diff --git a/.gitattributes b/.gitattributes
index 5690fe660df5e2749e49816451e4de3e8ecbf575..c4f703040bb3f48f21af1b4a49c7431f1c43b262 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3735,3 +3735,6 @@ dataset/furniture/chair/0c608106b4045f4da0c651c17d431f5e/mesh/bar_stool_36_gs.pl
 dataset/furniture/chair/40902ede11e956eaacccf3f86e30b660/40902ede11e956eaacccf3f86e30b660.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/40902ede11e956eaacccf3f86e30b660/mesh/bar_stool_32.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/40902ede11e956eaacccf3f86e30b660/mesh/bar_stool_32_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/4b026bec19645958acf827e57af54693/4b026bec19645958acf827e57af54693.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/4b026bec19645958acf827e57af54693.urdf b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/4b026bec19645958acf827e57af54693.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..21a2a65b55a1ba996b40505da548a3446b931e92
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/4b026bec19645958acf827e57af54693.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="office_chair_10">
+   <link name="office_chair_10">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/office_chair_10.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_10_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="15.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.100000</scale>
+         <version>v0.1.5</version>
+         <category>office_chair</category>
+         <description>ergonomic office chair with headrest, armrests, cushioned seat, and wheeled base</description>
+         <min_height>1.0</min_height>
+         <max_height>1.2</max_height>
+         <real_height>1.1</real_height>
+         <min_mass>12.0</min_mass>
+         <max_mass>18.0</max_mass>
+         <generate_time>20251021112412</generate_time>
+         <gs_model>mesh/office_chair_10_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.845753788948059</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Base and armrests are merged, with extra noisy fragments; key chair parts not cleanly separated.","merge_groups":[{"colors":["Teal","Green"],"target_part":"backrest","reason":"same rear shell/back surface split across colors"},{"colors":["Pink","Olive"],"target_part":"seat and support assembly","reason":"seat region mixed with base-support color in several views"}]}</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/4b026bec19645958acf827e57af54693/4b026bec19645958acf827e57af54693.usd b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/4b026bec19645958acf827e57af54693.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3d1ebe08fe35c2bf9713a409754e562967f5baeb
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/4b026bec19645958acf827e57af54693.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3280dd59e358482bf3c5d7e3007fbc37ae195c42ee4d98b87bef2253ea4c10
+size 834001
diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/material.mtl b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/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/4b026bec19645958acf827e57af54693/mesh/material_0.png b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a0108d7cb7a2065dadd7f93514e19913696106c
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d9608c6121d1fd0f775ba860e8ba7769a1c418db4eb48d1f6fdcd6c0c507a4d
+size 1104789
diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10.glb b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b338af7cc72c659c488714d84894a9c21b45c166
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d633eb19aa94ddcaaae44ae15100d5eac0d2d4cbbf1255f4a0efd862250d682
+size 1696532
diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecedb4477d02e5c878f20589b24bdad7377968d3
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10.obj
@@ -0,0 +1,54454 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10_collision.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19c2a87bd1b9fb159f11e846bcfcfe059050aa67
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10_collision.obj
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10_gs.ply b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mesh/office_chair_10_gs.ply
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/4b026bec19645958acf827e57af54693.xml b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/4b026bec19645958acf827e57af54693.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dde4dda3e312b84f304443800ee496693e60f027
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+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/4b026bec19645958acf827e57af54693.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+  </worldbody>
+</mujoco>
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new file mode 100644
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78d43ed0cefb94a6760619572a7dd10a504444da
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision.obj
@@ -0,0 +1,12798 @@
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_0.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..586d5dfead21d20c5349b960a35ed4240e31c948
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_0.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_1.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1885b9b31ea7ec573bf93fc077852bd41c2dafa
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_1.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_10.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72f4f5173714357ef751fe83ba0a142f7d6ad411
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_10.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_11.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f62fece3a0c3f2d2b37448bed64f6e898d034c19
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_11.obj
@@ -0,0 +1,859 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_12.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8814ed74818b6bb4eb9f2ed23bb5d91b0dff155a
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_12.obj
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_13.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3e1784d487e4c18830e91081b7b10b736e6e4fd
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_13.obj
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_14.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45510cb42c59b937b76492530cb1d83eeeedf630
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_14.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_15.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..624b693db774f6f40b947d845c7c9342f88c4c7d
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_15.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_16.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdf96cae3453110c0503510ec162316f781817e2
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_16.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_17.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e80256e969a2716ff5889a5da6e58087d91abf0
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_17.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_18.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579f9109a57fe40ed581dbe06ba1e97377ebdab9
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_18.obj
@@ -0,0 +1,883 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_19.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df8a5e313e427a86d4a788e0ab4427a1000dfd62
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_19.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_2.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b36f9be02b91581a1073f5dc47b7727de6a082ad
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_2.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_20.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce8e828151167526876b54dc2c8051c12a1b7f6d
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_20.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_21.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84cad083872719001457fac8128599d23cc3c2b4
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_21.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_22.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4472009d912325af719926c939a8b5bfbf13726
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_22.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_23.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89f30d95041282cd4075d7733dc1b798fc4d210c
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_23.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_24.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..859ff71a441c432726f8e9daa5a2b06531c78b1f
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_24.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_25.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4f04c582a015f57b48e03b4e3b0dad7bf6381d4
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_25.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_26.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f71a0f605c280cd4cad642e64e8548eef62dc7b
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_26.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_27.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50b6f6ada57133f325df21ac9d921b0a8bf77ca4
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_27.obj
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_28.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc54e986a9842acfdfb6afbf270224645e99a268
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_28.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_29.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c258546c249d41c1c1b645e0b54a943d114f0a4d
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_29.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_3.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab2277acd41400198ca4a3b8accb06d3077a2d07
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_3.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_30.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..672d926e3f30c6cfc6fc60a071b34f1e5e833707
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_30.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_31.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0efdae228e047aac9e25dd0a6f1e0df4846d491d
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_31.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_32.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd0730f11e2778ece24787d754455bad3b324b0
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_32.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_33.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ee6060a425c8e3c3258f1f0a9770b513e79306c
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_33.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_34.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a460a179a7765147e121602335a9f40328d07ff
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_34.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_35.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd2dcccceb261187dc499b88ff29e763507632a9
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_35.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_36.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b9d3f5163524cb897180ffb9aed8f79bf3efc4e
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_36.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_37.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7772e130fdca7ae4b031133fe28fdf6b5ca445cc
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_37.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_38.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4d9e6be49bd16814b1f6b7b0821eb18cd1d50b5
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_38.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_39.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..000a72eacc0dc730f5e37986f4bc4d2b3f5dce4c
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_39.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_4.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c97e9b277b97e76609df13ce795748824004545d
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_4.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_40.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f7cb197afdafd0bac23249989c7a63cdb6694f
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_40.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.08159857 0.10297812 -0.15626893
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_41.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99253b33b08b56fd70778612434e992d36b6ff92
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_41.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_42.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c7510bcabd8588add65438b9af5d9c31d9ef053
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_42.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_5.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f581d4ddf24e3e42c9ea56631e0b36236b7d83d9
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_5.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_6.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccf144ff271f2b363229f20eaf3e00ac92816f0e
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_6.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_7.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12670f9359a8dd22028bb4fa336bd24a3907b58b
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_7.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_8.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..070923747ad1ee2cdfc44943593a996c946bad31
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_8.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_9.obj b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d21e5718d87e61f1b9558a8ec0ccf0ca92076c19
--- /dev/null
+++ b/dataset/furniture/chair/4b026bec19645958acf827e57af54693/mjcf/mesh/office_chair_10_collision_9.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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