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Add asset bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc

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.gitattributes CHANGED
@@ -6040,3 +6040,4 @@ dataset/bedroom_supplies/storage/5e47ba5b4adf59098c7cba368d60821b/affordance/mes
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  dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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+ dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/jewelry_box_018.urdf CHANGED
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  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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  </affordance>
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  <PartSegChecker>YES</PartSegChecker>