diff --git a/.gitattributes b/.gitattributes
index a741f13d57e02d52ad597ad719e26f5e481982f0..156e5bc23ff861e8f3ea94149806e85602e64c4a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2697,6 +2697,7 @@ dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mesh/storage_b
 dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/storage_bin_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/097d15ef9cb850f18c3b0c7ccb156c3c/mesh/storage_box_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/097d15ef9cb850f18c3b0c7ccb156c3c/storage_box_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/11d1da1902fc5532808d25bcb8740ce9/11d1da1902fc5532808d25bcb8740ce9.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/11d1da1902fc5532808d25bcb8740ce9/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/11d1da1902fc5532808d25bcb8740ce9/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/mesh/pill_organizer_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/0ecb2408c248539898a2d5424ff66bf6/pill_organizer_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/pill_organizer_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/material.mtl b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da0a9d77d8deff3fe77b12a503c08ee9814dc467
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pill_organizer_037_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pill_organizer_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/material_0.png b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b695cb4ba8caff246a97fffc7a385b2b80df1aa6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037.glb b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..dbcc8ff009e80d1ec5cfe40776add2a97b6c6bd1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037.glb
@@ -0,0 +1,3 @@
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+size 12314956
diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037.mtl b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6f4a5c61f12bc4a12e4100616900cde149f76d6b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037.mtl
@@ -0,0 +1,6 @@
+newmtl pill_organizer_037_geometry_Looks_material_0
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+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/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037.obj b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18bdc72c91fe0ec989156113b1c361ba96081b4b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037.obj
@@ -0,0 +1,107986 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pill_organizer_037_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037_collision.obj b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f9e7772a099d502c733d3608754d11e170ef25d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037_collision.obj
@@ -0,0 +1,5987 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b695cb4ba8caff246a97fffc7a385b2b80df1aa6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mesh/pill_organizer_037_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
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+size 9243197
diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b695cb4ba8caff246a97fffc7a385b2b80df1aa6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:f538cb257a289c6fb742b10aa1db1c128e5166f0f1c5f1f629322e3f5955c967
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037.obj b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..490843a007141e110ca85bf9199a12dcaf828211
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037.obj
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision.obj b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06052b0f39a593d03dc013d39443763a1cf87ec5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision.obj
@@ -0,0 +1,5987 @@
+# https://github.com/mikedh/trimesh
+
+o pill_organizer_037_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_0.obj b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..504882ab03ee9c3ab658909d6f2a4b737c694c72
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_0.obj
@@ -0,0 +1,694 @@
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_1.obj b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad83ad8e8e66f7babce2abe01a2e26910cefb96
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_2.obj b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5147282f95d9763c78f1bc1a975a81019afbb4f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_3.obj b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9fc4ce26e9255dbe6bf5832afb2dd23cb5774a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_4.obj b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89eab4b1e0763957a60bf15443f296d61be4ada0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_5.obj b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed359b52b0a58d3737df9f28f7c45518be79f59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_6.obj b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c21c3da959a9ec84d5d7b4c674bc48bc072d9aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_7.obj b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..853088bb0694e77485db4fe9c1061a75efe4c934
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_7.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_8.obj b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..981fbc2d0b54e4c127fd904adfb5a9a4065762a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/mesh/pill_organizer_037_collision_8.obj
@@ -0,0 +1,724 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/pill_organizer_037.xml b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/pill_organizer_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8d246b6aad1ee999f1460c33eee3993e2142dbf0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/mjcf/pill_organizer_037.xml
@@ -0,0 +1,32 @@
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/pill_organizer_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pill_organizer_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pill_organizer_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pill_organizer_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pill_organizer_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pill_organizer_037_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pill_organizer_037_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pill_organizer_037_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pill_organizer_037_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pill_organizer_037_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pill_organizer_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" />
+      <geom type="mesh" mesh="collision_mesh_0_8" 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/145420d4481d557e810dd049f2647556/pill_organizer_037.urdf b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/pill_organizer_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3d04cfd7690d850191ad37d53d9a93694b142048
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/pill_organizer_037.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pill_organizer_037">
+   <link name="pill_organizer_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pill_organizer_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/pill_organizer_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.55</mu1>
+            <mu2>0.42</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>145420d4481d557e810dd049f2647556</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>pill_organizer</category>
+         <name>square pill box</name>
+         <color>gray,transparent</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>translucent square pill organizer with rounded corners and top latch</description>
+         <min_height>0.0881</min_height>
+         <max_height>0.0881</max_height>
+         <real_height>0.0881</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611134039</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036495 -0.040006 -0.044542</min>
+            <max>0.040421 0.039995 0.043552</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/pill_organizer_037.usd b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/pill_organizer_037.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9fe8a56fac23b2f4657a7eda192774835e88b4f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/pill_organizer_037.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c33bf615dccb79adfa671925b8aa6caa380690342a8d753918659709c385700
+size 4746886
diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/textures/material_0.png b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b695cb4ba8caff246a97fffc7a385b2b80df1aa6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f538cb257a289c6fb742b10aa1db1c128e5166f0f1c5f1f629322e3f5955c967
+size 9243197
diff --git a/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/video.mp4 b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f11fec5b6df1a9a043cd0eb93307aee702dd69e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/145420d4481d557e810dd049f2647556/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:cf1186ed2549e59fbb346762b49fe7f67c600112a84841d426fd273b164b99ee
+size 519566