diff --git a/.gitattributes b/.gitattributes
index d4b362a1e673779a1f7db03114c8120f325b2c21..e4b3e1e5ced8cd7c29861fe54bbaad9546049621 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2805,3 +2805,5 @@ dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/mesh/wicker_ba
 dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/mesh/wicker_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/mesh/storage_bin_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/storage_bin_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/basket_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/basket_023.urdf b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/basket_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..72b51cb1daa12bfa7a188c5fcbb373b2bf00a0a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/basket_023.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_023">
+   <link name="basket_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_023.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/basket_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>a57cfa626b62575d92095bb568a12eba</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>woven basket</name>
+         <color>beige</color>
+         <shape>cylinder</shape>
+         <material>wicker</material>
+         <description>small round woven basket with thick rim</description>
+         <min_height>0.0790</min_height>
+         <max_height>0.0790</max_height>
+         <real_height>0.0790</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611132016</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.074972 -0.075202 -0.035039</min>
+            <max>0.075028 0.074354 0.043930</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_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/a57cfa626b62575d92095bb568a12eba/basket_023.usd b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/basket_023.usd
new file mode 100644
index 0000000000000000000000000000000000000000..58cdf94ca518e9ec23a2900becdeb69b014b7e71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/basket_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d94c9b1b87386a83fe68cd202df6398b97a6ddb402450210a75c9d3e2c66c09
+size 4939234
diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023.glb b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f414d1c5f7a360d191c8dd5cbfc50a3e221f4734
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb5fef191fc54fb211f0c5dc3a2eea0bf28d9dae9d99c10a00aff5badf940dbf
+size 16369392
diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023.mtl b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da94694f9da43fc39bbbdbda652855787549dc06
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023.mtl
@@ -0,0 +1,6 @@
+newmtl basket_023_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/a57cfa626b62575d92095bb568a12eba/mesh/basket_023.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea7b73d00ab58754b8b8baea9c5f48eba7318de5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023.obj
@@ -0,0 +1,105480 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_023_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023_collision.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14351df73d5b3b4a4ec22253e93177906a0f9adb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023_collision.obj
@@ -0,0 +1,20536 @@
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c3b0ea58dfec45ddd385a3e06f5a63ec99b4a71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_023_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75069f60a99fcd186884593ab7cde5af0d76b6364d933985fdf9422b899b1825
+size 12995300
diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/material.mtl b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..589eee9d7161743a65f34039da4841e25352f28d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_023_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 basket_023_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/material_0.png b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c3b0ea58dfec45ddd385a3e06f5a63ec99b4a71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75069f60a99fcd186884593ab7cde5af0d76b6364d933985fdf9422b899b1825
+size 12995300
diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/basket_023.xml b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/basket_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d44fb752ee68a759bfd7825f1c4abc93eb6a8a66
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/basket_023.xml
@@ -0,0 +1,90 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="basket_023">
+  <asset>
+    <material name="material_0" texture="texture_0_basket_023_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_basket_023_geometry_Looks_material_0" type="2d" file="mesh/basket_023_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/basket_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/basket_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/basket_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/basket_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/basket_023_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/basket_023_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/basket_023_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/basket_023_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/basket_023_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/basket_023_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/basket_023_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/basket_023_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/basket_023_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/basket_023_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/basket_023_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/basket_023_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/basket_023_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/basket_023_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/basket_023_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/basket_023_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/basket_023_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/basket_023_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/basket_023_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/basket_023_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/basket_023_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/basket_023_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/basket_023_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/basket_023_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/basket_023_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/basket_023_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/basket_023_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/basket_023_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/basket_023_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/basket_023_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/basket_023_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_35" file="mesh/basket_023_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/basket_023_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/basket_023_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="basket_023">
+      <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" />
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+      <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" />
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_37" 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/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b066410b69f41d61a669d3c0612948c7127b6f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023.obj
@@ -0,0 +1,105480 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl basket_023_geometry_Looks_material_0
+v 0.075028 0.000734 0.038180
+v 0.075028 0.000734 0.038180
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26768c2878d323696ef86651478d91d24d066c12
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision.obj
@@ -0,0 +1,20536 @@
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_0.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd42ae817ab4fed0b813cbc49822395c684860c7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_1.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfcafe52c521ed622f81462a64dfac1e080aaabe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_10.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5950b696acd93521d698a0d620e10271d6a1eafa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_11.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c3f0cb04c056dec89f6791601b6211cbe1500eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_11.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_12.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43f55b90110f3963f30bf82df896c77fc8ef5a80
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_12.obj
@@ -0,0 +1,625 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_13.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d120268d44687943610916ca99ea0153195bc95f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_13.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_14.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77c06f9e814864c63988ed04cffd5d901db1164d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_14.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_15.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16983010b8330f078301824b8cf3980d58eac1cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_15.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_16.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d27e1a5abf16e2380e5757cd3c3e12e587e8fba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_16.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_17.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4a4b629fc04309be0d754bf85213acc7237f9fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_17.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_18.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb08fb7f521f4d78cdae1c7c9c9dc2a1893cb1a0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_18.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_19.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5d6bb36fbaae382a47ee6fb0b7687340013a8bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_19.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_2.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66dddce73ee4f9866c5d562d95f1e3551a8bab6c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_20.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ec7d1b4cc86ea13b2f4924c0ce986e2162b106f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_20.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_21.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1642ff961b513b7c47736fdfdd8c04069d776520
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_21.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_22.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b049c7a9eebccff8e33d11e4df794850d0f2538
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_22.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_23.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2364f60c851f191c25232403fa96e7286a94b33d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_23.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_24.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b93ad04e7da02f3350e4f790b7be78ed7dab1392
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_24.obj
@@ -0,0 +1,646 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_25.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..136ac18c623b29d1e1bfd51a73b565e5000f33a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_25.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_26.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476ca53dd0e874943a7e8eff24cd77ed4f1fba6f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_26.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_27.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca8c0ffb97178b2b8a0fab216c549b29e33b603
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_27.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_28.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bda4b2e00283a72ab74a1bf45080f8892e94d9a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_28.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_29.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e6bd11b7d377d1421437498ce251d2d0febf269
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_29.obj
@@ -0,0 +1,622 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_3.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0ee72f68186112e538da3ed22cad88892084c5a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_30.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ebd93c472940711ec183e62a0935d93814a89f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_30.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_31.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aca12ee3d9c3b9bc76d633e8f8bb99412ef149f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_31.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_32.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27d6e4f408013ed874d038c1f1a071515d7eb3b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_32.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_33.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9de253d23b8c5836e2932d38ac9ea73b03609bf7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_33.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_34.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..731153d2797d3899804473f62f2f226d0ed46cd6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_34.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_35.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af65a1f0a1eca96248034abb5b7f31ec18305422
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_35.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_36.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b804473077251947b605a94aeca1fa21ae17dd7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_36.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_37.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9df473ec45ff4e23811c64f5631707e5a140fcb5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_37.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_4.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd1338e437373bc1ff26b6cb94faaa2b701049d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_5.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd3049932a42a491b58ed91c239d2d448c8db73
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_5.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_6.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e56ddfd8be4d5e0ff26dcf545eb455bcfc0896de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_6.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_7.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b333b7bf3fdc09c0dca85a8fc796c097c7600227
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_8.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6252388c59ceee7761cf88ec8260c5f36e443644
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_9.obj b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_9.obj
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c3b0ea58dfec45ddd385a3e06f5a63ec99b4a71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mjcf/mesh/basket_023_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 12995300
diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/textures/material_0.png b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c3b0ea58dfec45ddd385a3e06f5a63ec99b4a71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/video.mp4 b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/video.mp4
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/video.mp4
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