diff --git a/.gitattributes b/.gitattributes
index bf5f5a341201dc4b89634950274ebe3afe882b9d..dad77cdc26036b123ff53f1d67b5a00d24af0408 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2794,5 +2794,5 @@ dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/storage_bin_01
 dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/855d2342d4205a288c869c2cd5f1c388.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/storage_bin_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/mesh/remote_holder_023.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/remote_holder_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/remote_holder_029.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/material.mtl b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f6fb8faec386b68894d110c8a597002aeff764cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_029_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_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/material_0.png b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..66630f76429643a16bbc8140253ead3ab1dcb087
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cf3985db6952423282a90fc3fc3b8256e2815c5edab11b41c2aec25ef3bcf6c
+size 16438137
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029.glb b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..46a21879f3025a9c803af906535a343b86ab0b8d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8e88b79e29747ffa35719fdcc058d2a5b3c2d157d172a552d5f1ea614d47d59
+size 19762052
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029.mtl b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d1c9eea46a7a249cda88c94ebbdc5869c5fef08b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_029_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/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ba2c8277fe2698cd5bae8b8006469ce47798d0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029.obj
@@ -0,0 +1,111214 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_029_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029_collision.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f5d4ae7e4ef7c0c7f485d581ded2a9ae59c6a65
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029_collision.obj
@@ -0,0 +1,16564 @@
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_holder_029_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029.obj
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec985a5805c7666c625a5f06e44997680f9ddc9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision.obj
@@ -0,0 +1,16564 @@
+# https://github.com/mikedh/trimesh
+
+o remote_holder_029_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_0.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c67fcf815c27b4bd42b8234ce7e459a21a7f31b6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_1.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df7280cb2f47fadeca36d96eea4cf118243bac51
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_1.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_10.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6462ccc7b3ebcbb83e1d4130adb48e8f4f6656ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_10.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_11.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cbb095267ac384786cace8ffbb5aa92f10489ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_12.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c75fdfa5ef1931a0ece6d30a53b92509a453a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_12.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_13.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee9f871d985b6e4630979cfccdc9316e1c5e853a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_13.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_14.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1767facdb8be604e2d5403e18472bc757b87df7e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_14.obj
@@ -0,0 +1,2371 @@
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_15.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9cee8a1cb8f8958f1b96f954022b0f1a576d256
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_16.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8d7c4b65999d4d7497f985d3622070a80f43c90
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_16.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00174667 0.05506473 -0.06478782
+v 0.00449325 0.05501306 -0.06478782
+v -0.00091881 0.05504750 -0.06478782
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_17.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ab4e97cfae3bc3fd6dc2432780e82ed0246c39b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_17.obj
@@ -0,0 +1,748 @@
+# https://github.com/mikedh/trimesh
+v 0.02552593 0.05194733 0.01531951
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_18.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4cac750e58b4f2321ba68b06bbedbbe03038a8d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_18.obj
@@ -0,0 +1,1315 @@
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_19.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40fc8211666c26563b0e25202e2eef1eab97f486
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_19.obj
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_2.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65c00b2c8a8566fec621830289bb0ca50d5d7782
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_2.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00070444 0.06414164 0.01429279
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_20.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46ef899f8c8aacf5a04dc2503175f022e63fdbd4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_20.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_21.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13931759b74ac7b5640b38a9c098a0ea5422698b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_21.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_22.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5720b98a1c6f937aebd1a8071ee48f846908b83
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_22.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_23.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b85a0f8352a3b9a9ffaea2a2adb789c5e3b3dc1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_23.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_24.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce01827239de7e9aae606f95f260558280f0dcf0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_24.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_25.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2cd14c33fc763f7085f4d179d1d96f7377d8163
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_25.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_26.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9122764d9fd4918dc2e41ee4b9e214539d7b4d3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_26.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_27.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c65afe4fa3e4399cf5fb415ec3568a6dd3ea6f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_27.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.05552742 -0.04178083 0.01429240
+v 0.05534562 -0.04219487 0.01429240
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+v 0.04692070 -0.05574105 0.02707347
+v 0.04701838 -0.05574106 0.02916349
+f 1 2 6
+f 1 6 16
+f 1 16 15
+f 1 15 26
+f 1 26 36
+f 1 36 39
+f 1 39 38
+f 1 38 37
+f 1 37 27
+f 1 27 19
+f 1 19 7
+f 1 7 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 5 11 10
+f 5 10 9
+f 5 9 8
+f 5 8 20
+f 5 20 21
+f 5 21 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
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+f 5 17 6
+f 6 17 16
+f 7 18 8
+f 7 19 29
+f 7 29 41
+f 7 41 40
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+f 7 42 30
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+f 7 20 18
+f 8 18 20
+f 12 21 30
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+f 12 22 23
+f 12 23 24
+f 12 24 13
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+f 14 25 26
+f 14 26 15
+f 14 24 25
+f 19 27 28
+f 19 28 29
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 23 32 33
+f 23 33 25
+f 23 25 24
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 26 28 36
+f 26 35 34
+f 26 34 28
+f 27 37 28
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+f 28 38 39
+f 28 39 36
+f 28 34 40
+f 28 40 41
+f 28 41 29
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+f 31 43 32
+f 32 44 45
+f 32 45 34
+f 32 34 33
+f 32 43 44
+f 34 45 46
+f 34 46 40
+f 44 47 45
+f 45 47 46
+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_28.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95aa05fab7ed70e72e5d8e98ef64e3e6413d4d3c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_28.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.03283612 -0.06517914 -0.02239897
+v -0.03412970 -0.06432554 -0.02239897
+v -0.03283612 -0.05278311 -0.02239892
+v -0.03283612 -0.06517914 -0.02234510
+v -0.03632173 -0.06280931 -0.02234509
+v -0.03632173 -0.06280931 -0.02239896
+v -0.03383806 -0.06383955 0.01429232
+v -0.03412970 -0.06364568 0.01429232
+v -0.03565142 -0.06260111 0.01429232
+v -0.04546615 -0.03592231 -0.02239886
+v -0.03283612 -0.05265579 -0.02239533
+v -0.03283612 -0.06449929 0.01429231
+v -0.03795399 -0.06152747 -0.02239896
+v -0.03585604 -0.06245932 0.01429232
+v -0.04856603 -0.03562138 -0.02239886
+v -0.04560021 -0.03562138 -0.02238808
+v -0.04559786 -0.03562138 -0.02234499
+v -0.04553906 -0.03562139 -0.01905153
+v -0.03283612 -0.05257768 -0.01905159
+v -0.03283612 -0.05205117 0.01429236
+v -0.03991317 -0.05988392 -0.02234508
+v -0.03991317 -0.05988392 -0.02239895
+v -0.03605360 -0.06230018 0.01429232
+v -0.03748595 -0.06114564 0.01429233
+v -0.03923816 -0.05970176 0.01429233
+v -0.03948041 -0.05950210 0.01429233
+v -0.05686375 -0.03562138 -0.02239886
+v -0.04548261 -0.03562140 -0.01575449
+v -0.03283612 -0.05244459 -0.01246110
+v -0.04524271 -0.03562151 0.01429242
+v -0.03283612 -0.05212636 0.00393792
+v -0.04154308 -0.05840820 -0.02234507
+v -0.04154308 -0.05840820 -0.02239894
+v -0.03967797 -0.05931980 0.01429233
+v -0.05589474 -0.03804040 -0.02239887
+v -0.05570658 -0.03697570 0.01429241
+v -0.05623107 -0.03562151 0.01429242
+v -0.04543557 -0.03562141 -0.01246104
+v -0.04533914 -0.03562145 -0.00258069
+v -0.04539559 -0.03562143 -0.00901315
+v -0.04536501 -0.03562144 -0.00587055
+v -0.04323649 -0.05676466 -0.02239894
+v -0.04111032 -0.05799455 0.01429234
+v -0.04260852 -0.05655066 0.01429234
+v -0.04281549 -0.05635100 0.01429234
+v -0.05532556 -0.03937433 -0.02239887
+v -0.05499158 -0.03861924 0.01429241
+v -0.04484053 -0.05510086 -0.02239893
+v -0.04444540 -0.05461487 0.01429235
+v -0.05465996 -0.04069380 -0.02239888
+v -0.05382501 -0.04102090 0.01429240
+v -0.05396848 -0.04072576 0.01429240
+v -0.04488757 -0.05504877 -0.02239893
+v -0.04574603 -0.05317098 0.01429235
+v -0.05286306 -0.04405033 -0.02239889
+v -0.05286306 -0.04405033 -0.02234502
+v -0.05252909 -0.04347465 0.01429239
+v -0.05268431 -0.04318239 0.01429239
+v -0.04631521 -0.05343127 -0.02239893
+v -0.04592478 -0.05297132 0.01429236
+v -0.05192698 -0.04566784 -0.02239890
+v -0.05241384 -0.04367430 0.01429239
+v -0.04794747 -0.05141735 -0.02239892
+v -0.04758526 -0.05087349 0.01429236
+v -0.05191052 -0.04569388 -0.02239890
+v -0.05191052 -0.04569388 -0.02234503
+v -0.05156713 -0.04511819 0.01429238
+v -0.04919635 -0.04977670 -0.02234504
+v -0.04919635 -0.04977670 -0.02239891
+v -0.04870950 -0.04942381 0.01429237
+v -0.04882710 -0.04927046 0.01429237
+v -0.05189170 -0.04572281 -0.02239890
+v -0.05067339 -0.04759495 -0.02239890
+v -0.05015596 -0.04729125 0.01429238
+v -0.04993252 -0.04763270 0.01429238
+f 1 2 6
+f 1 6 13
+f 1 13 22
+f 1 22 33
+f 1 33 42
+f 1 42 48
+f 1 48 53
+f 1 53 59
+f 1 59 63
+f 1 63 69
+f 1 69 73
+f 1 73 72
+f 1 72 65
+f 1 65 61
+f 1 61 55
+f 1 55 50
+f 1 50 46
+f 1 46 35
+f 1 35 27
+f 1 27 15
+f 1 15 10
+f 1 10 3
+f 1 3 11
+f 1 11 19
+f 1 19 29
+f 1 29 31
+f 1 31 20
+f 1 20 12
+f 1 12 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 4 12 7
+f 5 13 6
+f 5 9 14
+f 5 14 13
+f 7 12 20
+f 7 20 30
+f 7 30 37
+f 7 37 36
+f 7 36 47
+f 7 47 52
+f 7 52 51
+f 7 51 58
+f 7 58 57
+f 7 57 62
+f 7 62 67
+f 7 67 74
+f 7 74 75
+f 7 75 71
+f 7 71 70
+f 7 70 64
+f 7 64 60
+f 7 60 54
+f 7 54 49
+f 7 49 45
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+f 7 44 43
+f 7 43 34
+f 7 34 26
+f 7 26 25
+f 7 25 24
+f 7 24 23
+f 7 23 14
+f 7 14 9
+f 7 9 8
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 13 21 22
+f 13 14 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 21
+f 15 27 37
+f 15 37 30
+f 15 30 39
+f 15 39 41
+f 15 41 40
+f 15 40 38
+f 15 38 28
+f 15 28 18
+f 15 18 17
+f 15 17 16
+f 18 28 19
+f 19 28 29
+f 20 31 30
+f 21 32 33
+f 21 33 22
+f 21 26 32
+f 26 34 32
+f 27 35 36
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+f 28 38 31
+f 28 31 29
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+f 31 38 40
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+f 31 41 39
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+f 32 44 45
+f 32 45 42
+f 35 46 36
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+f 42 45 48
+f 45 49 48
+f 46 50 51
+f 46 51 52
+f 46 52 47
+f 48 49 53
+f 49 54 53
+f 50 55 56
+f 50 56 57
+f 50 57 58
+f 50 58 51
+f 53 54 60
+f 53 60 59
+f 55 61 56
+f 56 61 62
+f 56 62 57
+f 59 60 63
+f 60 64 63
+f 61 65 66
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+f 61 67 62
+f 63 68 69
+f 63 64 70
+f 63 70 71
+f 63 71 68
+f 65 72 66
+f 66 72 73
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+f 66 74 67
+f 68 73 69
+f 68 71 73
+f 71 75 73
+f 73 75 74
+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_29.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6843da5cfbd5fe445c6f40c18067dfa204e33268
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_29.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.05227342 -0.00599919 0.01429253
+v 0.04557140 0.01636704 0.01429261
+v 0.06258883 -0.00599919 0.01429253
+v 0.05238337 -0.00599935 0.05780494
+v 0.04567635 0.01636688 0.05780502
+v 0.05734616 0.01636704 0.01429261
+v 0.06249387 -0.00463523 0.01429253
+v 0.05782262 -0.00592929 0.05780494
+v 0.05782595 -0.00599935 0.05780494
+v 0.05185694 0.01636688 0.05780502
+v 0.05802752 0.01472504 0.01429260
+v 0.05193024 0.01622457 0.05780502
+v 0.05205185 0.01598812 0.05780502
+v 0.05279318 0.01434393 0.05780501
+v 0.06225231 -0.00233644 0.01429254
+v 0.05774431 -0.00485214 0.05780494
+v 0.05915702 0.01164246 0.01429259
+v 0.05391269 0.01158537 0.05780500
+v 0.06215735 -0.00156360 0.01429254
+v 0.05734449 -0.00156376 0.05780495
+v 0.05924031 0.01140382 0.01429259
+v 0.05507883 0.00826416 0.05780499
+v 0.06204073 -0.00072071 0.01429255
+v 0.05695300 0.00064528 0.05780496
+v 0.06172921 0.00146863 0.01429256
+v 0.06167090 0.00187365 0.01429256
+v 0.06018157 0.00829716 0.01429258
+v 0.05558028 0.00672287 0.05780498
+v 0.05676142 0.00172462 0.05780497
+v 0.06101619 0.00501316 0.01429257
+v 0.05598843 0.00511152 0.05780498
+v 0.05625997 0.00393365 0.05780497
+f 1 2 6
+f 1 6 11
+f 1 11 17
+f 1 17 21
+f 1 21 27
+f 1 27 30
+f 1 30 26
+f 1 26 25
+f 1 25 23
+f 1 23 19
+f 1 19 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 16
+f 4 16 20
+f 4 20 24
+f 4 24 29
+f 4 29 32
+f 4 32 31
+f 4 31 28
+f 4 28 22
+f 4 22 18
+f 4 18 14
+f 4 14 13
+f 4 13 12
+f 4 12 10
+f 4 10 5
+f 6 10 12
+f 6 12 13
+f 6 13 14
+f 6 14 11
+f 7 15 16
+f 7 16 8
+f 11 14 18
+f 11 18 17
+f 15 19 20
+f 15 20 16
+f 17 18 22
+f 17 22 21
+f 19 23 20
+f 20 23 25
+f 20 25 26
+f 20 26 24
+f 21 22 28
+f 21 28 27
+f 24 26 29
+f 26 30 29
+f 27 28 30
+f 28 31 30
+f 29 30 32
+f 30 31 32
+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_3.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fd6c4df35d9eaa12c0d47a7c9d618856f5efe0f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_3.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.04355980 -0.04178083 0.01429682
+v 0.05227286 -0.00599919 0.01429695
+v 0.05552586 -0.04178083 0.01429682
+v 0.04318556 -0.04178100 0.05946006
+v 0.06259035 -0.00599919 0.01429695
+v 0.05232851 -0.00600987 0.05946019
+v 0.05233811 -0.00599936 0.05917723
+v 0.05611313 -0.04054794 0.01429682
+v 0.05538192 -0.04178084 0.01719275
+v 0.05012338 -0.04178100 0.05946006
+v 0.06274004 -0.00815324 0.01429694
+v 0.05779624 -0.00599936 0.05946019
+v 0.05791140 -0.00758250 0.05946018
+v 0.05416709 -0.00599936 0.05946019
+v 0.05721857 -0.03804715 0.01429683
+v 0.05353951 -0.03443974 0.05946008
+v 0.05275265 -0.03629606 0.05946008
+v 0.05258568 -0.03668835 0.05946008
+v 0.06274580 -0.00852450 0.01429694
+v 0.05794978 -0.00814290 0.05946018
+v 0.05802655 -0.01142825 0.05946017
+v 0.05826260 -0.03537474 0.01429684
+v 0.05476587 -0.03115438 0.05946010
+v 0.06278995 -0.01144559 0.01429693
+v 0.05794594 -0.01416021 0.05946016
+v 0.05899381 -0.03327323 0.01429685
+v 0.05487526 -0.03082865 0.05946010
+v 0.06269207 -0.01471694 0.01429692
+v 0.05792867 -0.01471711 0.05946016
+v 0.05969815 -0.03116822 0.01429686
+v 0.05544142 -0.02912643 0.05946010
+v 0.06242722 -0.01789021 0.01429690
+v 0.05770604 -0.01744906 0.05946015
+v 0.05765999 -0.01800596 0.05946014
+v 0.06062127 -0.02786536 0.01429687
+v 0.05582141 -0.02776395 0.05946011
+v 0.06198005 -0.02129465 0.01429689
+v 0.05729726 -0.02073442 0.05946013
+v 0.06130834 -0.02498980 0.01429688
+v 0.05660060 -0.02457667 0.05946012
+v 0.05602293 -0.02697239 0.05946011
+v 0.05589818 -0.02748375 0.05946011
+v 0.06143308 -0.02443290 0.01429688
+v 0.05722241 -0.02129482 0.05946013
+v 0.05670616 -0.02401977 0.05946012
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 24
+f 1 24 28
+f 1 28 32
+f 1 32 37
+f 1 37 43
+f 1 43 39
+f 1 39 35
+f 1 35 30
+f 1 30 26
+f 1 26 22
+f 1 22 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
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+f 1 10 4
+f 1 4 2
+f 2 4 6
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+f 2 14 12
+f 2 12 5
+f 3 8 9
+f 4 10 18
+f 4 18 17
+f 4 17 16
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+f 4 23 27
+f 4 27 31
+f 4 31 36
+f 4 36 42
+f 4 42 41
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+f 4 40 45
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+f 4 29 25
+f 4 25 21
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+f 4 12 14
+f 4 14 6
+f 5 12 13
+f 5 13 11
+f 6 14 7
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 11 13 20
+f 11 20 21
+f 11 21 19
+f 15 22 16
+f 16 22 23
+f 19 21 24
+f 21 25 24
+f 22 26 23
+f 23 26 27
+f 24 25 28
+f 25 29 28
+f 26 30 27
+f 27 30 31
+f 28 29 33
+f 28 33 34
+f 28 34 32
+f 30 35 31
+f 31 35 36
+f 32 34 37
+f 34 38 37
+f 35 39 40
+f 35 40 41
+f 35 41 42
+f 35 42 36
+f 37 38 44
+f 37 44 43
+f 39 43 40
+f 40 43 45
+f 43 44 45
+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_30.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e243aa467a896c5b04508a7d7bc9d7defc1e930d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_30.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.03623936 0.02519051 0.07796436
+v 0.03623936 0.02519316 0.07648339
+v 0.03623936 0.02520107 0.07978328
+v 0.02552698 0.03273288 0.07978331
+v 0.02552698 0.03271705 0.07648342
+v 0.02552698 0.03271442 0.07341216
+v 0.02552698 0.03271443 0.06989361
+v 0.03623936 0.02522221 0.07464461
+v 0.02552698 0.03273028 0.06685216
+v 0.02552698 0.03275670 0.06362186
+v 0.02552698 0.03275934 0.06332367
+v 0.02552698 0.03279103 0.06002380
+v 0.02552698 0.03325055 0.01429267
+v 0.03623936 0.02522482 0.08122448
+v 0.02552698 0.03281205 0.08678064
+v 0.02552698 0.03280677 0.08637312
+v 0.02552698 0.03276982 0.08340124
+v 0.03623936 0.02679321 0.01429265
+v 0.02552698 0.05215795 0.01429274
+v 0.03623936 0.02525913 0.08307321
+v 0.02552698 0.03285956 0.08966305
+v 0.03623936 0.04220002 0.01429271
+v 0.02934736 0.04933319 0.01719503
+v 0.02937882 0.04934376 0.01429273
+v 0.02552698 0.04994274 0.09296299
+v 0.02671619 0.04971569 0.09625293
+v 0.02679065 0.04977114 0.09296299
+v 0.02842136 0.04875475 0.09296299
+v 0.03623936 0.02528817 0.08445479
+v 0.02552698 0.03323172 0.10875663
+v 0.03269164 0.04605965 0.01429272
+v 0.03267801 0.04604113 0.02378483
+v 0.03266962 0.04603055 0.02707477
+v 0.03265703 0.04601471 0.03037465
+v 0.03259935 0.04593810 0.04355428
+v 0.03623936 0.04204421 0.02707475
+v 0.03064774 0.04711270 0.09296298
+v 0.03106092 0.04770170 0.01429273
+v 0.03067291 0.04713383 0.08966310
+v 0.02552698 0.04982393 0.09625293
+v 0.02644982 0.04954143 0.09955281
+v 0.02808054 0.04858049 0.09955281
+v 0.02834691 0.04870723 0.09625293
+v 0.03060055 0.04706517 0.09625292
+v 0.03623936 0.02581343 0.10943248
+v 0.02552698 0.03329772 0.10983008
+v 0.03623936 0.04100113 0.10943254
+v 0.02552698 0.04947279 0.10057656
+v 0.02602510 0.04941472 0.10130214
+v 0.02624113 0.04941472 0.10130214
+v 0.03048624 0.04693579 0.09955280
+v 0.02753207 0.04841416 0.10257439
+v 0.03022092 0.04667707 0.10284274
+v 0.03623936 0.02612230 0.11138060
+v 0.03591217 0.02631502 0.11120169
+v 0.02552698 0.03438274 0.11281191
+v 0.03317718 0.04318173 0.11167884
+v 0.03623936 0.04037809 0.11223544
+v 0.02552698 0.04938832 0.10113317
+v 0.02552698 0.04924840 0.10181899
+v 0.02552698 0.04725520 0.10943256
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_31.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c924eda050949d9d91db2a0e085956a90e4436cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_31.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_32.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d562c00816e7f8f0a7fa80cf52339b08462e8c16
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_32.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.03411429 0.02775534 0.01389398
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_33.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac1ddcc9cdbb537d7e1291ed2e2fb05697084f5b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_33.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00035595 -0.06513762 -0.02239897
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_34.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1abeb76f543ee4e0f9f9cecd434b379e604e5638
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_34.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_35.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..576920e1fddffe7688b5b046cb739ed2e849fe64
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_35.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_36.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3c1d3b3099ea97626579744a905e2ac406ae0a0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_36.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_37.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e34d73e51150902cedf2a725a5a4f65d5ea4945
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_37.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.03751956 -0.04914494 -0.02239891
+v 0.00035595 -0.06513581 -0.02239897
+v 0.03751956 -0.06289568 -0.02239896
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+v 0.03630818 -0.06589416 -0.06187749
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_38.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc442dc25aecdb1f2191f0dbb8e79d710f0f3178
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_38.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.03040184 0.04630299 -0.02239856
+v -0.02948129 0.05308256 -0.02239854
+v -0.02102750 0.04630299 -0.02239856
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+v -0.03044980 0.05432943 -0.00258036
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+v -0.02948497 0.05308752 -0.02234466
+v -0.02959197 0.05647560 -0.00916725
+v -0.02940565 0.05618581 -0.01189683
+v -0.02923039 0.05596392 -0.01409486
+v -0.02102750 0.05410760 -0.02239853
+v -0.02102750 0.04630286 0.01429272
+v -0.03037693 0.04630298 -0.01905123
+v -0.03032436 0.05761483 0.01429276
+v -0.03033635 0.05761483 0.01389409
+v -0.03042951 0.05432942 0.00071309
+v -0.03029392 0.05432944 -0.00587022
+v -0.03033819 0.05761484 0.01059705
+v -0.03019983 0.05761485 0.00730360
+v -0.02963717 0.05347832 -0.01905120
+v -0.02647150 0.05614279 -0.01814612
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+v -0.02974140 0.05682997 -0.00587021
+v -0.02954493 0.05966828 0.00401016
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+v -0.02593835 0.06256456 0.00887672
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+v -0.02753779 0.04630286 0.01429272
+v -0.03026624 0.04630297 -0.01727342
+v -0.02988622 0.05429791 0.01429275
+v -0.02991481 0.05432937 0.01389408
+v -0.03009376 0.05432938 0.01059704
+v -0.03023765 0.05432939 0.00730359
+v -0.02995355 0.05472681 0.01429275
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+v -0.03017493 0.04630297 -0.01601638
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+v -0.02957998 0.06136892 0.01429278
+v -0.02772965 0.06310604 0.01429278
+v -0.02803773 0.06296528 0.01429278
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_39.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a75dec2dfee35b096adc02228d67e4d4dc85215
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_39.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.06129023 -0.03351806 -0.06471547
+v -0.06118657 -0.03403722 -0.06471548
+v -0.05918268 -0.03351810 -0.05531717
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+v -0.03414195 -0.06569283 -0.05531729
+v -0.03414195 -0.05266685 -0.05676250
+v -0.03414195 -0.04869773 -0.06471553
+v -0.05805582 -0.04131221 -0.06471550
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+v -0.03414195 -0.06773260 -0.06471560
+v -0.05645855 -0.04435685 -0.06471551
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+v -0.03635580 -0.06631243 -0.06471559
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+v -0.05636021 -0.04452767 -0.06471551
+v -0.05448655 -0.04404874 -0.05531721
+v -0.03671991 -0.06606458 -0.06471559
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+v -0.04727624 -0.05700769 -0.06471556
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_4.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1f9e3beffe374b5a4f9ffd95e05c534d3947f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_4.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.03984359 -0.04651918 -0.02239890
+v 0.05251153 -0.04651918 -0.02239890
+v 0.03984123 -0.04651918 -0.02234503
+v 0.05130416 -0.01115305 -0.02239877
+v 0.05434144 -0.04430360 -0.02239889
+v 0.05299730 -0.04651918 -0.02239172
+v 0.03979643 -0.04651919 -0.01905157
+v 0.05232288 -0.01115305 -0.02239877
+v 0.03975398 -0.04651920 -0.01575453
+v 0.03971625 -0.04651921 -0.01246108
+v 0.03968324 -0.04651923 -0.00916763
+v 0.03966909 -0.04651924 -0.00587059
+v 0.05130416 -0.01115305 -0.02207194
+v 0.05435795 -0.04427591 -0.02239889
+v 0.05434144 -0.04430360 -0.02234502
+v 0.05299259 -0.04651931 0.01429238
+v 0.06337548 -0.01115305 -0.02239518
+v 0.06337784 -0.01137807 -0.02239877
+v 0.03966909 -0.04651924 -0.00579876
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_40.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..862eeb51bb6e895a15b454d0162e657051ddd7ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_40.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_41.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eadff66269c4ad12748ffe010ca7b7c485e64771
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_41.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_42.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05eb0c7e1d916bf0d1ff74c2961a416553c5ec7d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_42.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.03414195 -0.04869816 -0.06471552
+v -0.03414195 -0.05274379 -0.06067640
+v -0.03198077 -0.04872084 -0.06471552
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+v -0.03414195 -0.06663837 -0.06067645
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+v -0.03070769 -0.06973139 -0.06471560
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_43.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b326372e67e56a2d3d55f1f13c309cc035dd15e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_43.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_44.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb6b1c89437ba888b1f87ad22c5dc575587c3c15
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_44.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_45.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3547719988acddff0c5b44fe638b0de2a875f5b6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_45.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+f 1 29 19
+f 1 19 7
+f 1 7 3
+f 1 3 4
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+f 1 9 23
+f 1 23 33
+f 1 33 36
+f 1 36 27
+f 1 27 18
+f 1 18 5
+f 1 5 2
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+f 3 7 4
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+f 22 32 23
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+f 25 34 26
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+f 27 37 38
+f 27 38 28
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+f 30 41 31
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+f 31 33 32
+f 31 41 42
+f 31 42 36
+f 34 43 35
+f 35 44 45
+f 35 43 46
+f 35 46 44
+f 36 42 47
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 55
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+f 36 56 57
+f 36 57 38
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+f 39 40 58
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+f 39 61 45
+f 39 45 62
+f 44 62 45
+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_46.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a280094fd059d5f1e3edbfb1138a92c6610ba7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_46.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.05192681 -0.01159118 -0.06189933
+v 0.03536768 0.02573747 -0.04540841
+v 0.03556941 0.02573748 -0.04845138
+v 0.03558670 0.02573748 -0.04870270
+v 0.03660111 0.02573753 -0.06189920
+v 0.06450609 -0.01159118 -0.06189933
+v 0.05148300 -0.01159127 -0.03882382
+v 0.03511408 0.02573744 -0.03882369
+v 0.03521206 0.02573745 -0.04211799
+v 0.03536480 0.02573747 -0.04535042
+v 0.05330433 0.02573753 -0.06189920
+v 0.06450897 -0.01142672 -0.06189933
+v 0.06337352 -0.01159133 -0.02239877
+v 0.05142824 -0.01159128 -0.03569580
+v 0.05142536 -0.01159128 -0.03552953
+v 0.05138502 -0.01159129 -0.03240151
+v 0.03507373 0.02573743 -0.03552940
+v 0.05395275 0.02475077 -0.06189920
+v 0.05229568 0.02573738 -0.02239864
+v 0.06450897 -0.01140479 -0.06189933
+v 0.06337640 -0.01142687 -0.02239877
+v 0.05132162 -0.01159133 -0.02239877
+v 0.05135332 -0.01159130 -0.02893709
+v 0.05133315 -0.01159132 -0.02581292
+v 0.05132162 -0.01159133 -0.02251863
+v 0.03507085 0.02573742 -0.03223125
+v 0.05527840 0.02262011 -0.06189921
+v 0.05314295 0.02442170 -0.02239864
+v 0.03524953 0.02573738 -0.02239864
+v 0.06443404 -0.00811925 -0.06189932
+v 0.06333318 -0.00813767 -0.02239876
+v 0.06337640 -0.01137570 -0.02239877
+v 0.03516595 0.02573739 -0.02550347
+v 0.03516307 0.02573739 -0.02564267
+v 0.03510543 0.02573741 -0.02873203
+v 0.03510255 0.02573741 -0.02893696
+v 0.05621500 0.02096820 -0.06189921
+v 0.05477407 0.02169898 -0.02239865
+v 0.06419485 -0.00485198 -0.06189931
+v 0.06318332 -0.00485213 -0.02239875
+v 0.05767034 0.01816142 -0.06189922
+v 0.05478848 0.02167340 -0.02239865
+v 0.05569050 0.02005439 -0.02239866
+v 0.06379715 -0.00154817 -0.06189930
+v 0.06280292 -0.00156294 -0.02239874
+v 0.06317756 -0.00479731 -0.02239875
+v 0.05864152 0.01613308 -0.06189923
+v 0.05660981 0.01819051 -0.02239866
+v 0.05662422 0.01816127 -0.02239866
+v 0.06323807 0.00172641 -0.06189928
+v 0.06279715 -0.00153005 -0.02239874
+v 0.05936198 0.01447752 -0.06189924
+v 0.05811414 0.01486842 -0.02239868
+v 0.06323519 0.00174103 -0.06189928
+v 0.06229859 0.00083817 -0.02239873
+v 0.06239946 0.00185056 -0.03247879
+v 0.06048015 0.01160496 -0.06189925
+v 0.05880002 0.01322382 -0.02239868
+v 0.05881731 0.01317997 -0.02239868
+v 0.06244269 0.00525316 -0.06189927
+v 0.06209686 0.00341110 -0.03374314
+v 0.06130435 0.00501180 -0.02239871
+v 0.06165018 0.00805263 -0.06189926
+v 0.05939080 0.01156461 -0.02239869
+v 0.06207957 0.00664193 -0.06189927
+v 0.06044844 0.00829734 -0.02239870
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 18
+f 1 18 27
+f 1 27 37
+f 1 37 41
+f 1 41 47
+f 1 47 52
+f 1 52 57
+f 1 57 63
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+f 1 65 60
+f 1 60 54
+f 1 54 50
+f 1 50 44
+f 1 44 39
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+f 1 12 6
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+f 1 22 25
+f 1 25 24
+f 1 24 23
+f 1 23 16
+f 1 16 15
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+f 1 8 9
+f 1 9 10
+f 1 10 2
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+f 7 14 8
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+f 11 19 18
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+f 13 32 31
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+f 13 40 46
+f 13 46 45
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+f 13 55 62
+f 13 62 66
+f 13 66 64
+f 13 64 59
+f 13 59 58
+f 13 58 53
+f 13 53 49
+f 13 49 48
+f 13 48 43
+f 13 43 42
+f 13 42 38
+f 13 38 28
+f 13 28 19
+f 13 19 29
+f 13 29 22
+f 16 23 17
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+f 17 24 25
+f 17 25 26
+f 18 19 28
+f 18 28 27
+f 20 30 31
+f 20 31 32
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 26
+f 22 26 25
+f 22 29 33
+f 27 28 38
+f 27 38 37
+f 30 39 40
+f 30 40 31
+f 37 38 42
+f 37 42 43
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+f 39 44 45
+f 39 45 46
+f 39 46 40
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+f 41 49 47
+f 44 50 45
+f 45 50 51
+f 47 49 53
+f 47 53 52
+f 50 54 51
+f 51 54 56
+f 51 56 55
+f 52 53 58
+f 52 58 59
+f 52 59 57
+f 54 60 61
+f 54 61 56
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+f 57 59 64
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+f 60 65 61
+f 61 66 62
+f 61 65 66
+f 63 64 66
+f 63 66 65
+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_47.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcd09f245d1340970d3cdd035ff1b7d3b5f4ece4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_47.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.05431245 0.02573956 -0.06478765
+v 0.05369471 0.02573955 -0.06297908
+v 0.05482505 0.02493458 -0.06478765
+v 0.02859718 0.02573956 -0.06478765
+v 0.05396086 0.02473823 -0.06189920
+v 0.05330369 0.02573955 -0.06189920
+v 0.05527850 0.02262270 -0.06189921
+v 0.05689844 0.02155758 -0.06478766
+v 0.02859389 0.02550069 -0.06478765
+v 0.03660157 0.02573955 -0.06189920
+v 0.05621498 0.02096855 -0.06189921
+v 0.05702330 0.02133506 -0.06478766
+v 0.04168154 0.00910488 -0.06478771
+v 0.04771770 0.00902633 -0.06189926
+v 0.05766404 0.01817729 -0.06189922
+v 0.05722045 0.02095548 -0.06478766
+v 0.04422481 0.00902634 -0.06478771
+v 0.06133109 0.00902633 -0.06189926
+v 0.05863995 0.01613538 -0.06189923
+v 0.05840994 0.01848326 -0.06478767
+v 0.06216241 0.00902634 -0.06478771
+v 0.06160381 0.00902633 -0.06273597
+v 0.06135080 0.01182415 -0.06478770
+v 0.06048661 0.01158854 -0.06189925
+v 0.05936285 0.01448124 -0.06189924
+v 0.06000030 0.01506535 -0.06478768
+v 0.05996416 0.01514552 -0.06478768
+v 0.05900797 0.01720543 -0.06478768
+v 0.06148552 0.01141021 -0.06478770
+v 0.06048005 0.01160653 -0.06189925
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 16
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+f 1 20 28
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+f 1 27 26
+f 1 26 23
+f 1 23 29
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+f 9 13 14
+f 9 14 10
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+f 23 25 30
+f 23 30 24
+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_48.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01446c9930876d83f728cd1da9d71373ccfc9a1a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_48.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00174546 0.05402244 -0.06188107
+v 0.00500946 0.05393108 -0.06188107
+v -0.00091881 0.05396984 -0.06188107
+v -0.00091881 0.05308936 -0.04665598
+v -0.00027662 0.05309766 -0.04665598
+v 0.00175077 0.05312258 -0.04665598
+v 0.01777356 0.05312258 -0.04665598
+v 0.01781602 0.05318627 -0.04870517
+v 0.01479084 0.05362930 -0.06188107
+v -0.00091881 0.04056427 -0.06188112
+v -0.00091881 0.03962566 -0.04665603
+v 0.01878725 0.05280973 -0.04665599
+v 0.02757086 0.04996084 -0.04665600
+v 0.01786378 0.05326934 -0.05200026
+v 0.01789562 0.05333856 -0.05529238
+v 0.01792216 0.05339672 -0.05858747
+v 0.01795931 0.05343272 -0.06188107
+v -0.00091881 0.04008250 -0.05529243
+v 0.03659860 0.02574395 -0.06188118
+v 0.03544692 0.02574389 -0.04665609
+v -0.00091881 0.03969211 -0.04865455
+v 0.03558491 0.02574390 -0.04870528
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+v 0.02858456 0.04954832 -0.04665600
+v 0.02815466 0.04996921 -0.06155471
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+v -0.00091881 0.04004097 -0.05469034
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+v -0.00091881 0.03986101 -0.05200031
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+v 0.02813344 0.04994982 -0.05891685
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+v 0.03028290 0.04862367 -0.06188109
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+v 0.05138479 0.02845442 -0.06188117
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+v 0.04849230 0.03109560 -0.04665607
+v 0.04474003 0.03520974 -0.04665605
+v 0.04671435 0.03394455 -0.06188115
+v 0.04633753 0.03356796 -0.04665606
+v 0.04534506 0.03458957 -0.04665605
+f 1 2 9
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+f 1 33 36
+f 1 36 42
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+f 50 55 51
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+f 52 57 53
+f 55 58 56
+f 56 58 57
+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_49.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16826f5640a0830528655ae16861bf5ca956d960
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_49.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.06216211 0.00902634 -0.06478771
+v 0.06160292 0.00902633 -0.06273597
+v 0.06256036 0.00804131 -0.06478771
+v 0.04422237 0.00902634 -0.06478771
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+v 0.06208164 0.00664045 -0.06189927
+v 0.06265116 0.00771431 -0.06478771
+v 0.04496934 0.00254690 -0.06478773
+v 0.04772200 0.00902633 -0.06189926
+v 0.06244275 0.00524969 -0.06189927
+v 0.06338781 0.00503977 -0.06478772
+v 0.04788502 -0.01159482 -0.06478778
+v 0.05192734 -0.01159483 -0.06189933
+v 0.06323924 0.00172132 -0.06189928
+v 0.06422351 0.00159618 -0.06478773
+v 0.06529651 -0.01159482 -0.06478778
+v 0.06396764 -0.01159483 -0.06189933
+v 0.06379638 -0.00154868 -0.06189930
+v 0.06432669 0.00098659 -0.06478774
+v 0.06529858 -0.01153427 -0.06478778
+v 0.06450621 -0.01159281 -0.06189933
+v 0.06379844 -0.00156281 -0.06189930
+v 0.06419462 -0.00483280 -0.06189931
+v 0.06462176 -0.00156280 -0.06478775
+v 0.06530064 -0.01142729 -0.06478778
+v 0.06451034 -0.01142730 -0.06189933
+v 0.06443399 -0.00811895 -0.06189932
+v 0.06499112 -0.00485096 -0.06478776
+v 0.06527794 -0.01031105 -0.06478778
+v 0.06451034 -0.01140509 -0.06189933
+v 0.06522636 -0.00813912 -0.06478777
+v 0.06516239 -0.00723281 -0.06478777
+f 1 2 3
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+f 1 33 32
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+f 28 32 33
+f 28 33 29
+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_5.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..752ba4340667adc40d832b2d2d6614251951a1c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_5.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.00259746 -0.06731955 0.11721559
+v -0.01782116 -0.06403461 0.11727608
+v -0.00477734 -0.06731955 0.11724583
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+v -0.01782116 -0.06731955 0.11632849
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+v -0.02107979 -0.06741154 0.11545147
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+v -0.02107979 -0.05737104 0.11272974
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+v -0.01782116 -0.06938184 0.11486680
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+v -0.00892596 -0.07212988 0.11393937
+v -0.00675199 -0.07230049 0.11444339
+v -0.02040535 -0.06932496 0.11272970
+v -0.01782116 -0.07020139 0.11272969
+v -0.01456020 -0.07115476 0.11272969
+v -0.02107979 -0.06911422 0.11068333
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+v -0.01139427 -0.07191578 0.11280026
+v -0.01037218 -0.07240083 0.11175187
+v -0.00792009 -0.07255805 0.11280025
+v -0.01782116 -0.07027163 0.10943333
+v -0.02107979 -0.06913260 0.10943334
+v -0.02107979 -0.07010078 0.04026000
+v -0.02107979 -0.07014592 0.03696363
+v -0.01782116 -0.07128829 0.03696363
+v -0.00477734 -0.07302637 0.10943332
+v -0.00151639 -0.07325383 0.10943332
+v 0.00259746 -0.07329900 0.10943332
+v -0.00151639 -0.07427883 0.02707452
+v 0.00174456 -0.07431060 0.02707452
+v -0.02107979 -0.05982435 0.01429233
+v 0.00259746 -0.07441592 0.01429228
+v -0.01535980 -0.07203092 0.03696363
+v -0.01544323 -0.07205264 0.03366727
+v -0.01396920 -0.07252596 0.02707452
+v -0.01404568 -0.07254602 0.02377815
+v -0.01129925 -0.07327690 0.01429228
+v -0.01090293 -0.07334547 0.01429228
+v -0.00803830 -0.07384056 0.01429228
+v -0.00803830 -0.07380712 0.01719550
+v -0.00477734 -0.07410989 0.02377815
+v -0.00477734 -0.07406976 0.02707452
+v -0.02107979 -0.07034992 0.02049187
+v -0.01782116 -0.07157087 0.01429229
+v -0.01782116 -0.07149396 0.02049187
+v -0.01782116 -0.07133009 0.03366727
+v -0.01589518 -0.07217300 0.01429228
+v -0.01582796 -0.07215628 0.01719550
+v -0.01560083 -0.07209444 0.02707453
+v 0.00259746 -0.07426043 0.02794145
+v -0.00477734 -0.07422191 0.01429228
+v -0.00438334 -0.07424700 0.01429228
+v -0.00151639 -0.07435575 0.02049186
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+v -0.02107979 -0.07041345 0.01429229
+v 0.00174456 -0.07445774 0.01429228
+v 0.00259746 -0.07437581 0.01805235
+v -0.01426586 -0.07259951 0.01429228
+v -0.00764429 -0.07388740 0.01429228
+v -0.02107979 -0.07039004 0.01719551
+v -0.02068810 -0.07056398 0.01429229
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+v -0.00151639 -0.07439419 0.01719550
+v -0.02107979 -0.07042515 0.01430237
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_50.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15130349cf0db237396e640ef8a2cf2386b33ad3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_50.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.03980527 0.02377254 0.01429264
+v 0.03623937 0.02679250 0.01429265
+v 0.05382786 0.02377254 0.01429264
+v 0.03989653 0.02377239 0.05576444
+v 0.03623937 0.02658489 0.05576445
+v 0.03623937 0.04220084 0.01429271
+v 0.05319078 0.02499207 0.01429264
+v 0.05335780 0.02473949 0.01719112
+v 0.05381925 0.02377253 0.01719112
+v 0.04792542 0.02377239 0.05576444
+v 0.03623937 0.04160896 0.05576450
+v 0.04588850 0.03636650 0.03036828
+v 0.04583685 0.03630878 0.02707603
+v 0.04578175 0.03625287 0.02537916
+v 0.03936965 0.03963368 0.01429270
+v 0.03623937 0.04204383 0.02707605
+v 0.04414429 0.03782588 0.05342622
+v 0.04414429 0.03785837 0.05013397
+v 0.04414429 0.03781870 0.04683766
+v 0.05270006 0.02592476 0.01429265
+v 0.05238497 0.02653092 0.01469454
+v 0.05239185 0.02653632 0.01719113
+v 0.04835244 0.03296759 0.05576447
+v 0.04877084 0.03217021 0.05576447
+v 0.04932183 0.03052672 0.05576446
+v 0.04932183 0.02921338 0.05576446
+v 0.04414429 0.03772125 0.05576449
+v 0.03623937 0.04162339 0.05548440
+v 0.04723841 0.03460034 0.03036828
+v 0.04596770 0.03647104 0.05342621
+v 0.04860555 0.03239403 0.02048746
+v 0.04818714 0.03221004 0.01719115
+v 0.04697497 0.03408802 0.02048747
+v 0.03956594 0.03945689 0.01429269
+v 0.03623937 0.04172263 0.05013398
+v 0.03623937 0.04168835 0.05220432
+v 0.04597631 0.03646744 0.05576448
+v 0.05192007 0.02704146 0.01429265
+v 0.04969375 0.03056475 0.01719114
+v 0.04975229 0.03075054 0.02048745
+v 0.04980394 0.03075594 0.02377970
+v 0.04735206 0.03460025 0.05342621
+v 0.04734345 0.03460025 0.05576448
+v 0.04725736 0.03460033 0.03366459
+v 0.04941309 0.03011014 0.01429266
+v 0.04923057 0.03030858 0.01429266
+v 0.04776185 0.03175362 0.01429267
+v 0.04296828 0.03633228 0.01429268
+f 1 2 6
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+f 37 43 42
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+f 41 44 42
+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_51.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a46fe1b268be8978a4dd99d4c48a1b82b8f8b5b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_51.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.06489929 -0.01159483 -0.06471539
+v -0.06278803 -0.01161847 -0.05531709
+v -0.06278803 -0.01159487 -0.05531709
+v -0.04789520 -0.01159483 -0.06471539
+v -0.06483731 -0.01471674 -0.06471540
+v -0.06274404 -0.01471678 -0.05531710
+v -0.05200177 -0.01159487 -0.05531709
+v -0.04473630 -0.02863767 -0.06471546
+v -0.04756532 -0.03351261 -0.05531717
+v -0.06463338 -0.01800386 -0.06471542
+v -0.06253011 -0.01800390 -0.05531712
+v -0.04454637 -0.03202564 -0.06471547
+v -0.05918328 -0.03351261 -0.05531717
+v -0.04447439 -0.03351257 -0.06471547
+v -0.06430749 -0.02116654 -0.06471543
+v -0.06252811 -0.01802750 -0.05531712
+v -0.06129254 -0.03351257 -0.06471547
+v -0.05996301 -0.03115454 -0.05531716
+v -0.06220823 -0.03082622 -0.06471546
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+v -0.06398561 -0.02380353 -0.06471544
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+v -0.06234618 -0.03032843 -0.06471546
+v -0.06188034 -0.02304831 -0.05531713
+v -0.06387365 -0.02447297 -0.06471544
+v -0.06087269 -0.02786528 -0.05531715
+v -0.06302794 -0.02784807 -0.06471545
+v -0.06160244 -0.02454596 -0.05531714
+v -0.06158244 -0.02464681 -0.05531714
+f 1 2 3
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+f 1 25 21
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+f 1 6 2
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_52.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..120b285e6852a5313a3b726c733771fc37278a46
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_52.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.05734673 0.01636704 0.01429261
+v 0.04557246 0.01636704 0.01429261
+v 0.05661867 0.01816288 0.01429262
+v 0.05557467 0.01984710 0.01886361
+v 0.05189660 0.01636689 0.05576441
+v 0.03980638 0.02377073 0.01429264
+v 0.04577336 0.01636689 0.05576441
+v 0.03989567 0.02377058 0.05576444
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+v 0.05381978 0.02377072 0.01719112
+v 0.05175752 0.01663938 0.05576441
+v 0.05382836 0.02377073 0.01429264
+v 0.04792663 0.02377058 0.05576444
+v 0.05493246 0.02178791 0.01429263
+v 0.05097280 0.01816273 0.05576442
+f 1 2 6
+f 1 6 13
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+f 1 15 9
+f 1 9 3
+f 1 3 4
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+f 1 5 7
+f 1 7 2
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+
diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_6.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5a6933fd32ec9997fcda11f6cc57177e75ca678
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_6.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.01030521 -0.07422795 -0.02239900
+v 0.01030521 -0.06433254 -0.02239897
+v 0.01153383 -0.07403807 -0.02239900
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+v 0.01030521 -0.06416713 -0.00916770
+v 0.03983811 -0.04652189 -0.02239890
+v 0.01153383 -0.07343873 0.01429228
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+v 0.01479344 -0.07333281 -0.02239900
+v 0.01192666 -0.07335463 0.01429228
+v 0.01030521 -0.06390951 0.01404091
+v 0.03979214 -0.04652190 -0.01905157
+v 0.05250880 -0.04652189 -0.02239890
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_7.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3afd7fcc73942556dc19212eacfa0556eb27890a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_8.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e95a2cc4ee04a101a386285b102e421c15532d75
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_9.obj b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45258ae48faccc856e3c3f5cbe45e1186c1c0389
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/mesh/remote_holder_029_collision_9.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/remote_holder_029.xml b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/remote_holder_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0ab97dfeed862106cce33fccffc7035dcee43b55
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mjcf/remote_holder_029.xml
@@ -0,0 +1,120 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_029">
+  <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_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_029_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_029_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_029_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_029_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_029_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_029_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_029_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_029_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_029_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_029_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_029_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_029_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_029_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_029_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_029_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_029_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_029_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_029_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/remote_holder_029_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/remote_holder_029_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/remote_holder_029_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/remote_holder_029_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/remote_holder_029_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/remote_holder_029_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/remote_holder_029_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/remote_holder_029_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/remote_holder_029_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/remote_holder_029_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/remote_holder_029_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/remote_holder_029_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/remote_holder_029_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/remote_holder_029_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/remote_holder_029_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/remote_holder_029_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/remote_holder_029_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/remote_holder_029_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/remote_holder_029_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/remote_holder_029_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/remote_holder_029_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/remote_holder_029_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/remote_holder_029_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/remote_holder_029_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/remote_holder_029_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/remote_holder_029_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/remote_holder_029_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/remote_holder_029_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/remote_holder_029_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/remote_holder_029_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/remote_holder_029_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_029">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_52" 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/87117ba1cb055a08a2efce3d562d248d/remote_holder_029.urdf b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/remote_holder_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..543564fe22a872aa99a8d8be93774e470bff3ced
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/remote_holder_029.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_029">
+   <link name="remote_holder_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_029.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_029_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>87117ba1cb055a08a2efce3d562d248d</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>zippered remote holder</name>
+         <color>beige,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical beige remote holder with side zipper flap and front window</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611134614</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.066097 -0.078032 -0.080943</min>
+            <max>0.066333 0.084860 0.119057</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/87117ba1cb055a08a2efce3d562d248d/remote_holder_029.usd b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/remote_holder_029.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a941aadcbc0e54fff215e5d931afc7f01e949532
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/remote_holder_029.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2dc010e6022d55b6c2330be7c46bce52bdd7b47cd18476c5beab50f998387a4
+size 4900665
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