502683
+v -0.28557723 0.02050980 -0.47931964
+v -0.23993982 0.02279455 -0.46265282
+v -0.25804241 0.02273859 -0.46265282
+v -0.28557723 -0.02046296 -0.44452228
+v -0.10027055 -0.02311626 -0.40827074
+v -0.10027055 0.00954267 -0.46320677
+v -0.17496641 0.01881249 -0.47193086
+v -0.18565020 0.01927878 -0.47245509
+v -0.20373465 0.01987097 -0.47323651
+v -0.22183724 0.02037922 -0.47413660
+v -0.28557723 0.01146853 -0.48748987
+v -0.28557723 -0.02082662 -0.45396845
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+v -0.10027055 -0.02323747 -0.41342410
+v -0.10027055 -0.00859589 -0.46301891
+v -0.15768006 -0.00105133 -0.47184192
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+v -0.10027055 -0.02315816 -0.42640145
+v -0.10027055 -0.01697507 -0.45912179
+v -0.17393249 -0.01798687 -0.47203981
+v -0.16774714 -0.00769591 -0.47267282
+v -0.28557723 -0.00045908 -0.49009133
+v -0.28557723 0.00067400 -0.49013088
+v -0.28557723 -0.01995461 -0.47149580
+v -0.22183724 -0.02105973 -0.46265298
+v -0.10027055 -0.02297624 -0.44452228
+v -0.10027055 -0.02311151 -0.43155479
+v -0.10027055 -0.02027639 -0.45731169
+v -0.18565020 -0.01852309 -0.47264316
+v -0.28557723 -0.01004129 -0.48672834
+v -0.28557723 -0.00703840 -0.48861755
+v -0.28557723 -0.01911526 -0.47859771
+v -0.10027055 -0.02223483 -0.44826117
+v -0.22183724 -0.01930180 -0.47402796
+v -0.20373465 -0.01909663 -0.47344436
+v -0.28557723 -0.01461557 -0.48339496
+f 1 2 9
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+f 63 70 64
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+f 66 69 68
+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_10.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bf2b2f3785a6eca5d27f4cac714570e28f3b72f
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_10.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.03159565 0.27428920 -0.09289214
+v 0.02819455 0.26013662 -0.10067679
+v 0.03159565 0.26013662 -0.10060570
+v 0.13183432 0.26013668 -0.11728867
+v 0.14096640 0.26013669 -0.12003757
+v 0.05079712 0.27428922 -0.09927860
+v 0.01268875 0.27428923 -0.10039237
+v -0.09510197 0.26013671 -0.12394764
+v -0.09368261 0.26013670 -0.12352109
+v -0.08623768 0.26013670 -0.12166085
+v 0.15829326 0.26013672 -0.12660176
+v 0.06587443 0.27428929 -0.11711089
+v 0.17331700 0.26013675 -0.13627029
+v 0.15829326 0.26300440 -0.13627028
+v 0.14018977 0.26575983 -0.13627027
+v -0.05383352 0.27428936 -0.13688638
+v -0.09510197 0.26664644 -0.13627027
+v -0.10027057 0.26376771 -0.13310668
+v -0.10027057 0.26013671 -0.12623444
+v 0.07195357 0.27428934 -0.13077245
+v 0.16688975 0.26013679 -0.14583220
+v 0.15949837 0.26013682 -0.15445805
+v 0.15829326 0.26035017 -0.15439881
+v 0.02594500 0.27428961 -0.20385524
+v 0.06766872 0.27428940 -0.14696962
+v 0.07259629 0.27428936 -0.13586739
+v 0.06207163 0.27428943 -0.15463573
+v -0.05948416 0.27428938 -0.14205241
+v -0.06454564 0.27428943 -0.15457649
+v -0.09510197 0.26797506 -0.15439879
+v -0.10027057 0.26678367 -0.15439879
+v -0.10027057 0.26515445 -0.13627028
+v -0.10027057 0.26013687 -0.16896087
+v 0.01351894 0.26013703 -0.21310913
+v 0.01351894 0.26355604 -0.21268257
+v 0.01351894 0.27428963 -0.20951893
+v -0.06537583 0.27428944 -0.15885387
+v -0.06071606 0.27428953 -0.18288303
+v -0.10027057 0.26016458 -0.16893716
+v -0.05777023 0.27428956 -0.19065578
+v -0.05482439 0.27428959 -0.19752803
+v -0.05268196 0.27428960 -0.20230306
+v -0.05252128 0.26355600 -0.20235049
+v -0.05222670 0.26013699 -0.20207798
+v -0.00118344 0.26013704 -0.21386744
+v -0.00458454 0.26355604 -0.21361860
+v 0.00280682 0.27428963 -0.21084598
+v -0.04791507 0.27428961 -0.20500456
+v -0.04079151 0.26355603 -0.20897392
+v -0.05083412 0.26013700 -0.20300219
+v -0.00458454 0.26013704 -0.21392669
+v -0.01529666 0.27428964 -0.21155689
+v -0.00458454 0.27428964 -0.21122513
+v -0.02268803 0.26355604 -0.21322760
+v -0.02268803 0.27428964 -0.21140286
+v -0.04079151 0.27428962 -0.20814447
+v -0.03739041 0.26013702 -0.20998107
+v -0.04111287 0.26013702 -0.20848814
+v -0.03340014 0.27428963 -0.20988623
+v -0.01928693 0.26013703 -0.21360678
+v -0.02268803 0.26013703 -0.21342905
+f 1 2 3
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+f 1 12 20
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+f 1 26 25
+f 1 25 27
+f 1 27 24
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+f 1 36 47
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+f 51 60 54
+f 54 61 57
+f 54 59 55
+f 54 60 61
+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_11.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a174cebe57db0981016e81bf8b7e1b5d72c821c
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_11.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.07239315 0.00317863 -0.32052778
+v 0.07224047 0.00954914 -0.32052775
+v 0.05910186 0.00317863 -0.32052778
+v 0.09267785 0.00317888 -0.39011832
+v 0.10242367 0.01663706 -0.39011827
+v 0.10242367 0.02520478 -0.37742223
+v 0.10242367 0.02665435 -0.37660750
+v 0.10242367 0.04424763 -0.37448918
+v 0.06562027 0.02264111 -0.32052771
+v 0.10242367 0.04582691 -0.37463851
+v 0.10242367 0.06567087 -0.37830467
+v 0.10242367 0.06573190 -0.37833184
+v 0.05910186 0.02953041 -0.32052768
+v 0.05910186 0.00317913 -0.45643642
+v 0.09312739 0.00317902 -0.42638689
+v 0.10242367 0.01530204 -0.42129483
+v 0.10242367 0.01558427 -0.40825935
+v 0.06430557 0.02521220 -0.32052770
+v 0.10242367 0.07769477 -0.38855649
+v 0.09542177 0.07287299 -0.38153638
+v 0.05910186 0.05817121 -0.37789735
+v 0.05910186 0.01826236 -0.45642277
+v 0.10242367 0.06388590 -0.45923339
+v 0.10242367 0.04582722 -0.45894828
+v 0.06215538 0.00317913 -0.45644997
+v 0.09100265 0.00317908 -0.44452793
+v 0.10242367 0.01526391 -0.42638684
+v 0.10242367 0.07771002 -0.38862439
+v 0.05910186 0.06229110 -0.39011810
+v 0.05910186 0.02769224 -0.45639557
+v 0.10242367 0.07597840 -0.45586584
+v 0.05910186 0.04478961 -0.45517345
+v 0.07361031 0.00317912 -0.45598832
+v 0.06780015 0.00317913 -0.45644997
+v 0.10242367 0.02762356 -0.45551296
+v 0.08530699 0.00317912 -0.45502422
+v 0.10242367 0.01884214 -0.44452787
+v 0.09006115 0.00317909 -0.44626599
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+v 0.10242367 0.08099071 -0.40610008
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+v 0.05910186 0.06232939 -0.42638667
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+v 0.05910186 0.06046786 -0.43602749
+v 0.05910186 0.05231214 -0.45069244
+v 0.05910186 0.05840033 -0.44338712
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+f 1 13 3
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+f 1 34 33
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_12.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..432e8c4e2866c9676cd86e533dba11b4b8f3b0a0
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_12.obj
@@ -0,0 +1,751 @@
+# https://github.com/mikedh/trimesh
+v 0.08567453 -0.03837776 -0.21483672
+v 0.08567453 -0.07139174 -0.21483684
+v 0.08567453 -0.03837819 -0.09807706
+v 0.12546746 -0.03837776 -0.21483672
+v 0.08567453 -0.21916148 -0.18224007
+v 0.08615657 -0.07139174 -0.21483684
+v 0.08567453 -0.17212938 -0.09198900
+v 0.09239908 -0.03837819 -0.09796812
+v 0.12541925 -0.04483276 -0.21483674
+v 0.30312567 -0.03837784 -0.19298816
+v 0.30312567 -0.04489804 -0.19298818
+v 0.08567453 -0.24428603 -0.17331916
+v 0.10558304 -0.07117440 -0.21483684
+v 0.18697659 -0.13057353 -0.20079588
+v 0.26692398 -0.18425663 -0.18244570
+v 0.24882314 -0.20816409 -0.17593358
+v 0.21259735 -0.22631200 -0.17193919
+v 0.08567453 -0.19003822 -0.09140805
+v 0.10401639 -0.17189030 -0.09181954
+v 0.10401639 -0.03837819 -0.09778655
+v 0.12050238 -0.06324148 -0.21483681
+v 0.30312567 -0.06304595 -0.19284301
+v 0.32122653 -0.03837785 -0.18930840
+v 0.08567453 -0.24445991 -0.17324653
+v 0.15831893 -0.24445993 -0.16873157
+v 0.15831893 -0.25493575 -0.16451926
+v 0.12016495 -0.06393697 -0.21483681
+v 0.28502482 -0.13561586 -0.18894563
+v 0.28502482 -0.15374204 -0.18653690
+v 0.27719158 -0.18249618 -0.18214309
+v 0.24740110 -0.22579041 -0.16742421
+v 0.23072230 -0.23759198 -0.16529388
+v 0.23072230 -0.22631200 -0.17078927
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_13.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b63e5111ca909020bfac30cf7fed7f2f986b5ee7
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_13.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_14.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae04b3c8956a93d5622d9572f882885055a13638
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_14.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_15.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a1ec928b37a68f1d878bf0369b498b1da98ffa7
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_15.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_16.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e72e3356b1d92fb4505868417a32f51bfd24912f
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_16.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_17.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47de188fe2989d569f459348d52ac7a0b68667a0
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_17.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_18.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..388d64c54912b1f45aecf6652232a03480665caa
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_18.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_19.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..559bdc5a0c1efd146bbf0577cb8a373c939269f6
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_19.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_2.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d0df329ccfd74d7897f1310a59d3a9faebfbbb1
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_2.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_20.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61b1f4a15d49bd14f447805b334d0eedf49f69a8
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_20.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_21.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..674c8a3b485a7b86463cb041a5f19ef432f2c74d
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_21.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_22.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..539c223d5026c7a789481ed5827eb0ba4701de11
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_22.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_23.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36f6d0bb7ec850eb0e486186d66fb40572569f22
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_23.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_24.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eab7b94899d21d6bc23416d5f5296dba0e8da82
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_24.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.15352458 -0.16737854 0.07347630
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+v -0.16588805 -0.11284735 0.07347650
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_25.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9f453f501d024818264c024acd811ce6c939749
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_25.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_26.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d533e04622a24bbb04c8b454db7c5b46a9f51132
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_26.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_27.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55abf6c3ba1b2a254338e4623b5832e03a40c7a3
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_27.obj
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_28.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6875fbf6638e083cc22cf8acf11a1cac655adedb
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_28.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_29.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8468f296ad4701ffc769ca52ee233cb09d4836a6
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_29.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_3.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0ef2aeb5e5a50339071edd00f007ddf06ff9551
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_3.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_30.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48009e037feda643c9c2ab174f67c38a9a6b899f
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_30.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_31.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..244d8c78bf7f87eecf5fb0532f45f36d7c85938d
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_31.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_32.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5e39db6be2c211c64c1cd11b3220ff8d13d58a6
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_32.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_33.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43490db3f6ee158940a6dc3cb1734a9ef5ad25c8
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_33.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_34.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d47eca3b386a83c122df3ac5b1adcd8c1bdc565
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_34.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_35.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccf73f90bf3e223d47a0fb044e52dca8a3fdaf88
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_35.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_36.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..335f62a4020dab1c5c18d3a1fd022bb0a04ea6c4
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_36.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_37.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ab620de024016feca70f16ebd0ea4bca6975533
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_37.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_38.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bb13d01db9f60e7083e653e56ee7f389aec4206
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_38.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_39.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf6049e2a934f7ef115fc83d2a8e9b655f15aa2e
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_39.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_4.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..021ad6a3551bcdf0a58b5fe44021a9e7e7bec475
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_4.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_40.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b87610ea88b6de21f6d94065111d5fc0b6b799
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_40.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_41.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1127fe9d700579b8d6e41935b1dac3f53cd6483
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_41.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_42.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..644a204c62415fb43e7ad0c7e575cd32a1f85fad
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_42.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_43.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f029386ac89bf352b123033c7785005b31ad16
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_43.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_44.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..486038b2b6a7b28bbbde987f4beefd4d79141fdf
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_44.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_45.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5501407ef382d6fc2b6c3d18448023409c780275
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_45.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_46.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..078924cf42b8ddb9f182b4fe40dd803b313a5a64
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_46.obj
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_47.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1b6c021e2f177cb5357c0f8749f1c2fd79f83a3
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_47.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.10027056 -0.20833259 -0.24000372
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+v -0.10027056 -0.21023221 -0.24021109
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+v -0.13915681 -0.18015493 -0.29107069
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_48.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfe31eee30f224971ec9a44556325a4dcdb4c82b
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_48.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.29729071 -0.13994678 0.42584811
+v -0.28793679 -0.17189399 0.41090643
+v -0.28689038 -0.18298686 0.41286626
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_49.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..779580ca81c4540f6c55fea8769e5096be37b526
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_49.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01483989 -0.22631439 -0.21483741
+v 0.01348989 -0.24222218 -0.21483747
+v 0.01348989 -0.22631439 -0.21563040
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_5.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51aa60e9f4dd97fa8988c39fe7535ec8b5a2afb9
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_5.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.13282609 -0.31703802 0.01051630
+v 0.13276454 -0.31703801 0.00878453
+v 0.13270301 -0.29890584 0.00878459
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+v 0.13211223 -0.32631443 0.01051626
+v 0.13198914 -0.32728905 0.00878449
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_50.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94035ca4d96ac8b4ea2267a0a4d8c4893a7471e4
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_50.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_51.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05c84acceb15e9763a1ce495baad447661f11739
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_51.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_52.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c2837a6071d4fd89e3497ba2b746b13346adfb2
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_52.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_53.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf0c9f6fd82e4898be28cc6834b4093a3f7fc143
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_53.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_54.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..030a2f08b4202c31bf7b67469a5283b498292cf2
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_54.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.22251199 0.00087274 -0.01135298
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_55.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a6ea7811ef78dd474a57fa51ed39afb0339e4d2
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_55.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.13600347 0.26354230 0.13395807
+v -0.13619392 0.26354229 0.13572554
+v -0.13603168 0.26177851 0.13395806
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_56.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bbdf723d77d068b7b7e0dbb545ea4e2ab6276c1
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_56.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.24324132 -0.11284764 0.15199229
+v -0.25125773 -0.11284763 0.14914753
+v -0.24324132 -0.11284758 0.13589540
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_57.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0bf3be8c79e113d2f6dbbe33198cd0cd9e4bbce
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_57.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.13727370 -0.26260477 0.01069214
+v -0.13829903 -0.27224951 0.01069210
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_58.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1dcdb773969cd2ae91a2a90e7d2f13912940ed0
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_58.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.13509320 -0.26260457 0.13320338
+v -0.13537736 -0.26260458 0.13572615
+v -0.14008732 -0.27206041 0.16411646
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+v -0.13778563 -0.27415149 0.13572610
+v -0.13767906 -0.27420829 0.13320333
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+v -0.13821896 -0.26260465 0.15385969
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+v -0.14006600 -0.26260468 0.16418554
+v -0.14505301 -0.26260474 0.18022906
+v -0.15106300 -0.27478806 0.18022901
+v -0.14943619 -0.27611763 0.13572610
+v -0.14943619 -0.27610627 0.13320333
+v -0.13912117 -0.23346458 0.13320348
+v -0.13787798 -0.24289758 0.13725461
+v -0.13944086 -0.24889840 0.15385974
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+v -0.14480438 -0.22631604 0.15385982
+v -0.14376009 -0.24594354 0.17046950
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+v -0.16753719 -0.27597004 0.18022901
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+v -0.19770792 -0.25896792 0.18022907
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+v -0.20275175 -0.24446612 0.18022912
+v -0.19302637 -0.24721629 0.13320343
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+v -0.19905768 -0.22631596 0.13320351
+v -0.19893690 -0.22399748 0.13320352
+v -0.20761801 -0.21675813 0.18022922
+v -0.20766773 -0.22647523 0.18022919
+f 1 2 3
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+f 1 5 6
+f 1 6 14
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+f 1 31 33
+f 1 33 42
+f 1 42 46
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_59.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebc213ace898bcd8c800115776de74397d5623b2
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_59.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.20325078 0.11473311 -0.01135256
+v -0.17347939 0.11473311 -0.01135256
+v -0.20917424 0.07666200 -0.01135270
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+v -0.18415360 0.00089848 -0.01135298
+v -0.17302144 0.11473310 -0.00901432
+v -0.17314983 -0.11284705 -0.00885260
+v -0.17345370 -0.11284704 -0.01027805
+v -0.17368055 -0.11284704 -0.01134089
+v -0.20917424 0.00089848 -0.01135298
+v -0.20952521 0.00087621 -0.01134048
+v -0.20917424 0.11473285 0.06028270
+v -0.17023519 0.11473304 0.00880384
+v -0.17008967 -0.11284711 0.00880301
+v -0.20203955 -0.11284704 -0.01134089
+v -0.20952521 -0.06965226 -0.01134074
+v -0.20952521 0.00087599 0.05025409
+v -0.20952521 -0.09899112 0.06230757
+v -0.20952521 -0.10576327 0.06267015
+v -0.20917424 0.09887174 0.06110790
+v -0.20424802 0.00954142 0.11638765
+v -0.20423946 0.01074437 0.11638765
+v -0.20378578 0.02767477 0.11638771
+v -0.20328930 0.04583039 0.11638778
+v -0.20272006 0.06396373 0.11638784
+v -0.20200531 0.08209707 0.11638791
+v -0.19940310 0.09985171 0.11638798
+v -0.19933891 0.10007448 0.11638798
+v -0.19568382 0.10943075 0.11638801
+v -0.19321856 0.11473264 0.11638803
+v -0.16773996 0.11473297 0.02693460
+v -0.16777848 -0.11284718 0.02693377
+v -0.20952521 -0.11284715 0.01963145
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+v -0.20428225 0.00089801 0.11638761
+v -0.16758588 0.11473264 0.11638803
+v -0.16621629 0.11473290 0.04507787
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+v -0.16630190 0.11473272 0.09579399
+v -0.16595950 -0.11284733 0.06778425
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_6.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab229e0625317e6f961611c40d3eda0e56fecb56
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_6.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.09895493 -0.07875443 -0.40825532
+v 0.09895493 -0.07558625 -0.39036811
+v 0.05910186 -0.06216731 -0.39012397
+v 0.05910186 -0.06304957 -0.39883023
+v 0.05910186 -0.06337839 -0.40825526
+v 0.05910186 -0.06335430 -0.41697510
+v 0.09895493 -0.07868221 -0.41598519
+v 0.09895493 -0.07441522 -0.38493006
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+v 0.05910186 -0.06316176 -0.42638654
+v 0.09895493 -0.07854581 -0.42638660
+v 0.09895493 -0.07233782 -0.38111939
+v 0.09547130 -0.07193678 -0.38140416
+v 0.05910186 -0.05758742 -0.37762055
+v 0.05910186 -0.05991324 -0.44451782
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+v 0.05910186 -0.05554983 -0.45455308
+v 0.09895493 -0.07400589 -0.45491929
+v 0.09895493 -0.04488234 -0.37467772
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+v 0.09895493 -0.06278466 -0.45833668
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+v 0.08530517 0.00317109 -0.45502750
+v 0.09895493 -0.02327377 -0.45565140
+v 0.09006445 0.00317106 -0.44626700
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+f 1 17 16
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_60.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ca0b225fe696ee9fb17471aa8ac508107f8761d
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_60.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.16757665 -0.11284750 0.11432572
+v -0.16785811 -0.11284751 0.11759457
+v -0.19212916 -0.11284750 0.11432572
+v -0.17801240 0.00087228 0.11432613
+v -0.17017634 -0.11284758 0.13572853
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+v -0.23993801 -0.10359633 0.12822544
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+v -0.20406100 0.00087228 0.11432613
+v -0.18340430 0.00087213 0.15385162
+v -0.17095401 -0.11284760 0.14040318
+v -0.24324130 -0.11284758 0.13590356
+v -0.24324130 -0.07530831 0.12376544
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+v -0.21290434 0.00087210 0.16222418
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+v -0.18510040 0.00087210 0.16333074
+v -0.17327224 -0.11284764 0.15359151
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+v -0.20206865 -0.07790218 0.11432584
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+v -0.20404619 -0.00861272 0.11432610
+v -0.20305372 -0.05975600 0.11432591
+v -0.21300063 0.00087210 0.16331945
+v -0.24324130 -0.05975612 0.14733627
+v -0.21370423 0.00087207 0.17199688
+v -0.18670760 0.00087207 0.17199688
+v -0.17425730 -0.11284766 0.15832260
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_61.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06723a625daee0af53b62125fa90af9e37a10389
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_61.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.17447861 0.14910630 0.18073609
+v -0.18009080 0.11474355 0.18073596
+v -0.17374987 0.14910631 0.17830009
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+v -0.19083771 0.11474372 0.13395752
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_62.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3f0627d375ec71b7ffb74806e74fd15940dd715
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_62.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.27159407 -0.06833458 0.03332658
+v -0.27159407 -0.06832778 0.02693291
+v -0.27159407 -0.06461488 0.04479184
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+v -0.31244604 -0.04070441 0.09935483
+v -0.31349145 -0.04023691 0.09935483
+v -0.32146777 -0.03590057 0.09108643
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+v -0.31080573 -0.04123257 0.00880317
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+v -0.27159407 -0.06302932 0.01616123
+v -0.32152552 -0.03596148 0.07102765
+v -0.27159407 -0.06420836 0.04557208
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+v -0.27923543 -0.00848701 0.09935495
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+v -0.32399177 0.00087710 -0.01135298
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_63.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c00428bc4fed9b099556794c6ceafc46f5404fbb
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_63.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.22311507 0.15650562 0.24269186
+v -0.22311507 0.15701881 0.22681525
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_64.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49244ea2352df00aced67ac5a2729bb3b0d0b21f
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_64.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.29046268 0.06800022 0.16526999
+v -0.27601385 0.06755441 0.16526999
+v -0.29405858 0.06670736 0.16526999
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+v -0.27334405 0.06706401 0.16526999
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+v -0.32280425 0.00088297 0.23765809
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_65.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..880716ef1b02d6a7b197dacbd686b7d617da3967
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_65.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_66.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa421e6127714e8b8f5e3546fcc82cb789fff60a
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_66.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.20455974 0.11473245 0.16902430
+v -0.17666722 0.11473245 0.16902430
+v -0.20656309 0.10025251 0.16902425
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+v -0.21377077 -0.00841390 0.17200818
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+v -0.23241361 -0.02804009 0.25010068
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+v -0.23191139 -0.03666122 0.25010065
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+f 30 32 31
+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_67.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..464387b20596660c34eb8d8abe065ea4d5f4e01b
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_67.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+v -0.14680338 0.25577336 0.18073648
+v -0.15385375 0.26355280 0.20826263
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+v -0.21318318 0.27280569 0.25010180
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_68.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9e904946e1bb1f99b9310343b822cc8dcd9d3bd
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_68.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.14505948 -0.26260095 0.18022906
+v -0.14574035 -0.25510925 0.18022908
+v -0.15279662 -0.26260105 0.20825671
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+v -0.16753585 -0.27597319 0.18022901
+v -0.14957022 -0.24445982 0.19012566
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_69.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b6047fe1c46ced6535bb678c3057c420e935a14
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_69.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_7.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aa27b6449808e7cf519b3c0f37c6be2ca6cfb92
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_7.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_70.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52b0373f6320b88838d03db6243c0b80efc01e34
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_70.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.20917812 0.07668306 -0.01135270
+v -0.21683098 0.04956654 -0.01135280
+v -0.24330366 0.02768827 0.00138786
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+v -0.24330366 0.10046688 0.05608517
+v -0.24330366 0.00438320 0.07046023
+v -0.24330366 0.00088358 0.07041213
+f 1 2 3
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+f 1 4 5
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+f 1 6 7
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+f 1 9 16
+f 1 16 24
+f 1 24 28
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+f 31 36 37
+f 31 37 32
+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_71.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43d3e5d7bbb5ae9730261f7ea82c08aad8f0cf29
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_71.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.27158831 0.00087274 -0.01135298
+v -0.27158831 0.00087240 0.08102675
+v -0.26137163 0.00087274 -0.01135298
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+v -0.24324130 0.00087244 0.07039643
+v -0.27158831 -0.00580717 0.08107196
+v -0.24324130 0.00087270 0.00098723
+v -0.24324130 -0.00861230 0.00112291
+v -0.26146042 -0.00331312 -0.01135299
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+v -0.24324130 -0.10555527 0.02009427
+v -0.27158831 -0.04197675 -0.00762574
+v -0.24324130 -0.00177712 0.07036023
+v -0.27158831 -0.00861260 0.08102672
+v -0.24324130 -0.00861256 0.07026069
+v -0.24324130 -0.02674735 0.00214516
+v -0.26164911 -0.00861226 -0.01135301
+v -0.26352484 -0.02674730 -0.01135308
+v -0.24324130 -0.09659350 0.01721734
+v -0.24324130 -0.11284718 0.02662625
+v -0.24665982 -0.11284719 0.02988320
+v -0.25030863 -0.11115504 0.03219020
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+v -0.27158831 -0.06236068 0.01499188
+v -0.27158831 -0.02364163 0.07781494
+v -0.24324130 -0.11284728 0.05526930
+v -0.24324130 -0.03975027 0.00485923
+v -0.24926531 -0.11284721 0.03468719
+v -0.25012549 -0.11077658 0.04505515
+v -0.27158831 -0.06832782 0.03332125
+v -0.27158831 -0.06832780 0.02693401
+v -0.27158831 -0.06302863 0.01615896
+v -0.27158831 -0.05373304 0.05782079
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+v -0.24369914 -0.11284728 0.05516978
+v -0.24894344 -0.11284725 0.04505515
+v -0.27158831 -0.06460957 0.04479295
+v -0.27158831 -0.06420880 0.04557100
+f 1 2 5
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+f 28 36 29
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+f 29 34 37
+f 29 37 30
+f 33 38 34
+f 34 38 37
+f 34 36 35
+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_72.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e6152bbcd5f313d5a4ef0e2fd89d74629f4096b
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_72.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.24331190 0.05475971 0.13571927
+v -0.24331190 0.05493806 0.12828710
+v -0.24331190 0.05951872 0.14674358
+v -0.26977178 0.00088323 0.16526339
+v -0.24331190 0.05892809 0.12466957
+v -0.27341857 0.00088334 0.13571907
+v -0.27479642 0.00088337 0.12707257
+v -0.27769242 0.00088344 0.10894035
+v -0.27916930 0.00088347 0.10031928
+v -0.24331190 0.06067781 0.14844109
+v -0.32496873 0.00088323 0.16526339
+v -0.24331190 0.07877778 0.15377528
+v -0.26251120 0.04636719 0.16526356
+v -0.24331190 0.06523634 0.12360785
+v -0.32759243 0.00088347 0.10031928
+v -0.27906202 0.01041269 0.10031932
+v -0.32494396 0.00954312 0.16526343
+v -0.24331190 0.09688887 0.15514226
+v -0.26252770 0.06277307 0.16526362
+v -0.24331190 0.08227749 0.12397666
+v -0.27953232 0.02769905 0.10031938
+v -0.32746043 0.00868517 0.10031931
+v -0.32744392 0.00954336 0.10031932
+v -0.32268329 0.02517998 0.16526348
+v -0.24331190 0.10015444 0.15491975
+v -0.27334431 0.06706401 0.16526364
+v -0.24331190 0.09607538 0.12559793
+v -0.27968084 0.02864640 0.10031939
+v -0.32340109 0.02384278 0.10031937
+v -0.32170145 0.02864616 0.16526350
+v -0.24331190 0.11182359 0.15160105
+v -0.27600929 0.06755441 0.16526364
+v -0.24331190 0.10473527 0.12908835
+v -0.28244480 0.03918986 0.10031942
+v -0.29420201 0.04394890 0.10031944
+v -0.32038134 0.03305970 0.16526351
+v -0.31939128 0.03291506 0.10031940
+v -0.24331190 0.11473252 0.15076822
+v -0.29045620 0.06800022 0.16526364
+v -0.24331190 0.10774448 0.13112284
+v -0.31034028 0.04163068 0.10031943
+v -0.31411910 0.04565389 0.16526356
+v -0.30555492 0.05989759 0.16526361
+v -0.25277542 0.11323909 0.14013174
+v -0.24331190 0.11473257 0.13628532
+v -0.24930189 0.11473252 0.14903891
+v -0.29406172 0.06670736 0.16526364
+v -0.24331190 0.10901504 0.13205742
+v -0.24930189 0.11473256 0.13941968
+v -0.25277542 0.11323905 0.14837771
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+f 41 49 45
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+f 43 50 44
+f 44 50 46
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_73.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0db96e5193fa37d765290acbe0990d0aff34ec36
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_73.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.27013837 -0.11517655 -0.21171876
+v -0.26623789 -0.11517655 -0.21171876
+v -0.27013837 -0.11681835 -0.21171877
+v -0.27013837 -0.11517680 -0.14368160
+v -0.25963802 -0.11517656 -0.20972541
+v -0.20940162 -0.15336628 -0.19597968
+v -0.20940162 -0.16623298 -0.19499690
+v -0.20940162 -0.17189006 -0.19388258
+v -0.20940162 -0.18436417 -0.19047039
+v -0.27013837 -0.15176015 -0.20202204
+v -0.26547088 -0.11517680 -0.14345320
+v -0.27013837 -0.15375905 -0.15066541
+v -0.20940162 -0.17336251 -0.14224217
+v -0.20940162 -0.16018351 -0.14137003
+v -0.20940162 -0.15375908 -0.14101009
+v -0.20940162 -0.11517668 -0.17608750
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+v -0.25178950 -0.11517680 -0.14364700
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+v -0.20940162 -0.18299915 -0.14446396
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+v -0.20940162 -0.11517672 -0.16661905
+v -0.20940162 -0.20133540 -0.18309225
+v -0.27013837 -0.16545670 -0.19568211
+v -0.20940162 -0.11999508 -0.15406369
+v -0.20940162 -0.11834436 -0.15525417
+v -0.20940162 -0.13985733 -0.14253966
+v -0.27013837 -0.17716351 -0.17253707
+v -0.20940162 -0.20434247 -0.15797457
+v -0.20940162 -0.20484208 -0.17774204
+v -0.21499665 -0.20014867 -0.18249702
+v -0.27013837 -0.17094425 -0.18979204
+v -0.27013837 -0.17433495 -0.18164558
+v -0.25363866 -0.18279379 -0.18368050
+v -0.20940162 -0.20632329 -0.17227415
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+f 1 24 12
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+f 34 39 40
+f 34 40 41
+f 34 41 35
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+f 36 40 37
+f 37 40 38
+f 38 40 39
+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_74.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0826ac22fa06a26edac797c9ac12c73a8a58fc65
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_74.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.25754565 0.05503244 0.00724678
+v -0.24330813 0.05503244 0.00883590
+v -0.27574253 0.05503244 0.00837819
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+v -0.24330813 0.05503226 0.05845328
+v -0.28533251 0.05503241 0.01731631
+v -0.24379075 0.10677167 0.02002674
+v -0.25051626 0.09467269 0.01691018
+v -0.24330813 0.10692363 0.01993417
+v -0.24886728 0.05503225 0.05940983
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+v -0.28895670 0.05503237 0.02741156
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+v -0.24330813 0.10791726 0.02060274
+v -0.26824389 0.05503225 0.05978010
+v -0.24330813 0.07920102 0.05754824
+v -0.24330813 0.08211763 0.05735796
+v -0.24330813 0.09854187 0.05624719
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+v -0.24330813 0.10047654 0.05608777
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+v -0.27218984 0.05503226 0.05796985
+v -0.27491580 0.05503227 0.05493048
+v -0.24330813 0.10359775 0.05541408
+v -0.24330813 0.11473819 0.04937137
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+f 1 19 12
+f 1 12 6
+f 1 6 3
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+f 20 29 28
+f 21 31 25
+f 21 25 24
+f 21 24 22
+f 26 30 27
+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_75.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cca791bf7b9a4371d29da14b75dd950575012a0
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_75.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.24132622 0.04526080 -0.21171040
+v -0.23751309 0.04496950 -0.21171040
+v -0.25609766 0.04418298 -0.21171041
+v -0.25580663 0.04586281 -0.20876782
+v -0.24167666 0.04586280 -0.20763906
+v -0.20939570 0.04113401 -0.21171042
+v -0.22651916 0.04586272 -0.18577216
+v -0.26308841 0.04193995 -0.21171042
+v -0.26003553 0.04586267 -0.17256952
+v -0.22041338 0.04586267 -0.17253059
+v -0.21914235 0.04586261 -0.15440808
+v -0.20939570 0.04093008 -0.21059722
+v -0.20939570 -0.04011036 -0.21171072
+v -0.26553548 0.03627896 -0.21171044
+v -0.26100367 0.04586253 -0.13219866
+v -0.22196359 0.04586253 -0.13219088
+v -0.20939570 0.01255705 -0.17140973
+v -0.20939570 -0.05333566 -0.17399445
+v -0.22302081 -0.05333560 -0.18933009
+v -0.24086295 -0.05333554 -0.20786518
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+v -0.24085701 -0.04443135 -0.21171073
+v -0.26901598 0.02768553 -0.21171047
+v -0.26099773 0.04582369 -0.13219088
+v -0.26068887 0.04586253 -0.13219088
+v -0.26984753 0.01642181 -0.21171051
+v -0.27006729 0.00953736 -0.21171053
+v -0.26112839 0.04021126 -0.13219090
+v -0.20939570 0.01063444 -0.16967377
+v -0.22079946 -0.05333581 -0.13219125
+v -0.20939570 -0.05333573 -0.15645580
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+v -0.25885952 -0.04333411 -0.21171073
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+v -0.26168670 -0.05333580 -0.13590449
+v -0.26093239 -0.05333581 -0.13219125
+v -0.25928716 -0.05333557 -0.19796319
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+v -0.26225094 -0.05333567 -0.17253096
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+f 39 41 40
+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_76.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..478b5aac452b9975c3e748e03d319baec0edc0f0
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_76.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.20939570 0.06291971 -0.21171813
+v -0.24139478 0.05983424 -0.24451686
+v -0.24049429 0.05983425 -0.24892575
+v -0.24132148 0.05983431 -0.26406958
+v -0.24292353 0.05983432 -0.26729072
+v -0.20939570 0.06367730 -0.21388705
+v -0.20939570 0.09459959 -0.21171801
+v -0.24499678 0.06068017 -0.21171814
+v -0.25584463 0.05983422 -0.23859747
+v -0.20939570 0.06768086 -0.22454452
+v -0.24659883 0.05983435 -0.27397182
+v -0.20939570 0.09273610 -0.22100054
+v -0.27756129 0.11632041 -0.21171793
+v -0.25805400 0.05983421 -0.23791968
+v -0.30909967 0.07025215 -0.21171810
+v -0.29400064 0.05983421 -0.23697077
+v -0.20939570 0.07209913 -0.22562253
+v -0.24686059 0.05983435 -0.27438496
+v -0.20939570 0.08211903 -0.22768169
+v -0.25256725 0.07166798 -0.27135099
+v -0.26408524 0.09246527 -0.25579393
+v -0.27614773 0.09935529 -0.24506541
+v -0.28746678 0.09264223 -0.25596177
+v -0.29046145 0.11457301 -0.21171794
+v -0.31635602 0.08209685 -0.21171806
+v -0.30838767 0.05983424 -0.24495582
+v -0.24730038 0.05983435 -0.27449469
+v -0.25837860 0.06496042 -0.27530802
+v -0.26462972 0.07380246 -0.27270655
+v -0.27614773 0.08328042 -0.26581885
+v -0.27614773 0.09323943 -0.25674931
+v -0.28674429 0.07384117 -0.27271300
+v -0.29314199 0.08102428 -0.26298503
+v -0.30545580 0.07610832 -0.25791775
+v -0.29953973 0.08820183 -0.24926778
+v -0.30407364 0.09177399 -0.23718366
+v -0.31031429 0.09761330 -0.21171800
+v -0.30757091 0.05983431 -0.26361127
+v -0.25829483 0.05983436 -0.27685730
+v -0.27614773 0.06397613 -0.27652805
+v -0.27614773 0.07421166 -0.27293248
+v -0.29336191 0.06316325 -0.27429459
+v -0.29864972 0.05983434 -0.27356515
+v -0.29880678 0.06866533 -0.27000831
+v -0.27614773 0.05983436 -0.27765772
+v -0.29352943 0.05983435 -0.27532740
+v -0.30678559 0.09379230 -0.22693930
+v -0.30491131 0.05983433 -0.26830418
+v -0.27200125 0.05983436 -0.27756735
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+f 1 5 6
+f 1 6 10
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+f 1 17 19
+f 1 19 12
+f 1 12 7
+f 1 7 13
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+f 10 11 18
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+f 15 25 26
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+f 36 47 37
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+f 40 49 45
+f 42 46 43
+f 43 48 44
+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_77.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a0df2dcd4aef5ca44d2592c58ed5da34a392bd5
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_77.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.33041288 0.00088360 0.06318629
+v -0.32953462 0.00088353 0.08132100
+v -0.32938112 0.00954434 0.08132104
+v -0.33024232 0.00954441 0.06318633
+v -0.32825559 0.00954461 0.00880403
+v -0.32834089 0.00088380 0.00880399
+v -0.32759052 0.00088346 0.10031928
+v -0.32746263 0.00868031 0.10031931
+v -0.32744557 0.00954427 0.10031932
+v -0.32339536 0.02384469 0.10031937
+v -0.32343799 0.02392419 0.09945581
+v -0.32427362 0.02526526 0.08132109
+v -0.32458909 0.02563105 0.06318638
+v -0.32441857 0.02553571 0.04505166
+v -0.32423950 0.02533436 0.02692787
+v -0.32409455 0.02498461 0.00880408
+v -0.32315660 0.02269489 -0.00444444
+v -0.32424805 0.00850051 -0.01003029
+v -0.32611540 0.00088384 -0.00164615
+v -0.27917567 0.00088346 0.10031928
+v -0.31939632 0.03291363 0.10031940
+v -0.31978004 0.03432890 0.08132113
+v -0.31990793 0.03469999 0.06318642
+v -0.32003582 0.03459935 0.04505170
+v -0.32008697 0.03439800 0.02692791
+v -0.31971180 0.03404825 0.00880412
+v -0.31739254 0.02975501 -0.01135287
+v -0.32162182 0.01764366 -0.01135292
+v -0.32386433 0.00850051 -0.01135295
+v -0.32429068 0.00088387 -0.01004125
+v -0.32395814 0.00773196 -0.01135295
+v -0.27906481 0.01040293 0.10031932
+v -0.24331219 0.00088357 0.07041175
+v -0.24331219 0.00437652 0.07046643
+v -0.31034093 0.04162745 0.10031943
+v -0.31940484 0.03298783 0.09945584
+v -0.31104012 0.04270899 0.02692794
+v -0.31065640 0.04271436 0.00880415
+v -0.30906190 0.04200418 -0.01135283
+v -0.32399223 0.00088387 -0.01135298
+v -0.24331219 0.00954438 0.07049924
+v -0.27953378 0.02769806 0.10031938
+v -0.24331219 0.00703201 0.07048830
+v -0.24331219 0.00088383 0.00098825
+v -0.29419978 0.04393841 0.10031944
+v -0.27220078 0.05503225 0.05796141
+v -0.27492082 0.05503226 0.05492256
+v -0.28165695 0.05503229 0.04520480
+v -0.28895583 0.05503236 0.02740895
+v -0.29424244 0.05006605 -0.01135280
+v -0.26138036 0.00088387 -0.01135298
+v -0.24331219 0.05503225 0.05845331
+v -0.28244995 0.03918397 0.10031942
+v -0.27967873 0.02863093 0.10031939
+v -0.24331219 0.00954464 0.00074780
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+v -0.26825289 0.05503224 0.05977597
+v -0.28534051 0.05503240 0.01731953
+v -0.27615719 0.04738406 -0.01135281
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+v -0.24331219 0.05503243 0.00883699
+v -0.26106486 0.01281502 -0.01135293
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+v -0.24331219 0.01535916 0.00079155
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+v -0.24331219 0.04583099 0.00541552
+v -0.24331219 0.02768782 0.00139280
+v -0.24331219 0.03126027 0.00207054
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_78.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e8412cbf160efc775f76ae4a7ec0f9b7a1bad1c
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_78.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.25125018 -0.11284759 0.14016916
+v -0.23373702 -0.12840979 0.14233739
+v -0.25125018 -0.11284763 0.14915077
+v -0.24467615 -0.11284758 0.13666583
+v -0.18493773 -0.16001900 0.13320375
+v -0.19678332 -0.16001917 0.18004528
+v -0.19682733 -0.16001917 0.18022943
+v -0.23373702 -0.12840981 0.14778804
+v -0.20488868 -0.11284774 0.18022961
+v -0.20331337 -0.12571310 0.18022956
+v -0.23987102 -0.11284757 0.13411544
+v -0.20518789 -0.11284757 0.13320393
+v -0.16135214 -0.16001900 0.13320375
+v -0.17191285 -0.16001917 0.18022943
+v -0.18024702 -0.11284774 0.18022961
+v -0.16985351 -0.11284757 0.13320393
+v -0.16521561 -0.13826427 0.13320383
+v -0.16601646 -0.13560901 0.13572661
+v -0.16349069 -0.16001904 0.14561964
+v -0.17105919 -0.16001916 0.17737981
+v -0.16944870 -0.16001914 0.17198439
+v -0.17549470 -0.11746555 0.16685156
+v -0.17591713 -0.11284769 0.16537842
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+v -0.16926388 -0.11746544 0.13572668
+v -0.16911427 -0.11660651 0.13320391
+v -0.16894706 -0.11746543 0.13320391
+v -0.16486359 -0.16001907 0.15343654
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+v -0.16789100 -0.16001912 0.16574653
+v -0.17426261 -0.11284766 0.15832111
+v -0.17095360 -0.11284760 0.14040396
+v -0.17244969 -0.11746551 0.15386022
+v -0.17327695 -0.11284764 0.15359783
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+f 23 29 31
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+f 25 27 26
+f 25 32 33
+f 29 33 31
+f 31 33 34
+f 32 34 33
+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_79.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82aef7755d19454ecd13b1b56872448c39c57030
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_79.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.22410193 -0.25592378 0.25009986
+v -0.22988221 -0.25074140 0.25009988
+v -0.22410193 -0.25469121 0.24741521
+v -0.22410193 -0.16684283 0.25010019
+v -0.22410193 -0.25333256 0.24448817
+v -0.25021624 -0.21157939 0.25010002
+v -0.28582181 -0.14600113 0.21843600
+v -0.26725927 -0.18122733 0.21784198
+v -0.26725927 -0.18122733 0.21709052
+v -0.22410193 -0.15469921 0.24337346
+v -0.27614728 -0.11284792 0.22913835
+v -0.25333163 -0.19173227 0.25010010
+v -0.22410193 -0.24536287 0.23538587
+v -0.25216335 -0.20687324 0.25010004
+v -0.30060463 -0.11284785 0.21053370
+v -0.30210125 -0.11284783 0.20509170
+v -0.28582181 -0.14600112 0.21398786
+v -0.24907087 -0.19916956 0.21727832
+v -0.30210125 -0.11284782 0.20264339
+v -0.29984870 -0.11284780 0.19669840
+v -0.28841797 -0.13143435 0.19706800
+v -0.22410193 -0.15325649 0.22529000
+v -0.25353779 -0.11284784 0.20773998
+v -0.24726120 -0.12255435 0.21966023
+v -0.25837124 -0.11284790 0.22360544
+v -0.29273980 -0.11284790 0.22271459
+v -0.27614728 -0.11747006 0.23005946
+v -0.25334691 -0.19643843 0.25010008
+v -0.22410193 -0.23356941 0.22600481
+v -0.29585520 -0.11284789 0.21979360
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+v -0.29437386 -0.11662953 0.19456520
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+v -0.22410193 -0.20522031 0.20949707
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+v -0.22410193 -0.15583365 0.22133272
+v -0.26134918 -0.11284779 0.19424403
+v -0.27598695 -0.11284777 0.18818995
+v -0.27614728 -0.11746991 0.18954135
+v -0.22410193 -0.18776831 0.21163031
+v -0.26454857 -0.11284779 0.19200783
+v -0.22410193 -0.16849546 0.21490891
+v -0.22410193 -0.17105864 0.21416351
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_8.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3d11b7ac60a8d507345815c5e22e2e530d85e24
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_8.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+v -0.25043272 -0.16499452 -0.01683801
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+v -0.32402677 -0.00677341 -0.01135300
+v -0.32402677 -0.00648775 -0.01135300
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+v -0.33383382 -0.09754802 -0.06528209
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_80.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5029abb20fa4c21313919f2641cf5f13c68de98
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_80.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.16964978 0.11474372 0.13395752
+v -0.15755099 0.17443120 0.13395774
+v -0.19082818 0.11474372 0.13395752
+v -0.16767763 0.11474378 0.11758595
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+v -0.15556223 0.17443708 0.12182486
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+v -0.20540322 0.11476125 0.13395752
+v -0.20534228 0.11474372 0.13392907
+v -0.16739509 0.11474379 0.11393045
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+v -0.16640902 0.11474384 0.09945065
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+v -0.20827280 0.17443755 -0.00645937
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_81.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9754418479661d3248a9ca72b392a885f7ce3381
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_81.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.16758960 0.11473264 0.11638803
+v -0.19322787 0.11473264 0.11638803
+v -0.16767854 0.11473264 0.11759331
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+v -0.24330365 0.11473257 0.13629066
+v -0.24330365 0.10901504 0.13205669
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+v -0.17575026 0.11473246 0.16608281
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+v -0.17666936 0.11473245 0.16900845
+v -0.24330365 0.05951872 0.14674656
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+v -0.21339604 0.00671220 0.16900805
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+v -0.24330365 0.07877778 0.15377745
+v -0.24330365 0.10015444 0.15492100
+v -0.20656214 0.10025471 0.16900840
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+
diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_82.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08c8577438c3a888e7aa426233ece34d55120d89
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_82.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v -0.15755490 0.17444706 0.13395774
+v -0.18304639 0.17444706 0.13395774
+v -0.15555948 0.17444710 0.12182486
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_83.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00dbb0c4d64dba3c042bcf7818226e2dd30662e8
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_83.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_84.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa6ebfcb20e00cb5c0e9870e04b0714eccc5be91
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_84.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_85.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35216f9f3d78d12a5787a2d6091914f065f73ada
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_85.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_9.obj b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51f96b464356028a6ceb0acdb15418127f3fb347
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/mjcf/mesh/office_chair_19_collision_9.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/textures/material_0.png b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fec5cc027c87c3e6255d7a2e12b789fb6dd098a
--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/video.mp4 b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/furniture/chair/e862f230230a58dfad3b571d3c90ef31/video.mp4
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