diff --git a/.gitattributes b/.gitattributes
index fd048c7903ae8b0fc3501933b451ebf3c4d86634..5bb44ec1871f7367ad593eae64539891e5685aad 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2779,3 +2779,5 @@ dataset/bedroom_supplies/storage/72e5d5209a4a5cca8482a36a6a78dea5/mesh/storage_b
 dataset/bedroom_supplies/storage/72e5d5209a4a5cca8482a36a6a78dea5/storage_box_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/mesh/pill_organizer_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/pill_organizer_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/remote_holder_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/material.mtl b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..044bbd9e4d601d77835d76b71682c8954e20265d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/material_0.png b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..95f5bd7d0b9cd63d9ba6fef4a4e36693e9eae4b9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a56cb1cb0d138af9af7cd6a5a3554e390883f38cce07260c166a46651414c3c7
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015.glb b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ca299fbfde3b6728b74276ab2a1d4ea1e117e3b7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14702776
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015.mtl b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2d57e750978a7ca488d623ed3a4d951d217e3426
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_015_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/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b63f99b7423bffa201383e65683e790194bb720
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015.obj
@@ -0,0 +1,107502 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_015_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015_collision.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24dcc5d0b7506fae8e1e90e41d27d78ab98809e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015_collision.obj
@@ -0,0 +1,12867 @@
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mesh/remote_holder_015_geometry_Looks_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/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/material_0.png
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+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/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/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015.obj
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index 0000000000000000000000000000000000000000..c6e8ac38f740a3feca613126deaab610127a5f47
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+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015.obj
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33bc635917bdc00a7e9cf1dd706872bbdea383a2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision.obj
@@ -0,0 +1,12867 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_0.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142ebfe649e1fabf328eb307ade83383d413abf5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_0.obj
@@ -0,0 +1,3724 @@
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_1.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b2ad7cab5975dd4e32ee3d57fd3a306309d1bba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_1.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.00817867 -0.01117571 -0.00393308
+v -0.00950793 -0.01117577 0.01362488
+v -0.00951514 -0.01097000 0.01362488
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+v -0.00802964 -0.00286701 -0.00393305
+v 0.01482250 -0.01117571 -0.00393308
+v 0.00493842 -0.01117577 0.01362488
+v 0.00031607 -0.00286707 0.01362491
+v 0.00826997 -0.00286701 -0.00393305
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+f 10 13 12
+f 10 12 11
+
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_10.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..336360e5d810c096a5c687ccde2b9c80e745dae9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_10.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00006669 0.00002482 0.01362492
+v 0.00579317 -0.01185035 0.01362488
+v -0.00976990 0.00002482 0.01362492
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+v -0.01528788 -0.00092035 0.02491992
+v -0.01507938 -0.00929400 0.02491989
+v -0.00960888 -0.00779547 0.01362489
+v -0.01512893 -0.00761881 0.02491989
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+v -0.01522182 -0.00427074 0.02491990
+v -0.01520324 -0.00497988 0.02491990
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+
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_11.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b6635da6fe00e069d9ef8d759320c0a786a7ac1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_11.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_12.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3176e7d4135dc17597d964bce22cf64aba0ca0d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_12.obj
@@ -0,0 +1,1207 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_13.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f599ce9c6ed4c533443065747478071a8ff703
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_13.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_14.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8051f3d20503f55401417892bfb695c1fe6eb799
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_14.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_15.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29cc266ff5f4ddaffb221951fff6b052e9acf956
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_16.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3571fe9250bfdd15350fb2e4324908ba6a09fe1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_16.obj
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+
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_17.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11afa6c5a42afc9213e9b6ea367a08d302d01f25
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_17.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.01125527 0.00286575 -0.01367794
+v -0.01125255 -0.00376925 -0.01367796
+v -0.00806274 0.00286571 -0.00393303
+v 0.01618905 0.00286575 -0.01367794
+v -0.00803278 -0.00376929 -0.00393305
+v 0.01657314 -0.00376925 -0.01367796
+v 0.00828127 0.00286571 -0.00393303
+v -0.00036471 -0.00376929 -0.00393305
+v 0.00852099 -0.00376929 -0.00393496
+v 0.00820773 -0.00263466 -0.00393305
+f 1 2 3
+f 1 3 7
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+f 1 4 6
+f 1 6 2
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+f 2 9 8
+f 2 8 5
+f 3 5 8
+f 3 8 10
+f 3 10 7
+f 4 7 6
+f 6 7 9
+f 7 10 9
+f 8 9 10
+
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_18.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de108aa87900fce0e64b9a8d7bce29d0944367e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_18.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00363862 0.00002481 0.02492063
+v -0.00401313 0.00002478 0.03211372
+v 0.00090782 -0.01152593 0.03211368
+v 0.00088769 -0.01152590 0.02492059
+v -0.01529466 0.00002481 0.02492063
+v -0.01965989 0.00002478 0.03211372
+v -0.01940619 -0.01152593 0.03211368
+v -0.01501076 -0.01152590 0.02492059
+v -0.01529265 -0.00034721 0.02492063
+v -0.01965989 -0.00007360 0.03211372
+v -0.01946861 -0.00929494 0.03211369
+v -0.01517788 -0.00594447 0.02492061
+v -0.01512955 -0.00761912 0.02492060
+v -0.01507922 -0.00929491 0.02492060
+v -0.01505506 -0.01008305 0.02492059
+v -0.01528862 -0.00092051 0.02492063
+v -0.01965787 -0.00044449 0.03211372
+v -0.01953304 -0.00697349 0.03211369
+v -0.01522217 -0.00426981 0.02492061
+v -0.01526043 -0.00259516 0.02492062
+v -0.01963170 -0.00259519 0.03211371
+v -0.01965384 -0.00092054 0.03211372
+v -0.01955921 -0.00594450 0.03211370
+v -0.01957733 -0.00522986 0.03211370
+v -0.01959948 -0.00426984 0.03211370
+f 1 2 3
+f 1 3 4
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+
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_19.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..498e6d0f69e0d824786f60729c044784240d3827
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_19.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.01150147 -0.00806969 -0.01367798
+v -0.00809607 -0.00806973 -0.00393307
+v -0.00803226 -0.00376929 -0.00393305
+v -0.01125295 -0.00376925 -0.01367796
+v 0.02280780 -0.00806969 -0.01367798
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+
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_2.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1008fde2cee90a692c2e07dead8fdc6acb93713
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_2.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_20.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b44d180cdee685b75e03b040a39ca2dbb362da48
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_20.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_21.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eba182fc4810bdf1d40ef5be0e8cf1a7c783280
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_21.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_3.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e99d9eaa2fc86327fb95521fff8f305209d0c5d9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_4.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de1bedd5550255276038bc24d9239f395ec3b0ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_5.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..466de13685539ae800bf817ccf8261451332a1ba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_6.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a7269b81b1a7510ee9f2130ed432b24060be1fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_6.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_7.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d69a3d8f096e1dd5948ad7956a2dd2f19573726
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_7.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_8.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf52fa12f83fd159a9223ddd64e6d72b1a70a0d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_8.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_9.obj b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc21c4078e609a98ced54cc526cc8de3200cf6e7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/mesh/remote_holder_015_collision_9.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/remote_holder_015.xml b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/remote_holder_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ad62c2ffcd422d62f3cefe9c0cccf304df99fc3a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/mjcf/remote_holder_015.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_015">
+  <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_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_015_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_015_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_015_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_015_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_015_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_015_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_015_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_015_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_015_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_015_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_015_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_015">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/remote_holder_015.urdf b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/remote_holder_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a0e82751d24c8f42fc060ed0e76b214e8dd2461e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/remote_holder_015.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_015">
+   <link name="remote_holder_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>793de6513e1f5aa0b5079381f8c89595</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>wooden remote stand</name>
+         <color>brown</color>
+         <shape>irregular</shape>
+         <material>wood</material>
+         <description>angled wooden remote holder with oval cradle and padded base</description>
+         <min_height>0.1031</min_height>
+         <max_height>0.1031</max_height>
+         <real_height>0.1031</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518171645</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036999 -0.030084 -0.033525</min>
+            <max>0.048890 0.029916 0.069591</max>
+         </aabb>
+         <tags>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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/remote_holder_015.usd b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/remote_holder_015.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/remote_holder_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15b48de7b2604f8f3039aed82f63b72c3791affa940d98ce57eb08f5713511ca
+size 4852219
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/textures/material_0.png b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a56cb1cb0d138af9af7cd6a5a3554e390883f38cce07260c166a46651414c3c7
+size 11470077
diff --git a/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/video.mp4 b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92fe960a0dce0761744d219669a9498da84cb09c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/793de6513e1f5aa0b5079381f8c89595/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6d8e65a4eba02c8c7dac6055bd54386234ac41a6612af974fceb01754e2f079
+size 363032