diff --git a/.gitattributes b/.gitattributes
index bb27ac97ea0b891f865a3f0bb124f245132d132e..5dae20e4a1a83f45141c1558c916e801da37aab5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2780,6 +2780,5 @@ dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_c
 dataset/bedroom_supplies/storage/72470241ed5155b8bce4153f3d51143b/72470241ed5155b8bce4153f3d51143b.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/72470241ed5155b8bce4153f3d51143b/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/72470241ed5155b8bce4153f3d51143b/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/77eba2a6528852efae99817aceece568/77eba2a6528852efae99817aceece568.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/77eba2a6528852efae99817aceece568/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/77eba2a6528852efae99817aceece568/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/remote_holder_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/material.mtl b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d1dc682d15aa99faa804a076529237d8966dcef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_020_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_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/material_0.png b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..484a437c97c852de0a83fdeb46641585259ee2a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe1e5f61f707bb4675749cbeb6025878183644fa3cc500a0f835919a8611f44
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020.glb b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..378abad1b121ad2f0d0037e6d991e30ec3bc29a0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f6e35064334966c4e92143588b41ebb5e4c3c15d96fa74c8ec026f279dc9998
+size 12268064
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020.mtl b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..03157188c50a7d1216d88d58caacc5e655b1374b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_020_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/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fa6cae2b0a0609e952ed165293f41a59ee3615f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020.obj
@@ -0,0 +1,113712 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_020_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020_collision.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4038056e2fe6aa8455f0afe296b0cb2fbdf4d90
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mesh/remote_holder_020_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..484a437c97c852de0a83fdeb46641585259ee2a4
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..484a437c97c852de0a83fdeb46641585259ee2a4
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020.obj
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index 0000000000000000000000000000000000000000..88abe4a8075c16f4ab96ed5d9bf5066e2a019cdf
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c755cb384cbbbdcef05ed624ddb3ae27b1ad0f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision.obj
@@ -0,0 +1,11541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_0.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c5f8528b054b1419ea43f7c3a61f4882628b3fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_1.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80e1f471e7e59acc1060eb06059f80754eec1948
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_10.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd8a73e4169884f41d82e827a9584a640838585e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_10.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_11.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f1f14a38faaf0ef1fe6e801463816214330445
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_11.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_12.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5dacd469c7c0269bcfb8f04e33daef2d044f30
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_12.obj
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_13.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4188c010045475354da89408787c3b50ff85cab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_13.obj
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_14.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a7679e923a7fb110c9946922a229b2c40aedca0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_14.obj
@@ -0,0 +1,85 @@
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_15.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1017c65a1de308786190254df6b50cd0ae84ed96
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_15.obj
@@ -0,0 +1,835 @@
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_16.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..030acc30b6cbc51ff12577dfae5e59bc6316037e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_16.obj
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_17.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95a37e644b2ca35c9c53871f359042d35cf8a092
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_17.obj
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_18.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fedc599e3d19ef4a7414eff3c783386853a4de6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_18.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_19.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d91b78b9cf65863342001f04ff2f556c59cd6686
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_19.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_2.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b482df587c44b9dafb692150f50758394e50dd9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_2.obj
@@ -0,0 +1,1180 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_20.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15b2cf84069c7eabc45bfadd7dab34d263bf94f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_20.obj
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+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_21.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a62d96d1eecf83c5f43411eb935b2ce03449043
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_21.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.02036793 -0.02231926 -0.03505569
+v -0.02019647 -0.02238188 -0.03505569
+v -0.01997080 -0.02008671 -0.03333039
+v -0.02036793 -0.01986916 -0.03333039
+v -0.02036793 -0.01149266 -0.03505565
+v -0.01667098 -0.02265216 -0.03505569
+v -0.01667098 -0.02087887 -0.03333040
+v -0.01721081 -0.02081295 -0.03333040
+v -0.01867211 -0.02047565 -0.03333040
+v -0.01915221 -0.02036138 -0.03333039
+v -0.02036793 -0.01149707 -0.03333036
+v -0.02036793 -0.01149487 -0.03397549
+v -0.01106913 -0.01332859 -0.03505566
+v -0.01648956 -0.02265985 -0.03505569
+v -0.01523622 -0.02091732 -0.03333040
+v -0.01467095 -0.02271589 -0.03505569
+v -0.00976933 -0.01397902 -0.03505566
+v -0.01206140 -0.01573585 -0.03333038
+v -0.01467095 -0.02092721 -0.03333040
+v -0.01266318 -0.02244561 -0.03505569
+v -0.00910561 -0.01526120 -0.03505567
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+v -0.01117201 -0.01694992 -0.03333038
+v -0.01296407 -0.02039434 -0.03333039
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+v -0.00906799 -0.01682356 -0.03505567
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+v -0.01203596 -0.01939782 -0.03333039
+v -0.01057465 -0.02081294 -0.03505569
+v -0.01118417 -0.01847821 -0.03333039
+v -0.00914543 -0.01883308 -0.03505568
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+f 29 31 30
+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_22.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7890a6edb5acf06a9370a43d32cdd50171bc74fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_22.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00953477 -0.00866633 0.03107960
+v -0.00953477 -0.00694225 0.03107781
+v -0.00953477 -0.00866640 0.04935909
+v -0.01771346 -0.00866638 0.04471222
+v -0.00953477 0.00889415 0.03106534
+v -0.01550373 -0.00297847 0.04102339
+v -0.00953477 0.00889408 0.04935915
+v -0.02045503 -0.00866640 0.04935909
+v -0.01847429 -0.00866639 0.04599974
+v -0.01991035 0.00494572 0.04841365
+v -0.01835337 0.00889409 0.04578849
+v -0.01770918 0.00889410 0.04470333
+v -0.01550373 -0.00099655 0.04102340
+v -0.02046359 0.00889408 0.04935915
+v -0.02046359 0.00296553 0.04935913
+v -0.01990394 -0.00866640 0.04842255
+v -0.01991035 0.00692763 0.04841366
+v -0.02046466 0.00494572 0.04935914
+v -0.02046573 0.00692763 0.04935915
+v -0.01990501 0.00889408 0.04840471
+v -0.02046466 0.00825636 0.04935915
+f 1 2 5
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+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_23.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eb86aae302382a05c1c6645400f40e3f286d304
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_23.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01353055 -0.00866638 0.04466196
+v -0.01353055 -0.00866636 0.03775432
+v -0.01768299 -0.00866638 0.04466196
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+v -0.01472699 -0.00866637 0.03973765
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+v -0.01388817 -0.02586014 0.04226149
+v -0.01667097 -0.02070301 0.03710795
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+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_24.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c1f68b6297b2b40bdd85e6655f00b6f3c140e15
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_24.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
+v -0.01865470 0.01272898 -0.03894197
+v -0.01865470 0.01272898 -0.03892242
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_25.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a70ab339354adff1c940ac3274231f1b36c3fd4d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_25.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01266866 -0.02612899 0.04935695
+v -0.01059277 -0.02601617 0.04935695
+v -0.01353015 -0.02612215 0.04935695
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+v -0.00953370 -0.02612384 0.04377131
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+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_26.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d23d8650f16bbcc6257375360b634f5d15665b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_26.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00953370 0.00889583 0.03106569
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+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_27.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff44719eab45b180a8a51122b7b92dffdf4444d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_27.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02102385 -0.01093082 0.03710799
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_28.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b78ccd67515c659453c5c3c5c6feb9d66f1af8c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_28.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_29.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..807b1b06656d42297e8db7ef210caa27cafe915f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_29.obj
@@ -0,0 +1,262 @@
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+f 50 61 62
+f 50 62 51
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+f 54 63 64
+f 54 64 65
+f 54 65 55
+f 55 66 67
+f 55 67 58
+f 55 65 66
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+f 60 68 69
+f 60 69 70
+f 64 71 65
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+f 66 71 73
+f 66 73 67
+f 67 73 74
+f 68 75 69
+f 69 76 70
+f 69 75 77
+f 69 77 76
+f 70 76 78
+f 71 72 79
+f 71 79 80
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+f 80 85 83
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+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_3.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b4a56135c603742e89bf46854f5fa6afa5c317e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_3.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01116965 0.01693275 -0.03333026
+v -0.01182323 0.01599606 -0.03333026
+v -0.01118205 0.01847079 -0.03333025
+v -0.01140345 0.01829031 -0.01218624
+v -0.01140345 0.01718442 -0.01218625
+v -0.01139814 0.01717628 -0.01271609
+v -0.01201983 0.01619372 -0.01218625
+v -0.01201629 0.01618557 -0.01271609
+v -0.01276905 0.01535292 -0.03333026
+v -0.01172404 0.01919650 -0.03333025
+v -0.01212433 0.01929224 -0.01271608
+v -0.01139814 0.01830153 -0.01271608
+v -0.01159297 0.01855022 -0.01218624
+v -0.01228197 0.01602452 -0.01218625
+v -0.02130274 0.01049213 -0.03333028
+v -0.01302056 0.01556892 -0.01218625
+v -0.02133285 0.01049205 -0.01218627
+v -0.02133108 0.01049206 -0.01246982
+v -0.01223592 0.01972549 -0.03333025
+v -0.01312861 0.02018916 -0.01218624
+v -0.01212787 0.01928203 -0.01218624
+v -0.02926433 0.01049213 -0.03333028
+v -0.02914212 0.01049205 -0.01218627
+v -0.01296388 0.02037780 -0.03333025
+v -0.01353067 0.02032472 -0.01218624
+v -0.02914389 0.01049206 -0.01248845
+v -0.02912972 0.01089270 -0.03333028
+v -0.02894729 0.01089262 -0.01218627
+v -0.01411517 0.02075696 -0.03333024
+v -0.01467133 0.02070490 -0.01218623
+v -0.02823703 0.01261930 -0.03333027
+v -0.02871526 0.01130847 -0.01218627
+v -0.01467133 0.02090374 -0.03333024
+v -0.01519561 0.02069879 -0.01218623
+v -0.02652250 0.01484024 -0.03333027
+v -0.02805814 0.01247958 -0.01218626
+v -0.02740102 0.01347029 -0.01218626
+v -0.01667280 0.02084971 -0.03333024
+v -0.01667280 0.02067942 -0.01218623
+v -0.02466450 0.01675336 -0.03333026
+v -0.02713888 0.01379951 -0.01218626
+v -0.02640029 0.01472702 -0.01218626
+v -0.02555188 0.01571671 -0.01218625
+v -0.01867250 0.02044711 -0.03333024
+v -0.01719708 0.02054998 -0.01218623
+v -0.02253551 0.01847487 -0.03333025
+v -0.02455114 0.01663505 -0.01218625
+v -0.02340694 0.01762576 -0.01218625
+v -0.01996017 0.02006693 -0.03333025
+v -0.01867250 0.02018509 -0.01218624
+v -0.02240621 0.01832292 -0.01218624
+v -0.02116105 0.01905474 -0.01218624
+v -0.02071824 0.01931465 -0.01218624
+v -0.01971928 0.01983141 -0.01218624
+v -0.01894703 0.02009233 -0.01218624
+f 1 2 9
+f 1 9 15
+f 1 15 22
+f 1 22 27
+f 1 27 31
+f 1 31 35
+f 1 35 40
+f 1 40 46
+f 1 46 49
+f 1 49 44
+f 1 44 38
+f 1 38 33
+f 1 33 29
+f 1 29 24
+f 1 24 19
+f 1 19 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
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+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 21
+f 4 21 20
+f 4 20 25
+f 4 25 30
+f 4 30 34
+f 4 34 39
+f 4 39 45
+f 4 45 50
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+f 12 21 13
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+f 15 26 22
+f 19 24 20
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+f 23 28 27
+f 23 27 26
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+f 24 30 25
+f 27 28 31
+f 28 32 31
+f 29 33 30
+f 30 33 34
+f 31 32 36
+f 31 36 37
+f 31 37 35
+f 33 38 39
+f 33 39 34
+f 35 37 41
+f 35 41 42
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+f 35 43 40
+f 38 44 39
+f 39 44 45
+f 40 43 47
+f 40 47 48
+f 40 48 46
+f 44 49 50
+f 44 50 45
+f 46 48 51
+f 46 51 49
+f 49 51 52
+f 49 52 53
+f 49 53 54
+f 49 54 55
+f 49 55 50
+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_30.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3a7cc5a8199e46a54b54b25d44e68afbbece28b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_30.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.02102385 -0.01882824 0.04466312
+v -0.01572315 -0.02572129 0.04466310
+v -0.01570848 -0.02579134 0.04470953
+v -0.01778812 -0.02583066 0.04858120
+v -0.01867353 -0.02521723 0.04935903
+v -0.01891927 -0.02487719 0.04935903
+v -0.01959341 -0.02279424 0.04935904
+v -0.02102385 -0.01858903 0.04550669
+v -0.02102385 -0.01127904 0.04466315
+v -0.01564246 -0.02579818 0.04466310
+v -0.01593075 -0.02585970 0.04578939
+v -0.01462868 -0.02595367 0.04466309
+v -0.01798325 -0.02586997 0.04935902
+v -0.02057565 -0.01882143 0.04935905
+v -0.02102385 -0.01685124 0.04715016
+v -0.02102385 -0.01176604 0.04549568
+v -0.02045534 -0.00866811 0.04935909
+v -0.01990371 -0.00866811 0.04842404
+v -0.01834929 -0.00866810 0.04578945
+v -0.01779619 -0.00866809 0.04485302
+v -0.01768322 -0.00866809 0.04466316
+v -0.01665697 -0.02593319 0.04786772
+v -0.01353055 -0.02601861 0.04466309
+v -0.01467050 -0.02603058 0.04578938
+v -0.01666798 -0.02603571 0.04935902
+v -0.02073263 -0.01685125 0.04935906
+v -0.02102385 -0.01487081 0.04757770
+v -0.02102385 -0.01404208 0.04721820
+v -0.01353055 -0.00866811 0.04935909
+v -0.02077371 -0.01334492 0.04935907
+v -0.01353055 -0.00866809 0.04466316
+v -0.01353055 -0.02608013 0.04578938
+v -0.01467050 -0.02610577 0.04780612
+v -0.01467050 -0.02611773 0.04935902
+v -0.02078545 -0.01487082 0.04935907
+v -0.01353055 -0.02612286 0.04935902
+v -0.01353055 -0.02611773 0.04780612
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 15
+f 1 15 27
+f 1 27 28
+f 1 28 16
+f 1 16 9
+f 1 9 21
+f 1 21 31
+f 1 31 23
+f 1 23 12
+f 1 12 10
+f 1 10 2
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+f 23 32 24
+f 23 31 29
+f 23 29 36
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+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 26 35 27
+f 27 35 30
+f 27 30 28
+f 32 37 33
+f 33 37 34
+f 34 37 36
+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_31.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d87edd4071ec82621a366561a70b87cce3ceb9a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_31.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01353055 0.02119434 0.03709812
+v -0.01353055 0.02029751 0.02814625
+v -0.01467050 0.02069128 0.02814626
+v -0.01517959 0.02068622 0.02814626
+v -0.01667165 0.02067104 0.02814626
+v -0.01667165 0.02067201 0.03709812
+v -0.01353055 0.01413170 0.03709809
+v -0.01353055 0.01538393 0.02814624
+v -0.01867206 0.02017806 0.02814625
+v -0.01867206 0.02017499 0.03570223
+v -0.01867206 0.02017397 0.03709811
+v -0.02102385 0.01087623 0.03709808
+v -0.02102385 0.01087219 0.03570220
+v -0.02102385 0.01086106 0.03166790
+v -0.02102385 0.01086006 0.03128936
+v -0.02102385 0.01085601 0.02965075
+v -0.02102385 0.01085299 0.02814622
+v -0.01971372 0.01982882 0.02814625
+v -0.01970931 0.01982677 0.03570223
+v -0.01970858 0.01982575 0.03709811
+v -0.02102385 0.01912829 0.03709811
+v -0.02102385 0.01913339 0.02814625
+v -0.02071429 0.01931459 0.02814625
+v -0.02071356 0.01931458 0.02965078
+v -0.02070916 0.01931252 0.03709811
+v -0.02001667 0.01966783 0.03709811
+v -0.02102385 0.01913135 0.03204034
+v -0.02102385 0.01913339 0.02842227
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 20
+f 1 20 26
+f 1 26 25
+f 1 25 21
+f 1 21 12
+f 1 12 7
+f 1 7 8
+f 1 8 2
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+f 2 17 22
+f 2 22 23
+f 2 23 18
+f 2 18 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
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+f 6 10 11
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+f 19 25 26
+f 19 26 20
+f 21 25 24
+f 21 24 27
+f 22 28 23
+f 23 28 24
+f 24 28 27
+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_32.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca10bdffc6b9b86a42e09777448cdebcce68334
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_32.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01353054 0.02612632 0.04935922
+v -0.01353054 0.02612632 0.04867512
+v -0.01420900 0.02612632 0.04935922
+v -0.01353054 0.00889576 0.04935915
+v -0.01353054 0.02611621 0.04665761
+v -0.01467002 0.02612126 0.04935922
+v -0.01653233 0.00890083 0.04935915
+v -0.01653233 0.00889576 0.04892468
+v -0.01353054 0.00889580 0.03774857
+v -0.01353054 0.02607067 0.04464010
+v -0.01467002 0.02610945 0.04780618
+v -0.01620999 0.02607740 0.04935922
+v -0.01653233 0.02604704 0.04935922
+v -0.01653233 0.00889578 0.04274974
+v -0.01353054 0.01413211 0.03709809
+v -0.01389108 0.00889580 0.03834506
+v -0.01653233 0.01413717 0.03709809
+v -0.01467002 0.02603186 0.04578867
+v -0.01353054 0.02593066 0.04258178
+v -0.01653233 0.02604029 0.04925240
+v -0.01472703 0.00889579 0.03973727
+v -0.01353054 0.02119371 0.03709812
+v -0.01653233 0.02067581 0.03709812
+v -0.01460626 0.02589860 0.04392599
+v -0.01653233 0.02593401 0.04773057
+v -0.01353054 0.02588512 0.04205250
+v -0.01353054 0.02467220 0.03991736
+v -0.01653233 0.02520357 0.04582347
+v -0.01571195 0.02578052 0.04470130
+v -0.01353054 0.02568268 0.04091711
+v -0.01353054 0.02567762 0.04090871
+v -0.01389695 0.02585137 0.04225052
+v -0.01593908 0.02585305 0.04578866
+v -0.01653233 0.02591378 0.04749534
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 4
+f 1 4 9
+f 1 9 15
+f 1 15 22
+f 1 22 27
+f 1 27 31
+f 1 31 30
+f 1 30 26
+f 1 26 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
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+f 4 16 9
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+f 7 17 14
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+f 24 26 32
+f 24 32 29
+f 24 29 33
+f 24 33 34
+f 24 34 25
+f 26 30 32
+f 28 34 29
+f 29 34 33
+f 29 32 30
+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_33.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7317c2f78c26699276730f74dd6d34877645110a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_33.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01831257 -0.01121600 0.04466195
+v -0.01831257 -0.01315969 0.03710798
+v -0.02102458 -0.01093116 0.03710799
+v -0.02102458 -0.01093310 0.04175425
+v -0.02102458 -0.01094754 0.04377160
+v -0.02102458 -0.01125738 0.04462424
+v -0.02102458 -0.01127951 0.04466195
+v -0.01831257 -0.02076037 0.04466191
+v -0.01831257 -0.02029752 0.03710796
+v -0.02102458 -0.01917075 0.03710796
+v -0.02102458 -0.01882821 0.04466192
+v -0.01919764 -0.02023499 0.04466192
+v -0.02102458 -0.01916210 0.04175422
+v -0.02102458 -0.01916306 0.04139482
+v -0.02102458 -0.01916690 0.03938265
+v -0.02102458 -0.01917075 0.03736900
+v -0.02072859 -0.01934299 0.03710796
+v -0.01972778 -0.01984816 0.03710796
+v -0.01899323 -0.02009930 0.03710796
+v -0.01867254 -0.02020803 0.03710796
+v -0.02102458 -0.01913805 0.04377157
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 12
+f 1 12 8
+f 1 8 9
+f 1 9 2
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+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_4.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28e02dcec57b2909e6b06c65f2d1b3d6696348a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_4.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.02197741 0.00974296 -0.01218627
+v -0.02197741 0.01857563 -0.01218624
+v -0.01228049 0.01602380 -0.01218625
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+v -0.02071936 0.01931392 -0.01218624
+v -0.02197741 0.01857776 -0.00464166
+v -0.01201892 0.01619335 -0.01218625
+v -0.02197741 0.00976006 0.00947626
+v -0.01971874 0.01983115 -0.01218624
+v -0.02071832 0.01931498 -0.00867649
+v -0.02197741 0.01857773 0.00342799
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+v -0.01181028 0.01650119 0.02814624
+v -0.01203760 0.01624901 0.02814624
+v -0.01303823 0.01558047 0.02814624
+v -0.02197741 0.00976327 0.01149367
+v -0.01867140 0.02018528 -0.01218624
+v -0.02071625 0.01931605 -0.00464166
+v -0.02071625 0.01931604 -0.00262425
+v -0.01971770 0.01983105 0.01754199
+v -0.02197741 0.01857549 0.02814625
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+v -0.01667119 0.02067886 -0.00060683
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+v -0.01867140 0.02018303 0.01754199
+v -0.01971562 0.01982995 0.02359424
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+v -0.02045986 0.01944577 0.02814625
+v -0.01971459 0.01982887 0.02762906
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+v -0.01667119 0.02067890 -0.01218623
+v -0.01893713 0.02008963 0.02814625
+v -0.01867140 0.02017870 0.02814625
+v -0.01667119 0.02067341 0.02359425
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+v -0.01212791 0.01928173 -0.01218624
+v -0.01218603 0.01918716 0.02814625
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+v -0.01467099 0.02069164 0.02814626
+v -0.01312853 0.02018850 -0.01218624
+v -0.01318666 0.02017870 0.02814625
+v -0.01293235 0.01994155 0.02814625
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+f 1 17 28
+f 1 28 38
+f 1 38 37
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+f 29 40 41
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+f 32 43 33
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+f 46 49 50
+f 49 51 50
+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_5.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e48ace2133a6df44db9869a90f926dd2ee293111
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_5.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.02947307 -0.00985561 -0.01218635
+v -0.02957174 -0.00965606 -0.01218635
+v -0.02193835 -0.00985561 -0.01218635
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+v -0.02996642 -0.00866510 -0.01218634
+v -0.02193929 -0.00985563 -0.00665919
+v -0.02515973 -0.00000864 -0.01218631
+v -0.02515879 -0.00000864 -0.01069398
+v -0.02515879 -0.00000867 -0.00161759
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+v -0.02957362 -0.00965996 -0.00060695
+v -0.02996830 -0.00866802 -0.00262435
+v -0.03054342 -0.00694152 -0.01218634
+v -0.02515973 -0.00000869 0.00141051
+v -0.02516912 -0.00000878 0.02762899
+v -0.02194399 -0.00985566 0.00342788
+v -0.03148596 -0.00000864 -0.01218631
+v -0.02947683 -0.00985568 0.00915639
+v -0.02957362 -0.00965999 0.00746271
+v -0.02957362 -0.00965906 0.01552447
+v -0.02996736 -0.00866903 0.00746272
+v -0.03054811 -0.00694159 0.00746272
+v -0.03054811 -0.00694158 0.00544531
+v -0.03067216 -0.00642290 -0.01218633
+v -0.03104335 -0.00496063 0.00746273
+v -0.02517006 -0.00000878 0.02814618
+v -0.02197218 -0.00985575 0.02814614
+v -0.02194586 -0.00985567 0.00544530
+v -0.03148878 -0.00047906 -0.01218631
+v -0.03149724 -0.00000865 -0.00867656
+v -0.02947589 -0.00985573 0.02157671
+v -0.02957362 -0.00965811 0.02157671
+v -0.02996736 -0.00866807 0.01149360
+v -0.02996642 -0.00866809 0.01754189
+v -0.02996642 -0.00866714 0.01955931
+v -0.03054342 -0.00694164 0.02157672
+v -0.03103677 -0.00496070 0.02814616
+v -0.03103395 -0.00496056 -0.01218633
+v -0.03104241 -0.00496062 0.00544532
+v -0.03136943 -0.00297966 0.00544533
+v -0.03150287 -0.00000878 0.02814618
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+v -0.03148972 -0.00099767 -0.01218631
+v -0.03153671 -0.00000870 0.00443465
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+v -0.03011020 -0.00822278 0.02814615
+v -0.03139387 -0.00247558 0.02814617
+v -0.03150475 -0.00099781 0.02814618
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+f 41 51 53
+f 42 56 55
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+f 44 59 45
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+f 46 58 47
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+f 47 61 48
+f 48 61 62
+f 48 62 49
+f 51 63 53
+f 53 59 54
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+f 53 64 60
+f 55 56 64
+f 56 60 64
+f 57 61 58
+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_6.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cb09486ffb000bcf59ab39efbc825f4812cf072
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_6.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02151898 -0.01910251 -0.03333039
+v -0.02254777 -0.01849292 -0.03333039
+v -0.02151898 -0.01031833 -0.03333036
+v -0.02151898 -0.01887577 -0.01218638
+v -0.02242662 -0.01834769 -0.01218638
+v -0.02325449 -0.01800737 -0.03333039
+v -0.02514246 -0.00100253 -0.03333032
+v -0.02151898 -0.01031833 -0.03288745
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+v -0.02342714 -0.01765303 -0.01218637
+v -0.02390771 -0.01743853 -0.03333038
+v -0.02151898 -0.01032366 -0.02941863
+v -0.03175943 -0.00100253 -0.03333032
+v -0.02515861 -0.00100261 -0.01218631
+v -0.02456194 -0.01666244 -0.01218637
+v -0.02466694 -0.01677401 -0.03333038
+v -0.03183212 -0.00113366 -0.03333032
+v -0.03148986 -0.00100261 -0.01218631
+v -0.02556246 -0.01573919 -0.01218637
+v -0.02533832 -0.01616087 -0.03333038
+v -0.03106886 -0.00552841 -0.03333034
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+v -0.03134549 -0.00298024 -0.01218632
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+v -0.03072458 -0.00694253 -0.03333035
+v -0.03067208 -0.00642339 -0.01218633
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+v -0.02805922 -0.01249275 -0.01218636
+v -0.02823085 -0.01262203 -0.03333037
+v -0.02996637 -0.00866684 -0.01218634
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+v -0.02986339 -0.00892556 -0.01218634
+v -0.02957161 -0.00965743 -0.01218635
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+
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_7.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f60a0da678d3fed5aa9e09241fef33e342704f1a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_7.obj
@@ -0,0 +1,790 @@
+# https://github.com/mikedh/trimesh
+v -0.04116041 0.00098826 -0.03894106
+v -0.04114719 0.00098827 -0.04095813
+v -0.04114278 0.00004763 -0.04095813
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_8.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bea6c3d9a5bc6947c65fd6681b547fcadbd821fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_8.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_9.obj b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14588502b181c40dde4119599e59b5e54b434326
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/mesh/remote_holder_020_collision_9.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/remote_holder_020.xml b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/remote_holder_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dbafdfab85658473ae6b45eb7488aeb45be9f0b7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/mjcf/remote_holder_020.xml
@@ -0,0 +1,82 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_020_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_020_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_020_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_020_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_020_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_020_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_020_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_020_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_020_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_020_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_020_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_020_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_020_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/remote_holder_020_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/remote_holder_020_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/remote_holder_020_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/remote_holder_020_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/remote_holder_020_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/remote_holder_020_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/remote_holder_020_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/remote_holder_020_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/remote_holder_020_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/remote_holder_020_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/remote_holder_020_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/remote_holder_020_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_020">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" 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/76c44bc88afe5f8b82ede30f9e997f0d/remote_holder_020.urdf b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/remote_holder_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3c2a6512d4b33bc106b4a6aa235bb42723401424
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/remote_holder_020.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_020">
+   <link name="remote_holder_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>76c44bc88afe5f8b82ede30f9e997f0d</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>angled remote stand</name>
+         <color>gray,black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact angled stand with circular base slot for holding a remote</description>
+         <min_height>0.1222</min_height>
+         <max_height>0.1222</max_height>
+         <real_height>0.1222</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518171922</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040856 -0.030007 -0.044407</min>
+            <max>0.049693 0.029993 0.077799</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/76c44bc88afe5f8b82ede30f9e997f0d/remote_holder_020.usd b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/remote_holder_020.usd
new file mode 100644
index 0000000000000000000000000000000000000000..823e7c10ecd65e767461f41820be0efbd8205ec6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/remote_holder_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abbfcd8b75d56dfa7959170fbfee4d23673ffb06ff5a85dfec4311afac4c02fd
+size 4785050
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/textures/material_0.png b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..484a437c97c852de0a83fdeb46641585259ee2a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9129726
diff --git a/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/video.mp4 b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be0f3488fca6407ca315b130bfb9a55e351e43e8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/76c44bc88afe5f8b82ede30f9e997f0d/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3498fc242b09bc6969cc925249db28932de843f27db1d3006df4e5a2a7a5b96f
+size 255739