diff --git a/.gitattributes b/.gitattributes
index 9a38b22b06e0de942cab5a5a624e595ae7eb03e4..3aa8d8f5c03271e9b16eb06ea73b046e88e54bc9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2750,3 +2750,5 @@ dataset/bedroom_supplies/storage/46e27c15a1bd56789bbe3366f34d2630/mesh/remote_ho
 dataset/bedroom_supplies/storage/46e27c15a1bd56789bbe3366f34d2630/remote_holder_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/47038991dc0459c5bf14ee062c7d73fc/mesh/pill_organizer_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/47038991dc0459c5bf14ee062c7d73fc/pill_organizer_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/storage_box_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/storage_box_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/material.mtl b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3fe8f2ebf5ffb45c9049a439cf58957e8d555ee3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_box_037_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd storage_box_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/material_0.png b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9bc07f3060aa175e6ba816d96d9cdb5fc31fb42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ede0f8a2572ab7578ceaf2888d6e39a6b6794ec332270f530db589706e1bc58e
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/storage_box_037.glb b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/storage_box_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..92173e9834a2051ebd5d95ee19b53e081d55c67e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/storage_box_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/storage_box_037.mtl b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/storage_box_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2812f295979114b09d2490af1ec64400fc78dc5d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/storage_box_037.mtl
@@ -0,0 +1,6 @@
+newmtl storage_box_037_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/storage_box_037.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/storage_box_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f797286c8308ffbafdbf2142e5210a7b0a386ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/storage_box_037.obj
@@ -0,0 +1,161048 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_box_037_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/storage_box_037_collision.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/storage_box_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79e15441f0386d5fb08084439070ef68eba8691f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mesh/storage_box_037_collision.obj
@@ -0,0 +1,14640 @@
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037.obj
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..940cadd0d3ee1590c5b97603cee0dadbfd568bb4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision.obj
@@ -0,0 +1,14640 @@
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_0.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3586f024ab4761095611f4e9ea95b7031500403
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_1.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46990b0f2df69a9220be8e81195868668f8d5270
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_10.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6751153ec6060d83a90de3e71eca57b3c2f9ea1
--- /dev/null
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_11.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc5b6fd8d3155bcfe5ac18dbd7870a34b742ab1a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_11.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_12.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..082eefa45e13a40f7dd7b01c58d76fe9f2c312f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_12.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_13.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579a47b266eeb096c5184abca2a867038e1e924e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_13.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_14.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05a1907030510f4c0d5f12246e8539a62881372d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_14.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_15.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37cb0fdf4af76d1cba3a7fc63152a19101a032b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_15.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.08117495 0.15971970 -0.13228119
+v -0.06616282 0.15965660 -0.14380732
+v -0.08117495 0.15970707 -0.13460991
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+v 0.00114599 0.15938498 -0.12651557
+v 0.00114599 0.15958708 -0.13022825
+v 0.00114599 0.15969444 -0.13228119
+v 0.00114599 0.15962503 -0.14751488
+v -0.06038520 0.15962504 -0.14956783
+v -0.08117495 0.15963766 -0.14613093
+v -0.07194044 0.15965660 -0.14380732
+v -0.08117495 0.15939762 -0.12651557
+v 0.00114599 0.15866509 -0.12460052
+v -0.08117495 0.15319004 -0.10922386
+v 0.00114599 0.15961240 -0.14956783
+v -0.05459953 0.15953665 -0.15533344
+v -0.08117495 0.15952402 -0.15533344
+v -0.07194044 0.15961872 -0.14956783
+v 0.00114599 0.15953665 -0.15533344
+v -0.08117495 0.15961240 -0.14956783
+v 0.00114599 0.15735158 -0.12112787
+v -0.08117495 0.14969793 -0.10921366
+v -0.07772611 0.15277327 -0.10921365
+v 0.00114599 0.15259645 -0.10921365
+v -0.07194044 0.15754749 -0.16009302
+v 0.00114599 0.15826106 -0.15839755
+v -0.03726669 0.15755381 -0.16009302
+v -0.08117495 0.15754118 -0.16009302
+v -0.08117495 0.09520700 -0.10921386
+v 0.00114599 0.09520700 -0.10921386
+v -0.08117495 0.15560882 -0.16061394
+v 0.00114599 0.15755381 -0.16009302
+v -0.08117495 0.15275452 -0.16137997
+v -0.08117495 0.09520711 -0.13888456
+v 0.00114599 0.09520710 -0.13719931
+v 0.00114599 0.15275452 -0.16137997
+v -0.08117495 0.10640344 -0.15998596
+v -0.08117495 0.10193250 -0.15511407
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+v 0.00114599 0.10695914 -0.15995022
+v -0.08117495 0.10428794 -0.15818326
+v -0.08117495 0.10305655 -0.15711083
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+f 34 38 35
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+f 38 42 39
+f 39 42 40
+f 40 42 41
+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_16.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74b4d9f081eb0576ebef8e9476aa91de6fe8563e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_16.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00108977 0.12920115 0.12326996
+v 0.00108977 0.12728704 0.12455881
+v 0.00108977 0.12920137 0.06371816
+v -0.01030188 0.12920115 0.12327598
+v 0.00108977 0.12393179 0.12502855
+v -0.00836108 0.12729442 0.12455881
+v -0.04883309 0.12393179 0.12504060
+v -0.01414129 0.12393179 0.12503457
+v 0.00108977 0.05370856 0.06371789
+v -0.10665627 0.12920137 0.06371816
+v -0.06811451 0.12920115 0.12327598
+v 0.00108977 0.12183292 0.12508877
+v -0.07194337 0.12729442 0.12455881
+v -0.07194337 0.12393179 0.12504060
+v -0.07772358 0.11816730 0.12521522
+v 0.00108977 0.05370833 0.12519693
+v -0.10665627 0.05370856 0.06371789
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+v -0.07194337 0.12920115 0.12326996
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+v -0.07772358 0.12723530 0.12451665
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+v 0.00108977 0.07782317 0.12519702
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+v -0.10259535 0.05370833 0.12388400
+v -0.09963141 0.10087378 0.12475143
+v -0.09506420 0.11240279 0.12514896
+v -0.10023264 0.05370833 0.12458865
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+f 1 27 16
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+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_17.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a689116dfbbaa2ddd0d66b27a5282800f86ab779
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_17.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
+v -0.09380679 0.15852035 0.13050249
+v -0.11819499 0.15852035 0.13052865
+v -0.12397758 0.15275468 0.13053517
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+v -0.09380679 0.14864026 0.13029317
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_18.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d181ebf8bd262c6fee2c6e8a27f248b98081f5ba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_18.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_19.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f63c0aa731b79bcbeb97713a91cbca7867143985
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_19.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_2.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7922de13c16311de4c52a5062d844acd10217201
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_2.obj
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+f 173 193 196
+f 173 196 195
+f 173 195 194
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+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_20.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e29cb75e1c001296a866bf9dfea211d62a9b1251
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_20.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.12446793 0.12920112 0.13049888
+v -0.12397589 0.12920112 0.13049234
+v -0.13602582 0.12920112 0.13047927
+v -0.14131520 0.11240277 0.13049228
+v -0.14131520 0.08358765 0.13049218
+v -0.14131520 0.06052964 0.13048556
+v -0.12975730 0.05370831 0.13047900
+v -0.11930156 0.12920112 0.13029624
+v -0.12397589 0.05370831 0.13032865
+v -0.14131520 0.12920112 0.13037467
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+v -0.14462167 0.11240277 0.13025695
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+v -0.14191548 0.05370831 0.13043977
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+v -0.11880461 0.12920112 0.13026354
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+v -0.14441501 0.12920112 0.13013282
+v -0.14457739 0.11816728 0.13023083
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+v -0.14750992 0.07205865 0.12774011
+v -0.14750500 0.05370832 0.12774005
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+v -0.11645760 0.12920113 0.12911306
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+v -0.14466103 0.12920112 0.12991709
+v -0.14738691 0.12393178 0.12764879
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+v -0.15037848 0.11816730 0.12482483
+v -0.15038832 0.11240279 0.12483135
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+v -0.15039816 0.10087378 0.12484438
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+v -0.10665627 0.05370856 0.06371789
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+v -0.14616667 0.11816013 0.06371812
+v -0.15618449 0.12920122 0.10407029
+v -0.15601720 0.12920123 0.10051423
+v -0.15500853 0.12393195 0.08102126
+v -0.15691762 0.05370841 0.10284762
+v -0.15309943 0.12920132 0.07525574
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+v -0.15488060 0.12920130 0.08102127
+v -0.15329625 0.12393197 0.07525573
+v -0.15502329 0.11816746 0.08102123
+v -0.15672081 0.05370842 0.09978837
+v -0.15473300 0.12920130 0.08052446
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+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_21.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7874dd9d2f09637532414a8d03202b8ec927feed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_21.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.09151591 0.14001499 0.12313475
+v 0.07256723 0.12392814 0.12503136
+v 0.07834653 0.12392814 0.12499523
+v 0.08991399 0.11816212 0.12513971
+v 0.09151591 0.11807684 0.12500725
+v 0.09151591 0.14001521 0.06371820
+v 0.00110032 0.14001499 0.12265908
+v 0.00110032 0.12728881 0.12455569
+v 0.00110032 0.12606907 0.12473030
+v 0.00110032 0.12392814 0.12503136
+v 0.08413469 0.11816212 0.12520595
+v 0.08991399 0.11240464 0.12520593
+v 0.09151591 0.11240464 0.12518184
+v 0.09151591 0.05287673 0.06371788
+v 0.00110032 0.14001521 0.06371820
+v 0.00110032 0.11816212 0.12518788
+v 0.07256723 0.11816212 0.12520595
+v 0.09151591 0.09670162 0.12522394
+v 0.09151591 0.10246764 0.12521794
+v 0.09151591 0.10663863 0.12521193
+v 0.09151591 0.05287650 0.12521775
+v 0.00110032 0.05287673 0.06371788
+v 0.00110032 0.07205959 0.12519975
+v 0.09151591 0.08517813 0.12522991
+v 0.09151591 0.06629357 0.12522382
+v 0.00110032 0.05842927 0.12519970
+v 0.00110032 0.05287650 0.12519366
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_22.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0be23a4ca778900e96951c956199b7405723f7b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_22.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.13616044 0.14001496 0.13054015
+v 0.14194385 0.10663861 0.13046808
+v 0.14194385 0.12392812 0.13046161
+v 0.14194385 0.12969413 0.13044854
+v 0.14117792 0.14001496 0.13028505
+v 0.11882321 0.14001496 0.13048783
+v 0.13037704 0.05287648 0.13046134
+v 0.14194385 0.05287648 0.13047441
+v 0.14194385 0.05476152 0.13047442
+v 0.14521528 0.10663861 0.13024569
+v 0.14516984 0.12392812 0.13021960
+v 0.14520229 0.11240462 0.13023916
+v 0.14512441 0.12969413 0.13019346
+v 0.14500108 0.13419777 0.13012152
+v 0.14240470 0.13585252 0.13029159
+v 0.14405989 0.14001496 0.12972907
+v 0.14463759 0.13803610 0.12998418
+v 0.11316312 0.14001496 0.13036355
+v 0.12460662 0.05287648 0.13033707
+v 0.12849467 0.05287648 0.13042209
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+v 0.14811022 0.10087260 0.12763584
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+v 0.15642509 0.13285871 0.10700593
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+v 0.09151591 0.05287673 0.06371788
+v 0.15770380 0.05287659 0.09949013
+v 0.15647053 0.13319139 0.10095559
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+v 0.15669771 0.12392823 0.10038650
+v 0.15659385 0.12969424 0.10062853
+v 0.14432602 0.14001521 0.06371820
+v 0.14169720 0.05287673 0.06371788
+v 0.15583442 0.05287666 0.08101859
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+v 0.15545145 0.12969431 0.08101888
+v 0.15312122 0.14001516 0.07670191
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+v 0.14665626 0.11816235 0.06371812
+v 0.14674714 0.12392837 0.06371815
+v 0.14650047 0.12969438 0.06371817
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+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_23.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb2ebf2024fa09f8e47076aa45b76d64ed40eeb2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_23.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
+v 0.00110032 -0.16057009 0.06371710
+v 0.00110032 -0.13591913 0.06371719
+v 0.00320977 -0.16414366 0.06371709
+v 0.00110032 -0.16414366 0.06372362
+v 0.00110032 -0.13591935 0.12121298
+v 0.14557506 -0.13591913 0.06371719
+v 0.10725586 -0.16585020 0.06371708
+v 0.00110032 -0.17390936 0.07630059
+v 0.00110032 -0.14593945 0.12915287
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+v 0.14560542 -0.13591913 0.06372372
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+v 0.11303789 -0.16541964 0.06371708
+v 0.11303789 -0.17383892 0.07641177
+v 0.10725586 -0.17212453 0.07345557
+v 0.03211990 -0.17391719 0.07629405
+v 0.01477382 -0.17391328 0.07630059
+v 0.05523282 -0.17574516 0.09830215
+v 0.00110032 -0.17588609 0.10407070
+v 0.00110032 -0.14698843 0.12955837
+v 0.11836464 -0.13591938 0.13043480
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_24.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac20f947b97a33a0d76b00db9cfb956a462bd69a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_24.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_25.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06e980fbe6475459eaaae426a58dc1ea8e27a8e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_25.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_26.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3904b37c88c50e8d31d6e10636082d56d5bbc748
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_26.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.08290019 0.15969961 -0.13227894
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+f 40 42 41
+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_27.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96f081e774c73e287f77d839d3032f1c2c8ecdde
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_27.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.08290020 0.07223652 -0.16182891
+v 0.08290621 -0.07497574 -0.16182946
+v 0.08290020 0.07223633 -0.10949656
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+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_28.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522fefb213b144647dc6a0044d5101428e0360b6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_28.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.10663159 -0.14699386 0.13051442
+v -0.08220063 -0.15276012 0.13050133
+v -0.11036475 -0.14135295 0.13037714
+v -0.11036475 -0.14699386 0.13050135
+v -0.11036475 -0.15852639 0.13050785
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+v -0.08220063 -0.05945147 0.12521856
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+v -0.09507093 -0.05945147 0.12523164
+v -0.11036475 -0.16347216 0.13027243
+v -0.10663159 -0.16385961 0.13027243
+v -0.08929198 -0.16429265 0.13028552
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_29.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05597dcefccb21c43eb820cd7a83cea0589081af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_29.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_3.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..360969718907d2e10a1b9cbadfe6b943218ea8e9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_3.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_30.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3189148e5932bd0a0c399b6b9c0992e82f8c65ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_30.obj
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_31.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5000c184540eee38b78ff076da59aedf9f751fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_31.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_32.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9790e8c41f2347f4c653692e0775a8f85b42b1d9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_32.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_33.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deb6ffc4f7840a537885ba0b473c164dd8add9ba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_33.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_34.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f33aef53faeb163bd17df1aeba6ae6a76db4c50
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_34.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.10488584 -0.05909239 0.12309335
+v 0.10488584 -0.05909217 0.06371747
+v 0.10414422 -0.05909239 0.12339439
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+v 0.00110032 -0.11817734 0.12519437
+v 0.00110032 -0.12027569 0.12514017
+v 0.00110032 -0.06263478 0.12520059
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+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_35.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e375e4dfc0c44515dc9e5b3748955119fd9e1df
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_35.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00114599 -0.09464125 -0.13746399
+v 0.00114599 -0.09464135 -0.10950229
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+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_36.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee1ffa3c2096b4966ccedef69576974a23bbcc4f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_36.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.08117495 -0.09756595 -0.13942812
+v 0.00114599 -0.09756595 -0.13794474
+v -0.08117495 -0.09756606 -0.10921457
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+
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_37.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c41373bc43802e4da2789569bae5600144ab66a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_37.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_38.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bd48385e887876dee7a9651245c3ec2188a43af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_38.obj
@@ -0,0 +1,664 @@
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_39.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a43718f6287f4145ce0db9c4d6308d547d69039
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_39.obj
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_4.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16c834b7499df35f44f046ceb687b60709230c5a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_40.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dbc7b714ba0fee9cea3dd7f82b048103afcb38d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_40.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_41.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db21600cbc745de4113d6b73e488506dec7b7bba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_41.obj
@@ -0,0 +1,127 @@
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_42.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6917815ab5e29b5fe7fb2d6c56ce6237a37553a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_42.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_5.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bedaf914e306e6f9a48f81f7d4d6ea4445c0268c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_5.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_6.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..264c875bdceb9345eeaef580dc71b58ffbaee9df
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_7.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10eba6219d8a54ba9a234fd78d045462f7af2e13
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_7.obj
@@ -0,0 +1,517 @@
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_8.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38a81bfcc02415abde24245f9a70359b6ff4783e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_8.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_9.obj b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..638e730808c094dae39833d16a2dc629a2e931c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/mesh/storage_box_037_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/storage_box_037.xml b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/storage_box_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ef2b3cd0b66233815568a52033a67d7170bbda52
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/mjcf/storage_box_037.xml
@@ -0,0 +1,100 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_box_037">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/storage_box_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_box_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_box_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_box_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_box_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_box_037_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_box_037_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_box_037_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_box_037_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_box_037_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_box_037_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_box_037_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_box_037_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_box_037_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_box_037_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_box_037_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_box_037_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_box_037_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_box_037_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_box_037_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_box_037_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_box_037_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_box_037_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_box_037_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_box_037_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_box_037_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_box_037_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_box_037_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_box_037_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_box_037_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/storage_box_037_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/storage_box_037_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/storage_box_037_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/storage_box_037_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/storage_box_037_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/storage_box_037_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/storage_box_037_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/storage_box_037_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/storage_box_037_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/storage_box_037_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/storage_box_037_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/storage_box_037_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/storage_box_037_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/storage_box_037_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_box_037">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/storage_box_037.urdf b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/storage_box_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4e00a6293d1fae63acda1198522e6a79e3c22afd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/storage_box_037.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_box_037">
+   <link name="storage_box_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_box_037.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_box_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="6.0000" />
+         <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>1.000000</scale>
+         <uuid>45891c0dcbf65b639c11900dcb6eadc1</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_box</category>
+         <name>wheeled storage box</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>gray plastic storage box with lid and four caster wheels</description>
+         <min_height>0.3449</min_height>
+         <max_height>0.3449</max_height>
+         <real_height>0.3449</real_height>
+         <min_mass>4.0</min_mass>
+         <max_mass>8.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611140746</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.169013 -0.175004 -0.215891</min>
+            <max>0.169646 0.174996 0.129016</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Functional parts are merged incorrectly; wheels/base/lid mixed, and handle latch is fragmented.","merge_groups":[{"colors":["Red","Olive"],"target_part":"lid latch/handle","reason":"Red latch fragments belong with adjacent handle area"},{"colors":["Maroon","Olive"],"target_part":"wheel/base assembly","reason":"Wheels are split from the same rolling base structure"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/storage_box_037.usd b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/storage_box_037.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9995d28a279ae8907dfda347fa01ce8b2c9cb8be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/storage_box_037.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f13ba41154bb4ecaae7ad865527bc7d45bc0b06749a8f206e46506d3df653470
+size 5269076
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/textures/material_0.png b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9bc07f3060aa175e6ba816d96d9cdb5fc31fb42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ede0f8a2572ab7578ceaf2888d6e39a6b6794ec332270f530db589706e1bc58e
+size 11238560
diff --git a/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/video.mp4 b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5be1d6d1fcf34ffc7c73c22dd11ab24ae00ca7a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 474430