diff --git a/.gitattributes b/.gitattributes
index 79f002433f8f7da31d477eb867678ac6dead45f4..4ae6a40030248b53a1025b04593bdbd657ae8187 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2806,5 +2806,5 @@ dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/mesh/wicker_ba
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/9bdbff06616158c5a74eb809d7acd718.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/mesh/wicker_basket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/mesh/wicker_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/glasses_case_012.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/remote_holder_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/material.mtl b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4fee18aa82907321211123c0bc9ffcd49d621217
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_040_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/material_0.png b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040.glb b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040.mtl b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4c1c7c76058eec0ff1254564e44eb6a6f49a89fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_040_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
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e897a97a09d6ccd18dc9c244f839ba9c4f699688
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_040_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040_collision.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc672ee29f798b2975ba234f720457184a7ba7ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040_collision.obj
@@ -0,0 +1,10340 @@
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mesh/remote_holder_040_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/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/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040.obj
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+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040.obj
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+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f27d6fae661edf509536b68e9921747497c791db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision.obj
@@ -0,0 +1,10340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_0.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..545858a8f01c95ea7c8b2c534da913835ee3fced
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_0.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_1.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86af1a58a2649f4f3ea3b10a792d73586ed79a60
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_1.obj
@@ -0,0 +1,202 @@
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+v -0.01980622 -0.05485445 0.03070933
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+v -0.02099922 -0.05453240 0.01073342
+v -0.02196334 -0.05332498 0.01073342
+f 1 2 5
+f 1 5 9
+f 1 9 18
+f 1 18 21
+f 1 21 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 30
+f 1 30 29
+f 1 29 43
+f 1 43 45
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+f 1 58 59
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+f 1 46 33
+f 1 33 16
+f 1 16 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 17
+f 2 17 32
+f 2 32 19
+f 2 19 10
+f 2 10 5
+f 3 6 13
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+f 5 10 20
+f 5 20 36
+f 5 36 53
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+f 44 57 47
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+f 47 57 56
+f 47 56 48
+f 48 56 49
+f 49 56 55
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+f 49 62 50
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+f 50 61 52
+f 50 52 51
+f 50 62 63
+f 50 63 60
+f 52 64 53
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+f 54 65 62
+f 54 62 55
+f 60 63 66
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+f 60 67 61
+f 62 65 68
+f 62 68 63
+f 63 68 66
+
diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_10.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56df035603bce8e371904b933df90aee699de21b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_10.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00983645 -0.04618564 0.00373185
+v -0.02052559 -0.04618564 0.00373011
+v -0.01087383 -0.04618558 -0.01405872
+v -0.01089583 -0.00002465 -0.01405855
+v -0.00986684 -0.01180442 0.00373024
+v -0.00989828 -0.00002471 0.00373028
+v -0.02053921 -0.00002471 0.00373028
+v -0.02054026 -0.00551016 0.00373026
+v -0.02054026 -0.00913399 0.00373025
+v -0.02052559 -0.04618564 0.00286984
+v -0.02054131 -0.00818511 0.00286998
+v -0.02051721 -0.04618558 -0.01405872
+v -0.02053083 -0.00002465 -0.01405855
+v -0.02053921 -0.00002471 0.00287001
+v -0.02052245 -0.04618561 -0.00617521
+v -0.02053188 -0.00275382 -0.01341249
+v -0.02053188 -0.00520736 -0.01405857
+v -0.02053188 -0.00818505 -0.01405858
+v -0.02053921 -0.00999250 -0.00074875
+v -0.02052140 -0.04618560 -0.00798457
+v -0.02053816 -0.00999249 -0.00255811
+f 1 2 10
+f 1 10 15
+f 1 15 20
+f 1 20 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 11
+f 2 11 10
+f 3 12 18
+f 3 18 17
+f 3 17 13
+f 3 13 4
+f 4 13 14
+f 4 14 7
+f 4 7 6
+f 4 6 5
+f 7 14 11
+f 7 11 8
+f 8 11 9
+f 10 11 15
+f 11 14 16
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 15
+f 12 20 18
+f 13 17 16
+f 13 16 14
+f 15 19 21
+f 15 21 20
+f 18 21 19
+f 18 20 21
+
diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_11.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6f463c020d216b1b9b19710e9ccacc5e4580adc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_11.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.01052264 0.04717417 0.03070970
+v -0.01029637 0.04716960 0.01253958
+v -0.01034283 0.04717423 0.01268364
+v -0.02061487 0.04717417 0.03070970
+v -0.01089840 -0.00008599 0.03070953
+v -0.01047314 -0.00008593 0.01253941
+v -0.01044586 0.04717423 0.01253958
+v -0.02061588 0.04717420 0.02096656
+v -0.02054416 -0.00008599 0.03070953
+v -0.02053911 -0.00008593 0.01253941
+v -0.02061285 0.04717423 0.01253958
+v -0.02054315 -0.00008595 0.02001128
+v -0.02054416 -0.00008597 0.02458405
+v -0.02054012 -0.00008593 0.01372929
+v -0.02054214 -0.00008594 0.01734695
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 10
+f 2 10 11
+f 2 11 7
+f 4 8 9
+f 5 9 13
+f 5 13 12
+f 5 12 15
+f 5 15 14
+f 5 14 10
+f 5 10 6
+f 8 11 12
+f 8 12 13
+f 8 13 9
+f 10 14 11
+f 11 14 15
+f 11 15 12
+
diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_12.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84f7c248651dae2cf77d0a4b5184f8a8159685ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_12.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01039032 -0.04619006 0.01073166
+v 0.02967895 -0.04619006 0.01073166
+v -0.01039032 -0.04619007 0.01239481
+v -0.01039032 -0.00008592 0.01073183
+v 0.02940439 -0.04619006 0.01125576
+v 0.02967502 -0.04075649 0.01073168
+v 0.02940439 -0.04075649 0.01124975
+v 0.02647450 -0.04619006 0.01186990
+v -0.01039032 -0.00008593 0.01238440
+v 0.02954559 -0.00008592 0.01073183
+v 0.02825519 -0.04619006 0.01168380
+v 0.02966718 -0.03812996 0.01073169
+v 0.02940047 -0.03894680 0.01124618
+v 0.02825519 -0.00008592 0.01158595
+v 0.02647450 -0.00008592 0.01184076
+v 0.02952206 -0.00008592 0.01077481
+v 0.02939655 -0.03713712 0.01124178
+v 0.02930241 -0.00008592 0.01117354
+v 0.02874938 -0.00008592 0.01139139
+f 1 2 5
+f 1 5 11
+f 1 11 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 9 15
+f 4 15 14
+f 4 14 19
+f 4 19 18
+f 4 18 16
+f 4 16 10
+f 5 7 11
+f 6 12 7
+f 7 12 10
+f 7 10 13
+f 7 13 14
+f 7 14 11
+f 8 11 15
+f 8 15 9
+f 10 16 17
+f 10 17 13
+f 11 14 15
+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 16 18 17
+
diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_13.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eba005388e2ab1320288b16a68605f804c50a8d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_13.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.01039031 -0.05488966 0.01073342
+v -0.01039031 -0.05489056 0.01107564
+v -0.01039031 -0.04619006 0.01073345
+v -0.00378533 -0.05522073 0.01073342
+v -0.01039031 -0.05489234 0.01191848
+v -0.01039031 -0.04619007 0.01239566
+v 0.02967464 -0.04619006 0.01073345
+v -0.01039031 -0.05490669 0.03070933
+v -0.01039031 -0.05489772 0.01553820
+v -0.01039031 -0.05489681 0.01425340
+v -0.01039031 -0.05489592 0.01372931
+v 0.00511799 -0.05521091 0.01073342
+v 0.01045735 -0.05530195 0.01734708
+v 0.00333821 -0.05529571 0.01734708
+v 0.00155842 -0.05529392 0.01734708
+v 0.00155842 -0.05529393 0.01915791
+v 0.00155842 -0.05529038 0.02096484
+v -0.01039031 -0.04756436 0.03070936
+v 0.02647542 -0.04619006 0.01187158
+v 0.02940658 -0.04619006 0.01125753
+v 0.03181478 -0.04839783 0.03070935
+v 0.03256625 -0.04857719 0.03070935
+v 0.03304086 -0.04869231 0.03070935
+v 0.03303646 -0.04869492 0.01372933
+v 0.03303646 -0.04869670 0.01191850
+v 0.03303207 -0.04869759 0.01073344
+v 0.00155842 -0.05526896 0.02277372
+v 0.00511799 -0.05523328 0.02639344
+v 0.00689778 -0.05524220 0.02639344
+v -0.00912469 -0.05490937 0.03070933
+v 0.01284358 -0.05519842 0.01073342
+v 0.01045735 -0.05528591 0.02277372
+v 0.00333821 -0.05530642 0.01915791
+v 0.01462337 -0.05519306 0.01073342
+v 0.01579231 -0.05518950 0.01073342
+v 0.03003500 -0.05490312 0.03070933
+v 0.00333821 -0.05529394 0.02096484
+v 0.00689778 -0.05526451 0.02458260
+v 0.03003500 -0.04831038 0.03070935
+v 0.02825521 -0.04619006 0.01168384
+v 0.03112924 -0.04836392 0.03070935
+v 0.03393295 -0.04978544 0.03070935
+v 0.03392855 -0.04977916 0.01915793
+v 0.03392855 -0.04977915 0.01553822
+v 0.03392855 -0.04978003 0.01372933
+v 0.03392416 -0.04978091 0.01073344
+v 0.03333968 -0.04906970 0.01073344
+v 0.00936311 -0.05491561 0.03070933
+v 0.00758333 -0.05491651 0.03070933
+v 0.00511799 -0.05491651 0.03070933
+v -0.00556512 -0.05491383 0.03070933
+v -0.00734490 -0.05491293 0.03070933
+v 0.03003500 -0.05487896 0.01073342
+v 0.03003500 -0.05488431 0.01191848
+v 0.03003500 -0.05488967 0.01372931
+v 0.03003500 -0.05489414 0.01553820
+v 0.03181478 -0.05484417 0.01734708
+v 0.03181478 -0.05484958 0.03070933
+v 0.03428011 -0.05034228 0.03070935
+v 0.03449545 -0.05068401 0.01915792
+v 0.03449545 -0.05068400 0.01553821
+v 0.03449545 -0.05068487 0.01191849
+v 0.03449545 -0.05068576 0.01073343
+v 0.03064584 -0.05485843 0.01073342
+v 0.03181478 -0.05483613 0.01372931
+v 0.03181478 -0.05484239 0.01553820
+v 0.03306283 -0.05456308 0.01553820
+v 0.03306283 -0.05456399 0.01915791
+v 0.03306283 -0.05456581 0.03070933
+v 0.03449545 -0.05069119 0.03070934
+v 0.03450424 -0.05162099 0.01915792
+v 0.03449984 -0.05162096 0.01073343
+v 0.03181478 -0.05481738 0.01073342
+v 0.03303207 -0.05454522 0.01073342
+v 0.03305404 -0.05455861 0.01372931
+v 0.03394613 -0.05344316 0.01372931
+v 0.03395492 -0.05344406 0.01553820
+v 0.03395492 -0.05344585 0.01734708
+v 0.03395492 -0.05344586 0.01915791
+v 0.03361215 -0.05387334 0.03070933
+v 0.03449545 -0.05162103 0.03070934
+v 0.03448666 -0.05253391 0.03070934
+v 0.03449105 -0.05254013 0.02096485
+v 0.03449105 -0.05254101 0.01915792
+v 0.03449105 -0.05253830 0.01073343
+v 0.03391976 -0.05344315 0.01073342
+v 0.03395492 -0.05343876 0.03070933
+f 1 2 5
+f 1 5 11
+f 1 11 10
+f 1 10 9
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+f 1 8 18
+f 1 18 6
+f 1 6 3
+f 1 3 7
+f 1 7 26
+f 1 26 47
+f 1 47 46
+f 1 46 63
+f 1 63 72
+f 1 72 85
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+f 1 12 4
+f 1 4 2
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+f 3 19 40
+f 3 40 20
+f 3 20 7
+f 4 8 9
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+f 4 10 11
+f 4 11 5
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+f 4 13 14
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+f 4 15 16
+f 4 16 17
+f 4 17 8
+f 6 18 19
+f 7 20 21
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+f 7 23 24
+f 7 24 25
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+f 8 48 36
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+f 44 62 45
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+f 56 66 57
+f 57 66 67
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+f 58 67 68
+f 58 68 69
+f 59 70 60
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+f 61 71 62
+f 62 71 63
+f 63 71 72
+f 64 73 65
+f 65 73 74
+f 65 74 75
+f 65 75 67
+f 65 67 66
+f 67 75 76
+f 67 76 77
+f 67 77 78
+f 67 78 68
+f 68 78 69
+f 69 78 79
+f 69 79 80
+f 70 81 71
+f 71 81 82
+f 71 82 83
+f 71 83 84
+f 71 84 85
+f 71 85 72
+f 74 86 75
+f 75 86 76
+f 76 85 77
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+f 77 85 78
+f 78 85 84
+f 78 84 79
+f 79 84 83
+f 79 83 87
+f 79 87 80
+f 82 87 83
+
diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_14.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a47b8ad5deba9f1ebdf4b7966d176677ac35f64d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_14.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.03450331 -0.00779250 0.05534453
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+
diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_15.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fb737497963ca08ab91648a761ed7434b12c38d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_15.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_16.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d233ca44302b1b4bedd13da37bbe5ecf13723564
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_16.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_17.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c0e13f35fd91b62d38ede497dc7727df2fb0614
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_17.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_18.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17ddbcda674709752e3130d751228a4aaa0afefd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_18.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_19.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a60b22c5c723bebef4e6a61475b459a3fef73c80
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_19.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_2.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..514588ce26d89514a31b6deffb8c40e77785a1fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_2.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_20.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feed6beb75662870161d7c78916f86342358a658
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_20.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_21.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08acd92d172468dc24bca47382aa85ba2dbbf714
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_21.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_22.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..772a02e7026c5011c6b8ff7e358070b4942b14e9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_22.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_23.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff5ae60a796149a50d283812404cea06ab0ae6f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_23.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_24.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3575c78a274584493bbfd8ee8e791ceed9257e82
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_24.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_25.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c855de8ff9b38ed134b75cdf38af8da08cec04a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_25.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_26.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afa6d5d826e1590dcc8e45601feda522e4d8a1d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_26.obj
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_27.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc7dbd8335dc4e39a51c3a2b5a4b6dd136bf919
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_27.obj
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_28.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..371621aa921c3ecb03c0bd8522deecbdbdbf76a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_28.obj
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_29.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc95fd13d844c1e63b1369ae22328954adab8de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_29.obj
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_3.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ce8b75a04110b34808d2019ca318964a17d08c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_3.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_4.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a524a244b93d32a6a99e3ad23623fb3058cb76
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_4.obj
@@ -0,0 +1,628 @@
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_5.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dc93f77ffafcd20fd25b88cbee95973fedcbf10
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_6.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2bac4f5c2deb6c0479a61949ea81c96fa674f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_7.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f44d8541b3f3e364e53494844ca3acfea59a29e6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_7.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_8.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..666a7308dfc54ad962d10612ada60c7c489efed3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_8.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_9.obj b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e85dc754011f3a433d1d6fd11c5a62cb347f671
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/mesh/remote_holder_040_collision_9.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/remote_holder_040.xml b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/remote_holder_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f40035eb70cc07a376e3cf1597e3367efb52b33f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/mjcf/remote_holder_040.xml
@@ -0,0 +1,74 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_040">
+  <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_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_040_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_040_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_040_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_040_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_040_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_040_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_040_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_040_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_040_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_040_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_040_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_040_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_040_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_040_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_040_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/remote_holder_040_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/remote_holder_040_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/remote_holder_040_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/remote_holder_040_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/remote_holder_040_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/remote_holder_040_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/remote_holder_040_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/remote_holder_040_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_040">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/remote_holder_040.urdf b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/remote_holder_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..795db14c5fc732fba2e84ff5c95d2aa25d40a619
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/remote_holder_040.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_040">
+   <link name="remote_holder_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_040.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_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <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>9eef71b5d91651049269f95bdfae99dd</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>wooden remote holder</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>rounded rectangular wooden remote holder with inner divider shelf and small base</description>
+         <min_height>0.1086</min_height>
+         <max_height>0.1086</max_height>
+         <real_height>0.1086</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135142</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022195 -0.055036 -0.050456</min>
+            <max>0.034564 0.054964 0.058108</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>NO: {"summary":"Logo marks are mislabeled as parts; otherwise main body, shelf, interior, and base are reasonable.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/remote_holder_040.usd b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/remote_holder_040.usd
new file mode 100644
index 0000000000000000000000000000000000000000..134afe577c86038dd0e7cc28033ee8804d801eb3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/remote_holder_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c7da471cf7e6ff89cad1eabdc092990cf3f07554cd6ed019cbd668783d03c62
+size 4538753
diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/textures/material_0.png b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1a3925393213e740512215e8da4d99acb8de78d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d2139a53d103c201a425b2214a68300b52cddec63699af2aabdb682d0ae07c4
+size 13473357
diff --git a/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/video.mp4 b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a53f2e377d85640c2c50ddea5b8d1c5eb5e77fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:341bbfa694f70db96de9ae20da8da4bdf579ca31749b50df6b4820869ec5366d
+size 413709