diff --git a/.gitattributes b/.gitattributes
index 7a7eef5147e6086dc913b565eafbc25977f0ee21..1e11a3a3722e2b99658e734a732fe59bf75b1713 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3777,3 +3777,6 @@ dataset/furniture/chair/b2157cd26a9d5676a4fc7147a23684d2/mesh/computer_chair_45_
 dataset/furniture/chair/b6a47e233e8b580ea09e90d642c65529/b6a47e233e8b580ea09e90d642c65529.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/b6a47e233e8b580ea09e90d642c65529/mesh/dining_chair_7.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/b6a47e233e8b580ea09e90d642c65529/mesh/dining_chair_7_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/b6455cb5a27e50ceb0af42db8c330188.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/lounge_chair_28.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/lounge_chair_28_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/b6455cb5a27e50ceb0af42db8c330188.urdf b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/b6455cb5a27e50ceb0af42db8c330188.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..755413df258f36ba5d4a1e51503d5c6fbe61ea96
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/b6455cb5a27e50ceb0af42db8c330188.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lounge_chair_28">
+   <link name="lounge_chair_28">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/lounge_chair_28.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/lounge_chair_28_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="20.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.925000</scale>
+         <version>v0.1.5</version>
+         <category>lounge_chair</category>
+         <description>yellow tufted lounge chair with curved armrests and four slender legs</description>
+         <min_height>0.85</min_height>
+         <max_height>1.0</max_height>
+         <real_height>0.925</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251021121802</generate_time>
+         <gs_model>mesh/lounge_chair_28_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.916455984115601</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>12</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/b6455cb5a27e50ceb0af42db8c330188.usd b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/b6455cb5a27e50ceb0af42db8c330188.usd
new file mode 100644
index 0000000000000000000000000000000000000000..eaec14511b06ce32bb2b191d332660ff89502d1b
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/b6455cb5a27e50ceb0af42db8c330188.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e90b581f737c2fd8fb895ed087c93456dd449bbb934c1968ccace658f5f9604
+size 349167
diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/lounge_chair_28.glb b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/lounge_chair_28.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b63f694f91bb8d1650f1b6b113aa1bb0a6892700
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/lounge_chair_28.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e7e51edfb77c3828ee4e3e7d3c732a17fe7171b7d9e26afb5630858b9ef6cb0
+size 2081412
diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/lounge_chair_28.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/lounge_chair_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7a6f3ad2520fde2022b7464ff338cbac659bc50
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/lounge_chair_28.obj
@@ -0,0 +1,22786 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/lounge_chair_28_collision.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/lounge_chair_28_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..650d6f7c31a807e25ee151f52e5d4edfe299a9db
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/lounge_chair_28_collision.obj
@@ -0,0 +1,17750 @@
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/lounge_chair_28_gs.ply b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/lounge_chair_28_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..96f14abc97dc2c6b3d43ffdc5d40a536741518ea
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/lounge_chair_28_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea0ebe87de293707d6fd78defccb9c2d552b1ab231175438d9a957091e68b990
+size 47658602
diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/material.mtl b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/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
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/material_0.png b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..42041dff4183ab2201c78fd68cc31983638f5c2c
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63a079d1c73bbfbe1afbb1f4ad120eb4e62e900847dba0537031bb8b3863db2f
+size 1833165
diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/b6455cb5a27e50ceb0af42db8c330188.xml b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/b6455cb5a27e50ceb0af42db8c330188.xml
new file mode 100644
index 0000000000000000000000000000000000000000..74bce08ab1ff79a5eafd0567fa5702b57c68dd0d
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/b6455cb5a27e50ceb0af42db8c330188.xml
@@ -0,0 +1,104 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lounge_chair_28">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d888369b40d1ea1187b4cbdb130951b239321528
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28.obj
@@ -0,0 +1,22786 @@
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eeff1b01a8dbe901395908982a6c2c1b329e5ba
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision.obj
@@ -0,0 +1,17750 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_0.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32332c2855a9a8187ae1939416f6de89f9f31044
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_0.obj
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_1.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec56593da5066f00e9fa673d3a9162943fadc9c6
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_1.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_10.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfe201100b1490fc40dd5391c1782f7d3117d893
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_10.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_11.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68392eb9eda07f73c897bd3db41c180ad32a0a99
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_11.obj
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_12.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea2aefba3c588bc6ea99c3b3e64f7d92ed258de2
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_12.obj
@@ -0,0 +1,571 @@
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_13.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cda49f0a1be24bdecf772c795eb8c8fef45f69ab
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_13.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_14.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7faea43e1e48a2517e264edb4b81297b947507fe
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_14.obj
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_15.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9751f197132650010acb0a67d9b5d5690852dc1d
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_15.obj
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_16.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b5e6fcd4791adbf2d9b72a0c7b30971581b9cd
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_16.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_17.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a43465368415aa3c357d7352b6eb865624bdf3de
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_17.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_18.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6fab1c23f8192ce719430f52523ae7ee0d0e042
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_18.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_19.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1087e8171df4881266730fe73064e12bfa5deede
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_19.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_2.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..572e535e8b0afc39d057f8cc1c341c40ce2067db
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_2.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_20.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece8cc1c16e3896a073b0877233383a3f4dce06c
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_20.obj
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_21.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0691cc83567e9eeb8e0aa115a12b4f15b2971f41
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_21.obj
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_22.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdea07db90e327a0b475daeab21b7a1bdfeb430c
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_22.obj
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_23.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f0f636c69213959984c702b5a17ccba595afe0
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_23.obj
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_24.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e27455e325ba7c41a6c8cb03eddcc3a4dbd75f
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_24.obj
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_25.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c830045086b93bd80114981af4b9d812ff80ee3
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_25.obj
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_26.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b6d92bb8dd11c0cc7eb6476d52da6f105916713
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_26.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_27.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ea4f2f97746bcfaae1ee15fbbd9dc8356e98d4a
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_27.obj
@@ -0,0 +1,739 @@
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_28.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43aca67869d770ce639405a9e0d030188b0d737e
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_28.obj
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_29.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6babaf75b386527c4f75331312a18f9e756ec423
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_29.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_3.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46415d2f56cacda821e831ea643e366e0e51e7bb
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_3.obj
@@ -0,0 +1,790 @@
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_30.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e0317898ed581a416fb2c810afd0106217eaff
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_30.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_31.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..019a8495472dfbbf1a0ab7b1c7fe78a5b7ad2c25
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_31.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_32.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e557f9f926672d52ee8b06d8f9ff8c24784bf10
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_32.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_33.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c0490680b8cf0af68f7f15dea48479c7bc07977
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_33.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_34.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06c934b6300ad00f2768bc6a8bb24b2489be2e2a
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_34.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_35.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8279287ab5c82716b4542331163f9c80d57f40f8
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_35.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.42566302 -0.24943131 0.31272455
+v -0.42561572 -0.24943131 0.31249400
+v -0.42556844 -0.25022964 0.31272455
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+
diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_36.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c0d3818a27a7f74bdf9b489797b61383f03554e
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_36.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_37.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d24df1a93e460f5db4c6508a107a8a7939a21ba0
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_37.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_38.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35e30f75c363d9ed42846b60ea90e851d9fdd99c
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_38.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_39.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35d2bef478d3659c59f7b401bcfac3e3bfcccf17
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_39.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+v -0.25498801 -0.06610853 0.17697306
+v -0.27304566 -0.04559585 0.24823772
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+v -0.43331587 -0.04559609 0.31271202
+v -0.40628213 -0.04559559 0.17697313
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+
diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_4.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faef3b6ed596187eedcde3c8b8501fd379a8d21f
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_4.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+v -0.30566217 0.33328783 -0.42872593
+v -0.30612112 0.34119008 -0.42015980
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+
diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_40.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac1a015951f9cce38ff8547e7496555345eb0c7b
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_40.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.25420286 0.19735148 0.18673044
+v -0.25830682 0.17106530 0.18673035
+v -0.24853823 0.19735152 0.17586692
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+
diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_41.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218a6524044243af181342db015b43d72d442d90
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_41.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.25404302 -0.04560216 0.17697312
+v -0.25495542 -0.06927207 0.17697304
+v -0.24641378 -0.06826660 0.16420752
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_42.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6245d89d2bd81d2b34ea5a871f295b591342bdd
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_42.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_43.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..674baa924b4d76f5a54df3362fa8602bfb175c5c
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_43.obj
@@ -0,0 +1,169 @@
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_44.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4911f662374cacf9d869bdb3cff897757e4fbcc4
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_44.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_5.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e1434bd0a94e2ffbe5984bb7ac8f7acf0191d3
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_5.obj
@@ -0,0 +1,907 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_6.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecc2ab962e8e89b0a7809d8330211c1e7a5d60a7
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_6.obj
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_7.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1f6159361e762bcfd777e0a40773db6ff11f972
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_7.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_8.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7ff911a2868a6ab48d8f71dc56d0102a410ec76
--- /dev/null
+++ b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_8.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_9.obj b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/lounge_chair_28_collision_9.obj
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/material_0.png b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/mjcf/mesh/material_0.png
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/textures/material_0.png b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/textures/material_0.png
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diff --git a/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/video.mp4 b/dataset/furniture/chair/b6455cb5a27e50ceb0af42db8c330188/video.mp4
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