diff --git a/.gitattributes b/.gitattributes
index 75ee8a24d4931b4457dabc3738583671876c6ddf..cfe5cf0b3e8ae1513664ee35fdb23f815a3b8fbe 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2769,5 +2769,5 @@ dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/basket_016.usd
dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/remote_holder_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/6e4307004a465daca0e93b4148582986/jewelry_box_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/6e4307004a465daca0e93b4148582986/mesh/jewelry_box_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/jewelry_box_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/jewelry_box_004.urdf b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/jewelry_box_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d438d149caf2fb77c722ddb297f2f3aa130bf317
--- /dev/null
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+ NO: {"summary":"Lid, body, and closure hardware are mixed; key errors not fixable by merging alone.","merge_groups":[{"colors":["Green","Maroon"],"target_part":"closure hardware","reason":"Both are small latch/edge hardware pieces"}]}
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+
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/jewelry_box_004.usd b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/jewelry_box_004.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/jewelry_box_004.usd
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diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004.glb b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004.glb
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diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004.mtl b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7dd1f420f618ca509081121ec1551e11c64c5453
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+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004.mtl
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diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004.obj b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4381c3dff220a3cf7948288092baedcce7a5e303
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+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004.obj
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diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004_collision.obj b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20636b65e4010e49c42f9709e4fae3459af820db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a88e8446805460566ec043fb9a886e8d248ab6a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/jewelry_box_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:640e56977a3d6b8dbce4884d7c47a9f755327102f339ed980e4948995d7de91e
+size 9929401
diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/material.mtl b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a5594aeb7d46e80d9f28a24443a468c1ea03e7d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_004_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 jewelry_box_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/material_0.png b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a88e8446805460566ec043fb9a886e8d248ab6a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:640e56977a3d6b8dbce4884d7c47a9f755327102f339ed980e4948995d7de91e
+size 9929401
diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/jewelry_box_004.xml b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/jewelry_box_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b2af59713c562555f26f3e0c37f359577d19c928
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/jewelry_box_004.xml
@@ -0,0 +1,24 @@
+
+
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004.obj b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2193e4fc0a1da013d1185bb75d5d067983a9ec5e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004.obj
@@ -0,0 +1,107876 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_004_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision.obj b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6f2b09b57b33c575bf982236ff197a1008c7aa2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision.obj
@@ -0,0 +1,5239 @@
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diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_0.obj b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d349736632998de2cd2527e0c39f1f08d5481e5c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_0.obj
@@ -0,0 +1,2086 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_1.obj b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b21c47e19d4f4ba6eeeb7009fd0f60fd664e3a53
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_2.obj b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a44f8d000ba5ee372d118a6c305087df718267f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_3.obj b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8b9e0192497b756cd8fe3e23117476d8db88363
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_3.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_4.obj b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..043b5e0360ce185b148e320df7defac66aa8ae1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_collision_4.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a88e8446805460566ec043fb9a886e8d248ab6a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/mjcf/mesh/jewelry_box_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:640e56977a3d6b8dbce4884d7c47a9f755327102f339ed980e4948995d7de91e
+size 9929401
diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/textures/material_0.png b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a88e8446805460566ec043fb9a886e8d248ab6a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:640e56977a3d6b8dbce4884d7c47a9f755327102f339ed980e4948995d7de91e
+size 9929401
diff --git a/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/video.mp4 b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..219eea475d8b1198cdc6db7f2a60ebec309c50a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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