diff --git a/.gitattributes b/.gitattributes
index c84e680762360e09490c51848a3751c73f0312e5..9b889ec892e75391f06446372880f1bb4058f519 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2796,6 +2796,5 @@ dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_b
 dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/storage_bin_014.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
-dataset/bedroom_supplies/storage/9494e7d49670560e9b4e999bebd1d8a2/9494e7d49670560e9b4e999bebd1d8a2.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9494e7d49670560e9b4e999bebd1d8a2/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9494e7d49670560e9b4e999bebd1d8a2/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/remote_holder_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/material.mtl b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b046bb3da2d7493433813b3a672bed26674201fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_009_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd remote_holder_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/material_0.png b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3988232c76083d55c12cd79fd0f0a60b8f7e4c0d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009.glb b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..42a6116efd0131bd0a13984369d2ac45bedaf612
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10755636
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009.mtl b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0058d2b1bc3e98677bff1d2f0ee2a6cd6ecb51ed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009.mtl
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+newmtl remote_holder_009_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37b2f5ad34359c2deb844b35f17fc3ab1d97da6f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009.obj
@@ -0,0 +1,110064 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_009_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009_collision.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08af56d28a3bd8ee34a506f8feab73c11832d854
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009_geometry_Looks_material_0.png
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3988232c76083d55c12cd79fd0f0a60b8f7e4c0d
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+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009.obj
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index 0000000000000000000000000000000000000000..47a0a3d3e2237278ac9a3a2d05f767cd32912937
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+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..726a0eaeccc8b1a2cc9ca14f34b800e277f716f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision.obj
@@ -0,0 +1,7032 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_0.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5890f6fa59d597b3f0172c23ec5e340f931383b9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_1.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09e5a972b3c241befc2e8e76e178ab44edeb84a0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_10.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d511fd928bf47f65f38a490d8d5f7a0b5fc2562f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_10.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_11.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dc614c85075717c2c0dfc40062f746df6bf1b0e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_11.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_12.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b88271a5ff012c257706006f35ba199afb2376a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_12.obj
@@ -0,0 +1,133 @@
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_13.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3871acdbbde82e2330bc589e83dd5825b982584f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_13.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_14.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ad90566a302c36ba80b288eed96217da0fc835f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_14.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_15.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8664dfec43c908134f6018fa6ddf07b7f18059c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_15.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+v -0.02376188 -0.04844820 -0.08184980
+v -0.02024373 -0.04845786 -0.08184980
+v -0.01321015 -0.04846268 -0.08184980
+v -0.02376188 -0.04728950 -0.08543466
+v -0.02627059 -0.04679705 -0.08543466
+v -0.02621646 -0.04681153 -0.08543466
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 27
+f 1 27 44
+f 1 44 48
+f 1 48 30
+f 1 30 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 15
+f 2 15 26
+f 2 26 39
+f 2 39 63
+f 2 63 68
+f 2 68 47
+f 2 47 29
+f 2 29 17
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+f 2 9 3
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 17 16
+f 10 18 19
+f 10 19 20
+f 10 20 11
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+f 13 24 25
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+f 16 17 28
+f 16 28 45
+f 16 45 64
+f 16 64 40
+f 16 40 27
+f 17 29 46
+f 17 46 67
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+f 17 78 80
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+f 17 72 56
+f 17 56 71
+f 17 71 70
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+f 17 66 45
+f 17 45 28
+f 18 30 31
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+f 18 32 19
+f 19 32 20
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+f 21 33 22
+f 22 34 35
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+f 27 40 49
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+f 31 43 32
+f 32 42 41
+f 32 41 49
+f 32 49 50
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+f 32 51 34
+f 34 51 52
+f 34 52 53
+f 34 53 35
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 36
+f 36 57 58
+f 36 58 37
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+f 37 59 38
+f 38 59 60
+f 38 60 61
+f 38 61 62
+f 39 62 63
+f 40 64 65
+f 40 65 49
+f 45 66 64
+f 46 47 68
+f 46 68 77
+f 46 77 67
+f 49 65 51
+f 49 51 50
+f 51 65 64
+f 51 64 66
+f 51 66 52
+f 52 66 69
+f 52 69 70
+f 52 70 71
+f 52 71 54
+f 52 54 53
+f 54 71 56
+f 54 56 55
+f 56 72 73
+f 56 73 58
+f 56 58 57
+f 58 73 59
+f 59 73 74
+f 59 74 60
+f 60 74 75
+f 60 75 76
+f 60 76 61
+f 61 76 77
+f 61 77 63
+f 61 63 62
+f 63 77 68
+f 67 77 76
+f 67 76 75
+f 67 75 78
+f 72 79 74
+f 72 74 73
+f 74 79 75
+f 75 79 80
+f 75 80 78
+
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_16.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b0b6b7e3890e8bdde9d355449afedb1e251877
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_16.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.04754938 -0.00013156 0.11813577
+v 0.04754938 -0.00186130 0.11813576
+v 0.04775590 -0.01252907 0.11449923
+v 0.04729696 -0.00013156 0.11636788
+v 0.04602111 -0.00013157 0.12086914
+v 0.04743465 -0.00541794 0.11813575
+v 0.04775132 -0.01608572 0.11449922
+v 0.04602111 -0.00186131 0.12086753
+v 0.04767330 -0.02219269 0.11086430
+v 0.04702619 -0.00013155 0.11449928
+v 0.04450661 -0.00013158 0.12136146
+v 0.04307472 -0.00186132 0.12182660
+v 0.04715928 -0.00897459 0.11813574
+v 0.04591097 -0.00541795 0.12074283
+v 0.04732909 -0.01964236 0.11449921
+v 0.04746218 -0.01964235 0.11086431
+v 0.04654430 -0.02219270 0.11461908
+v 0.04634696 -0.02219267 0.10727256
+v 0.04628730 -0.00013155 0.11344110
+v 0.04307472 -0.00013158 0.12182661
+v 0.04126649 -0.00013158 0.12184899
+v 0.03955465 -0.00013158 0.12186977
+v 0.03955465 -0.00186132 0.12186816
+v 0.03955465 -0.00541796 0.12162040
+v 0.04307472 -0.00541796 0.12157563
+v 0.04563560 -0.00897460 0.12049826
+v 0.04624599 -0.01608573 0.11778725
+v 0.04581000 -0.01964237 0.11712228
+v 0.04541990 -0.02219271 0.11630706
+v 0.04550251 -0.00013154 0.11232218
+v 0.04337762 -0.02219267 0.10563414
+v 0.03251910 -0.00186132 0.12186816
+v 0.00087519 -0.00013158 0.12186498
+v 0.00087519 -0.00186132 0.12186497
+v 0.03603917 -0.00541796 0.12162199
+v 0.03955465 -0.00897460 0.12113285
+v 0.04307472 -0.00897460 0.12108810
+v 0.04524550 -0.01182294 0.12021373
+v 0.04526386 -0.02200483 0.11661076
+v 0.04507110 -0.02219271 0.11654363
+v 0.04307472 -0.02219267 0.10555582
+v 0.04307472 -0.00013154 0.11196252
+v 0.00087519 -0.00013158 0.12179145
+v 0.00087519 -0.00540501 0.12161720
+v 0.00087519 -0.00541796 0.12161560
+v 0.03955465 -0.01251613 0.12039115
+v 0.04307472 -0.01243839 0.12036717
+v 0.00087519 -0.00897460 0.12111847
+v 0.04307472 -0.01421779 0.11992920
+v 0.04307472 -0.01608574 0.11930578
+v 0.04307472 -0.01964237 0.11797266
+v 0.04401554 -0.02219271 0.11670667
+v 0.03955465 -0.02219267 0.10553984
+v 0.00087519 -0.00014018 0.11190977
+v 0.00267423 -0.00013154 0.11194014
+v 0.03955465 -0.01429338 0.11994997
+v 0.00087519 -0.01245783 0.12038156
+v 0.00087519 -0.01247078 0.12037836
+v 0.00087519 -0.01424803 0.11993879
+v 0.03955465 -0.01608574 0.11935055
+v 0.03955465 -0.01964237 0.11801582
+v 0.04307472 -0.02219271 0.11684094
+v 0.00087519 -0.02219267 0.10554143
+v 0.00087519 -0.01608574 0.11933456
+v 0.00087519 -0.01964237 0.11800143
+v 0.03955465 -0.02219271 0.11687291
+v 0.00087519 -0.02219271 0.11663314
+v 0.00087519 -0.02218191 0.11685693
+v 0.00105876 -0.02219271 0.11685213
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 30
+f 1 30 42
+f 1 42 55
+f 1 55 43
+f 1 43 33
+f 1 33 22
+f 1 22 21
+f 1 21 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 6
+f 3 7 9
+f 3 9 10
+f 3 10 4
+f 5 11 12
+f 5 12 8
+f 6 13 7
+f 6 8 14
+f 6 14 13
+f 7 13 15
+f 7 15 9
+f 8 12 14
+f 9 16 10
+f 9 15 17
+f 9 17 29
+f 9 29 40
+f 9 40 52
+f 9 52 62
+f 9 62 66
+f 9 66 69
+f 9 69 67
+f 9 67 63
+f 9 63 53
+f 9 53 41
+f 9 41 31
+f 9 31 18
+f 9 18 16
+f 10 18 19
+f 10 16 18
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 14
+f 13 14 26
+f 13 26 27
+f 13 27 15
+f 14 25 26
+f 15 27 28
+f 15 28 17
+f 17 28 29
+f 18 30 19
+f 18 31 30
+f 22 32 23
+f 22 33 34
+f 22 34 32
+f 23 32 35
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 25 37 38
+f 25 38 26
+f 26 38 27
+f 27 38 28
+f 28 38 39
+f 28 39 29
+f 29 39 40
+f 30 31 41
+f 30 41 42
+f 32 34 35
+f 33 43 54
+f 33 54 63
+f 33 63 67
+f 33 67 68
+f 33 68 65
+f 33 65 64
+f 33 64 59
+f 33 59 58
+f 33 58 57
+f 33 57 48
+f 33 48 45
+f 33 45 44
+f 33 44 34
+f 34 44 35
+f 35 44 45
+f 35 45 36
+f 36 46 47
+f 36 47 37
+f 36 45 48
+f 36 48 46
+f 37 47 38
+f 38 47 49
+f 38 49 50
+f 38 50 39
+f 39 50 51
+f 39 51 52
+f 39 52 40
+f 41 53 42
+f 42 53 54
+f 42 54 55
+f 43 55 54
+f 46 56 49
+f 46 49 47
+f 46 48 57
+f 46 57 58
+f 46 58 59
+f 46 59 56
+f 49 56 50
+f 50 56 60
+f 50 60 51
+f 51 60 61
+f 51 61 62
+f 51 62 52
+f 53 63 54
+f 56 59 64
+f 56 64 60
+f 60 64 65
+f 60 65 61
+f 61 66 62
+f 61 65 66
+f 65 68 66
+f 66 68 69
+f 67 69 68
+
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_17.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..829d85f0e8f267e3d5cb7580ca9db51d2e28f573
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_17.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00337079 -0.00013158 0.12186797
+v 0.00087477 -0.00013158 0.12186589
+v -0.00337079 -0.00013153 0.10825535
+v -0.00337079 -0.00186132 0.12186588
+v 0.00087477 -0.00186132 0.12186588
+v 0.00087477 -0.00013158 0.12179106
+v 0.00086147 -0.00013154 0.11190741
+v 0.00087477 -0.00014018 0.11190949
+v -0.00337079 -0.02062487 0.10100103
+v -0.00337079 -0.00258258 0.12181599
+v 0.00087477 -0.00541796 0.12161643
+v 0.00087477 -0.02219267 0.10554272
+v -0.00337079 -0.02219265 0.10063519
+v -0.00337079 -0.00541796 0.12161643
+v 0.00087477 -0.00897460 0.12111757
+v 0.00087477 -0.02219271 0.11663402
+v -0.00337079 -0.02219271 0.11685227
+v -0.00337079 -0.00897460 0.12111549
+v -0.00265593 -0.00897460 0.12111757
+v 0.00087477 -0.01245783 0.12038172
+v 0.00087477 -0.02218191 0.11685643
+v 0.00086147 -0.02219271 0.11685227
+v -0.00265593 -0.01964237 0.11800173
+v -0.00337079 -0.02018872 0.11775438
+v -0.00337079 -0.00968291 0.12096789
+v -0.00265593 -0.01247294 0.12037758
+v -0.00265593 -0.01425235 0.11993899
+v 0.00087477 -0.01424803 0.11993899
+v 0.00087477 -0.01964237 0.11800173
+v -0.00337079 -0.01964237 0.11799966
+v -0.00337079 -0.01608574 0.11933619
+v -0.00337079 -0.01247078 0.12037758
+v -0.00337079 -0.01283357 0.12028820
+v -0.00337079 -0.01425019 0.11993899
+v -0.00337079 -0.01462378 0.11981636
+v -0.00265593 -0.01608574 0.11933619
+v 0.00087477 -0.01608574 0.11933411
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 9
+f 1 9 13
+f 1 13 17
+f 1 17 24
+f 1 24 30
+f 1 30 31
+f 1 31 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 25
+f 1 25 18
+f 1 18 14
+f 1 14 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 15
+f 2 15 20
+f 2 20 28
+f 2 28 37
+f 2 37 29
+f 2 29 21
+f 2 21 16
+f 2 16 12
+f 2 12 8
+f 2 8 6
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 6 8 7
+f 8 12 9
+f 9 12 13
+f 10 14 11
+f 11 14 19
+f 11 19 15
+f 12 16 22
+f 12 22 17
+f 12 17 13
+f 14 18 19
+f 15 19 20
+f 16 21 22
+f 17 22 29
+f 17 29 23
+f 17 23 24
+f 18 25 19
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 21 29 22
+f 23 30 24
+f 23 29 36
+f 23 36 31
+f 23 31 30
+f 25 32 26
+f 26 32 33
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 27 35 31
+f 27 31 36
+f 27 36 28
+f 28 36 37
+f 29 37 36
+
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_18.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ae40f14597e77d450519f0b9f7815f677586f65
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_18.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00337309 0.03407112 0.08351237
+v 0.00081000 0.03763797 0.08351238
+v -0.00337309 0.04781612 0.08351242
+v -0.00337309 0.03450978 0.05794167
+v 0.00081000 0.04781313 0.08351242
+v 0.00081000 0.03936835 0.05794168
+v -0.00337309 0.04823673 0.08177266
+v -0.00312577 0.04781612 0.08351242
+v -0.00337309 0.04936090 0.05794172
+v -0.00082131 0.04781462 0.08351242
+v 0.00081000 0.04822924 0.08179769
+v 0.00081000 0.04935941 0.05794172
+v -0.00337309 0.04883096 0.07813543
+v -0.00265612 0.04823673 0.08177266
+v -0.00265612 0.04935940 0.05995684
+v -0.00070584 0.04936090 0.05794172
+v -0.00337309 0.04935790 0.06069780
+v 0.00081000 0.04823523 0.08177266
+v 0.00081000 0.04934589 0.06728385
+v -0.00265612 0.04883096 0.07813543
+v -0.00337309 0.04910788 0.07523918
+v -0.00337309 0.04934889 0.06722878
+v -0.00265612 0.04934889 0.06722878
+v 0.00081000 0.04881899 0.07818800
+v -0.00265612 0.04932194 0.07086349
+v 0.00081000 0.04931894 0.07086349
+v 0.00081000 0.04882647 0.07813543
+v -0.00265612 0.04917824 0.07449821
+v -0.00337309 0.04917824 0.07449821
+v -0.00337309 0.04932194 0.07086349
+v 0.00081000 0.04917374 0.07449821
+f 1 2 5
+f 1 5 10
+f 1 10 8
+f 1 8 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 29
+f 1 29 30
+f 1 30 22
+f 1 22 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 19
+f 2 19 26
+f 2 26 31
+f 2 31 27
+f 2 27 24
+f 2 24 18
+f 2 18 11
+f 2 11 5
+f 3 8 14
+f 3 14 7
+f 4 9 16
+f 4 16 12
+f 4 12 6
+f 5 11 10
+f 7 14 20
+f 7 20 13
+f 8 10 11
+f 8 11 14
+f 9 15 16
+f 9 17 15
+f 11 18 14
+f 12 16 19
+f 13 20 21
+f 14 18 20
+f 15 17 22
+f 15 22 23
+f 15 23 16
+f 16 23 19
+f 18 24 20
+f 19 23 25
+f 19 25 26
+f 20 24 27
+f 20 27 31
+f 20 31 28
+f 20 28 21
+f 21 28 29
+f 22 30 25
+f 22 25 23
+f 25 30 29
+f 25 29 28
+f 25 28 26
+f 26 28 31
+
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_19.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4964a62644ec721901cf3992f5238868386a441
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_19.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00265612 0.04936177 0.05793646
+v -0.00337309 0.04936177 0.05793646
+v 0.00081000 0.04935896 0.05793646
+v 0.00081000 0.04936177 0.05637096
+v -0.00337309 0.04936177 0.05631850
+v -0.00337309 0.03450939 0.05793641
+v 0.00081000 0.03936563 0.05793642
+v 0.00081000 0.04936177 0.05631850
+v -0.00337309 0.04931693 0.02973266
+v -0.00337309 0.02460595 0.05470874
+v 0.00081000 0.02809155 0.05107525
+v 0.00081000 0.04931412 0.02973266
+v -0.00265612 0.04931693 0.02973266
+v -0.00337309 0.02067667 0.02973256
+v -0.00337309 0.02167368 0.05044019
+v 0.00081000 0.02640634 0.04904590
+v 0.00081000 0.02431674 0.02973257
+v -0.00337309 0.02067386 0.02980710
+v -0.00337309 0.02069907 0.04794147
+v 0.00081000 0.02488123 0.04673768
+v 0.00081000 0.02431671 0.03813987
+v -0.00337309 0.02067100 0.04545932
+v 0.00081000 0.02432794 0.04177613
+v 0.00081000 0.02456105 0.04488779
+v 0.00081000 0.02456665 0.04495130
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 9
+f 2 9 14
+f 2 14 18
+f 2 18 22
+f 2 22 19
+f 2 19 15
+f 2 15 10
+f 2 10 6
+f 3 7 11
+f 3 11 16
+f 3 16 20
+f 3 20 25
+f 3 25 24
+f 3 24 23
+f 3 23 21
+f 3 21 17
+f 3 17 12
+f 3 12 8
+f 3 8 4
+f 5 8 13
+f 5 13 9
+f 6 10 7
+f 7 10 11
+f 8 12 13
+f 9 13 12
+f 9 12 17
+f 9 17 14
+f 10 15 16
+f 10 16 11
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 17 21 22
+f 17 22 18
+f 19 22 23
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 21 23 22
+
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_2.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f957415e3653af47fb6f5ab787296d9170fdbff1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_2.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.04038392 0.01122408 -0.07463408
+v 0.04017944 0.01992501 -0.07463405
+v 0.04840192 0.01122408 -0.07463408
+v 0.04036460 0.01122386 -0.01277251
+v 0.04018105 0.01993012 -0.07458639
+v 0.04101505 0.01993012 -0.07463405
+v 0.04018186 0.01992990 -0.01277248
+v 0.04840192 0.01241301 -0.07463407
+v 0.04840272 0.01122408 -0.07341862
+v 0.04068017 0.01122385 -0.01037336
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+v 0.04650851 0.01992983 0.00545949
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+v 0.04670332 0.01992983 0.00523705
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+
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_20.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff826fae9754f72e7f4fb224d7a21168875caea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_20.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.00081000 0.03921224 0.05671893
+v 0.00081000 0.03763735 0.08350976
+v 0.00081000 0.04839237 0.05671897
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+v 0.00081000 0.04781377 0.08350980
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+
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_21.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b667b7aaa0904aeabcc0b1dd000e5d76c1109ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_21.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.03813476 -0.02112755 -0.08762764
+v 0.03946808 -0.00740746 -0.08762759
+v 0.04838774 -0.02112755 -0.08762764
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+v 0.04838170 -0.00740746 -0.08762759
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+v 0.04220818 -0.02112789 0.00671267
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+
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_22.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06fdbd2dcae31ac217e0ba2e46aee0aef55a5d50
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_22.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00081000 0.02431667 0.02973520
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+v 0.00081000 0.04931466 0.02973529
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_23.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..259f0fa6b5a54abaf6575f098898210cb70afb16
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_23.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+v 0.04840131 0.01992834 -0.08549583
+v 0.04101464 0.01992830 -0.07463532
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+
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_24.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28b1cffa0d7df862110b43275d6f9cbd665ced95
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_24.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_3.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..288da004ce7259ef7bbc7b15967d2489a013723d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_3.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_4.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70f3596825a81c32d9bb652ad91301172bfda90f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_4.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_5.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7526534ee1f22b8abb9ed76299fea853e0dba93b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_6.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed7f41cf6c9805a6826ffb46191a7f9ae6fcd47b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_6.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_7.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef7b8d116378c770ac4521ab8e8ab5b0506a69a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_7.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_8.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15cc0f7029fda71bafa74b421c6c88c134bcdde0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_8.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_9.obj b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c04a35592c79a25acf026c7e828d8d54607231
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/mesh/remote_holder_009_collision_9.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/remote_holder_009.xml b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/remote_holder_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7a0dbc05d3e901faca3237d181884a05313c2503
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mjcf/remote_holder_009.xml
@@ -0,0 +1,64 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_009">
+  <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_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_009_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_009_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_009_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_009_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_009_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_009_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_009_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_009_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/remote_holder_009_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/remote_holder_009_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/remote_holder_009_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_009">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/remote_holder_009.urdf b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/remote_holder_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ac43ffaaca3fad9cbe32f14fc9b68609ee1a80fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/remote_holder_009.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_009">
+   <link name="remote_holder_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>9319faf136a95db8937c06aa8b3f8f46</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>gray remote holder</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact gray holder for remote storage with rounded edges</description>
+         <min_height>0.2210</min_height>
+         <max_height>0.2210</max_height>
+         <real_height>0.2210</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427231722</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/9319faf136a95db8937c06aa8b3f8f46/remote_holder_009.usd b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/remote_holder_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..68b6325da0fea0d02ba3f8c564f19ab6604439b9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/remote_holder_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f799ffd981ef7ada20b9daa8b21172f9da81b379e069519d3f1dd4470806ec2
+size 4736312
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/textures/material_0.png b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3988232c76083d55c12cd79fd0f0a60b8f7e4c0d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30b18cc0db26b1de9ee966e7505c709995ef6ee6000ad7e9161da228553c60c7
+size 7706724
diff --git a/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/video.mp4 b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b0d69f6f9e444a85a6857c1ad80cf0eadfcf343f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9bac0504339d705368461eaa7a9ed961524aed4a86ceba60614cbf230d8b8bb
+size 145025