diff --git a/.gitattributes b/.gitattributes
index 08de9ec8089732d85bc548d6e420d18e5b1879fb..8bc4f29891e7238cd7c6d0e2c3d34ba78a88006b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2785,3 +2785,5 @@ dataset/bedroom_supplies/storage/79e6ea3e30c55b23aa217a9cc99c5b12/mesh/remote_ho
 dataset/bedroom_supplies/storage/79e6ea3e30c55b23aa217a9cc99c5b12/remote_holder_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7bb411dba2085c4a90f25de2809779f6/basket_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7bb411dba2085c4a90f25de2809779f6/mesh/basket_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/remote_holder_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/material.mtl b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2747e83f08d4d96f422dde38191d7ee901a86fcd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_021_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 remote_holder_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/material_0.png b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b083086ab9ee30f377a30c7a7a0953a0bc7dfab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/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/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021.glb b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e51e491ee314f9ad55fba609f35c82f8a61f3ddc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06a80bd15452c2577f256d46147588286d6d028ae5044cc43359f0a9e19a8540
+size 13812112
diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021.mtl b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d6598390fa43b46363ea6115d93926fe6b903f80
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_021_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/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f663b93214833892e8ec4f82d3bd277d227af48b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021.obj
@@ -0,0 +1,108078 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_021_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021_collision.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6360fcf2669474daf297d462f689221e1ade1d96
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mesh/remote_holder_021_geometry_Looks_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/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021.obj
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+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021.obj
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fed617ab3d40dd966bae0f4222274582a9d9ec8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision.obj
@@ -0,0 +1,21019 @@
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_0.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5afb4a540173dc94ad334070fdf84e1841f01166
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_1.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d51b0a1681dfafdc910d80e32e345a4a1bf55805
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_10.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b2e11230c21d10095cd6991b6a924c3b13a88d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_2.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54d019babb13c25e9cf442f267f60dc9ccfb0ae7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_3.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd8c18103761e71e372b8444a81b984b95b46b60
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_3.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_4.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f1c412c57b9a5cd1dcabb7eed73a499ebc6d98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_5.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38c1b05bee400c9de4d072d012e1938e1cdd06ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_6.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec9a19075ec7dea7e453fa739046558f1f0ab795
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_7.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8c3d8745f9e9612b6eb3f6805a7e592288b9dcc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_8.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f96a207e207112f0f8e37f02e1e8e946ec6b2cea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_9.obj b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dadd340f2e8293debf278e09b5a2d975af20ffd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/mesh/remote_holder_021_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/remote_holder_021.xml b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/remote_holder_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..07ffbda480daf1efdee4ee9a9c25f38badbba77e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/mjcf/remote_holder_021.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_021">
+  <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/remote_holder_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_021_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_021_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_021_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_021">
+      <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" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/remote_holder_021.urdf b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/remote_holder_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c2735f9f71b4bf1456724c7b15de2c99addea947
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/remote_holder_021.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_021">
+   <link name="remote_holder_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_021.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/remote_holder_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>7a0470d7136c5775887b6eb1628a9c30</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>angled remote stand</name>
+         <color>brown,gray</color>
+         <shape>irregular</shape>
+         <material>wood</material>
+         <description>angled wooden remote holder with gray padded front support</description>
+         <min_height>0.1731</min_height>
+         <max_height>0.1731</max_height>
+         <real_height>0.1731</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611134213</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.068330 -0.053167 -0.067012</min>
+            <max>0.091670 0.053175 0.106105</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/remote_holder_021.usd b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/remote_holder_021.usd
new file mode 100644
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+size 4856407
diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/textures/material_0.png b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/video.mp4 b/dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 317994