diff --git a/.gitattributes b/.gitattributes
index 9598360204aa402e18688d4a189f0581a39f306d..1a2ecce6000e780f8b5233c36ba9c2c16403bb88 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2767,3 +2767,5 @@ dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/remote_holder_
 dataset/bedroom_supplies/storage/663158968e3f5900af1f6e7cecef24c7/663158968e3f5900af1f6e7cecef24c7.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/basket_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/mesh/basket_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/remote_holder_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/material.mtl b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91a9d13b6bd55e10e0f76aad066a861a52a9e008
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/material_0.png b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..88b1c2a8fee95d4aa778bdcece4d15656c031ea0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bfe566acaebb3c67d5f9cb8ec812f4310648ee8f6745ec01025d383815d738b
+size 10880312
diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003.glb b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..13614112182841859d67afbe677e24655f7d7a7b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:079a85618be8d6fbdf1e7f7223d3d72606521c5ffaef098b4bc7cab9bb2e5767
+size 13952784
diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003.mtl b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..30e9da213ab1041c609fce393ddd4b709f9adcaf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_003_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/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c89fe747b79a3b12ce1b41d7e4ecfbd8217bc333
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003.obj
@@ -0,0 +1,106136 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_003_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003_collision.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7486ba2057b650e0a3634121d084e496223fcbb6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mesh/remote_holder_003_collision.obj
@@ -0,0 +1,10674 @@
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80a58cce92479a7d2c831241c534c7df9b277776
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37e52e807cbb1832cb47a3bbe07c6aedfb1bf5fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision.obj
@@ -0,0 +1,10674 @@
+# https://github.com/mikedh/trimesh
+
+o remote_holder_003_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_0.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e602c0420e793e36c641447b672ae782d02cb7c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_0.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.03985349 0.08974766 -0.01854717
+v -0.03984383 0.07646529 -0.01854722
+v -0.03983418 0.07646522 0.00097634
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_1.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16665c4ccdd4de1b9fec459e95a666235d0b7f9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_1.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.01532201 -0.00537261 0.01160405
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+v -0.03981765 -0.07752170 0.00789396
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+
diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_10.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dd68f92b9ed30ffa2ed1f19e0c4468abba95c40
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_10.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.03231673 0.01319437 0.05421916
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+
diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_11.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24bf6f4c2751a295a24575f91a7be77db160fe8c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_11.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.03978019 -0.08947749 0.01160375
+v 0.03971364 -0.09090293 0.01160375
+v 0.03977782 -0.08582211 0.01160376
+v 0.03871289 -0.08947760 0.04000969
+v 0.03862018 -0.09155456 0.04000968
+v 0.03959954 -0.09313467 0.01160374
+v 0.03962806 -0.08216314 0.01160378
+v 0.03856313 -0.08216325 0.04000972
+v 0.03871051 -0.08582222 0.04000970
+v 0.03852985 -0.09313478 0.04000968
+v 0.03944740 -0.09406157 0.01160373
+v 0.03842764 -0.09395729 0.04000967
+v 0.03905994 -0.07993319 0.01160379
+v 0.03719631 -0.07959495 0.04000973
+v 0.03903141 -0.09532862 0.01160373
+v 0.03712975 -0.09566888 0.04000967
+v 0.03861067 -0.07967403 0.01160379
+v 0.03698237 -0.07948335 0.04000973
+v 0.03688967 -0.09619612 0.01160373
+v 0.03705130 -0.09571748 0.04000967
+v 0.03689204 -0.07901350 0.01160379
+v 0.03322183 -0.07845568 0.04000973
+v 0.03322183 -0.09672887 0.01419517
+v 0.03322183 -0.09671626 0.01160372
+v 0.03697049 -0.09574988 0.04000967
+v 0.03356651 -0.09668397 0.04000966
+v 0.03579621 -0.07871833 0.01160379
+v 0.03322183 -0.07845388 0.03966217
+v 0.01549833 -0.07834229 0.04000973
+v 0.01549833 -0.09671629 0.01819636
+v 0.01549833 -0.09671626 0.01186509
+v 0.03064745 -0.09671626 0.01160372
+v 0.03322183 -0.09672537 0.04000966
+v 0.03322183 -0.07846097 0.01160379
+v 0.03322183 -0.07845378 0.01419524
+v 0.01549833 -0.09670737 0.04000966
+v 0.02598838 -0.07845736 0.01160379
+v 0.01549833 -0.07845736 0.01160379
+v 0.01549833 -0.09671446 0.01160372
+f 1 2 6
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+f 1 39 38
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+f 1 21 17
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+f 1 13 7
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+f 30 33 36
+f 31 39 32
+
diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_12.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18a84f298199972118cb96fc1efb4c673faf170e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_12.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.00295226 -0.09672689 0.08695458
+v 0.01549595 -0.09670806 0.07968416
+v 0.00789829 -0.09670270 0.08331937
+v 0.00066459 -0.09665437 0.08695458
+v -0.00563026 -0.09647982 0.09067964
+v -0.00563026 -0.09671614 0.08695458
+v -0.00563026 -0.09671586 0.01161188
+v 0.01549595 -0.09671586 0.01161188
+v 0.01549595 -0.09671589 0.01819609
+v 0.01549595 -0.09607426 0.08333571
+v 0.01513406 -0.09612260 0.08331938
+v 0.01151514 -0.09652545 0.08331938
+v -0.00563026 -0.09566607 0.09346528
+v -0.00563026 -0.07846139 0.01161195
+v 0.01549595 -0.07845870 0.01161195
+v 0.01549595 -0.09519874 0.08535345
+v 0.01513406 -0.09524708 0.08540247
+v -0.00361194 -0.09543779 0.09295063
+v -0.00563026 -0.09338863 0.09474782
+v 0.01151514 -0.07845870 0.01161195
+v -0.00563026 -0.07216896 0.03624968
+v -0.00563026 -0.07160230 0.03966433
+v 0.01549595 -0.07340980 0.05061078
+v 0.01549595 -0.09313615 0.08578642
+v -0.00119863 -0.09476368 0.09237879
+v -0.00563026 -0.08947830 0.09502557
+v -0.00563026 -0.07121558 0.04328320
+v -0.00563026 -0.07094434 0.04587277
+v 0.01549595 -0.07310364 0.05360063
+v 0.01549595 -0.08947827 0.08600700
+v -0.00563026 -0.08882569 0.09503374
+v -0.00563026 -0.07085839 0.04698375
+v 0.01549595 -0.07299353 0.05517725
+v 0.01549595 -0.08531817 0.08599068
+v -0.00563026 -0.07484947 0.09505014
+v -0.00563026 -0.07850736 0.09505829
+v -0.00563026 -0.08216523 0.09505011
+v -0.00563026 -0.08582042 0.09504193
+v -0.00563026 -0.07061402 0.05057811
+v -0.00563026 -0.07036963 0.05421332
+v 0.01549595 -0.07298010 0.05538147
+v 0.01549595 -0.07850733 0.08594169
+v -0.00563026 -0.07114325 0.09411889
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+v -0.00563026 -0.07016016 0.05784852
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+v -0.00563026 -0.06929012 0.09059805
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+v -0.00563026 -0.06930085 0.08331948
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+v 0.01549595 -0.07265252 0.07240567
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+v 0.01549595 -0.07256656 0.06876230
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+v -0.00563026 -0.06944583 0.07240568
+v 0.01549595 -0.07266590 0.06149189
+v -0.00563026 -0.06931426 0.07968427
+v 0.01549595 -0.07257460 0.06512709
+v -0.00563026 -0.06935990 0.07604090
+v 0.01549595 -0.07258266 0.06475949
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+f 65 70 66
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+
diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_13.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4f5f7701f443fb029b4e5a3aa0aa67aee2c64f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_13.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.04024645 0.08609101 0.04354183
+v 0.04021011 0.08940906 0.04354184
+v 0.04024161 0.08575752 0.04354183
+v 0.03975222 0.08474229 0.01160438
+v 0.03977160 0.08609113 0.01160439
+v 0.03977402 0.08974639 0.01160440
+v 0.04020284 0.08974627 0.04354184
+v 0.04019073 0.08243388 0.04354181
+v 0.03971103 0.08243400 0.01160437
+v 0.03942515 0.09340538 0.01160441
+v 0.03985882 0.09293950 0.04354185
+v 0.03939608 0.07988898 0.04354180
+v 0.03914654 0.08004560 0.01160436
+v 0.03958990 0.08153043 0.01160437
+v 0.03886550 0.09540627 0.01160442
+v 0.03977645 0.09360832 0.04354185
+v 0.03708480 0.07879911 0.04354180
+v 0.03690552 0.07891101 0.01160436
+v 0.03839307 0.09562051 0.01160442
+v 0.03817503 0.09574150 0.04354186
+v 0.03927252 0.09466280 0.04354186
+v 0.03684011 0.07872831 0.04354180
+v 0.03322057 0.07826454 0.01160436
+v 0.03686191 0.09604529 0.01160442
+v 0.03710661 0.09599673 0.04354186
+v 0.03346041 0.07827374 0.04354180
+v 0.03322057 0.07825521 0.01419600
+v 0.03064764 0.07826454 0.01160436
+v 0.01549595 0.07745028 0.04354179
+v 0.03579592 0.09625953 0.01160442
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+v 0.03322057 0.07826071 0.03966216
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+v 0.01875208 0.09645515 0.01160442
+v 0.01549595 0.09645328 0.01383342
+v 0.01549595 0.09645506 0.03566066
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+
diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_14.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f280c771d5b094c80c29f6d9238fa58b84fb882
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_14.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.02958588 -0.03954253 0.05421898
+v 0.01549595 -0.03471306 0.05094434
+v 0.01549595 -0.03466588 0.05057786
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+v 0.01549595 -0.03362362 0.04751600
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_15.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45083d720fd17b1b75c7823e28eeeff450b375bb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_15.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_16.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9249e6cfd024dc26a7481b77ca5ba1d58d7c4a17
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_16.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_17.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a92cd11536a17cf231609a73aa26061b76274bf0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_17.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_18.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dc325c06349a2ce0b9211d4e25a25c769abcdc7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_18.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_19.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcdfb00efa73a513223431d85b0c413713d00fd6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_19.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_2.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a8390e193b46e8b1ca1f40df63e2ca4676f65a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_2.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_20.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8acb981caefc3496b43a90853e82b142065e519
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_20.obj
@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_21.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef49c10df2be592d70ab4bf8b835d363c13fbff9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_21.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_22.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4c4a6443ddd1539180052d8939f6863bc34c061
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_22.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_23.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2105587aed90c7f28754d6fbc8a45d3ac04da77
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_23.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_24.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae347dad7300be2e9c054e421f29a2c218945529
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_24.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.01054567 -0.09672701 0.09023460
+v -0.01018914 -0.09672701 0.09059625
+v -0.01054567 -0.09672701 0.09059625
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+
diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_25.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..defebba914b0b7b2898aaa48ca1b11588c1b1d06
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_25.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+v -0.00415180 0.07011112 0.07968298
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_26.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27958bee0aca92462a511cd46648d4ba7e15fbde
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_26.obj
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_27.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f5e1f4b3d5a9b5b2af14875cabf0802b5c4fe9d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_27.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_3.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2962cfd4ad3053ba0ba2a6acc663a3160ba0b33a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_3.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_4.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbeea84534895257d9df052cdc871069b7064bde
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_4.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_5.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f90baeee182295b07676df3a9040dca4fdc5c677
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_5.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_6.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91dd31c0940b56cb4ac2625f301b9d71efb73e85
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_6.obj
@@ -0,0 +1,1513 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_7.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea2bc3a86b443d99675b84d41c45cbe4a2dc597e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_8.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..654fb6235629a4238feb5bb956336bdf3db4f947
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_9.obj b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90e9958bf50bfc851f3b729f985f6ab27a70b647
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/mesh/remote_holder_003_collision_9.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/remote_holder_003.xml b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/remote_holder_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9188704f6c25bfff2a1836ab7da28af9075ba886
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/mjcf/remote_holder_003.xml
@@ -0,0 +1,70 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_003">
+  <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_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_003_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_003_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/remote_holder_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/remote_holder_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/remote_holder_003_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/remote_holder_003_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/remote_holder_003_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/remote_holder_003_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_003">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/remote_holder_003.urdf b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/remote_holder_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5a77961d97768105408fad41dac5e0d1b50daad8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/remote_holder_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_003">
+   <link name="remote_holder_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>6b4a52cfe03d5da1a907bf9f915aa97b</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>carved wooden holder with slots for organizing remotes</description>
+         <min_height>0.1658</min_height>
+         <max_height>0.1658</max_height>
+         <real_height>0.1658</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427231404</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>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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