diff --git a/.gitattributes b/.gitattributes
index 376ff5c9cebbd5928bf35cef6f4252e2148ef7ae..4f710638cc7fb7583c455ce408c837c456902e64 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5274,3 +5274,5 @@ dataset/bedroom_supplies/storage/3518c1e4a3f655289054421b49f2bcf7/mesh/storage_b
 dataset/bedroom_supplies/storage/3518c1e4a3f655289054421b49f2bcf7/storage_box_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3668889b89ee53cba001ff970ac99ef0/glasses_case_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3668889b89ee53cba001ff970ac99ef0/mesh/glasses_case_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/remote_holder_007.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/material.mtl b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f57aca98710824da34f322e41667ad9351e41fcb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_007_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_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/material_0.png b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bda3682ebb06eaeddd62bd9e8a5b3a1a03857c60
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abd4ff200bdd24c6ec235bfdbf40ba3287e114afda653a1c089f49f7c12c6ca3
+size 10497271
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007.glb b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..395ef9e5e46c5b9089425dfed8bed7d35b6c8cf7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14e96c6c7b5862f588f67049b975523f3ad65080833d73825d4f7e497b99e0a8
+size 13651100
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007.mtl b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3d0fa2136c85b298a63cad29bfb6f53c07288bf0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_007_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/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b8e5910dad0d628cc2a8ec069219c59fd1e0581
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007.obj
@@ -0,0 +1,112502 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_007_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007_collision.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3494f846ab104d790a9bf21af989b21e09e9d5f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mesh/remote_holder_007_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/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/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef1015717d6bcc2d2a01fe298880aa721b6d592e
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+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007.obj
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa16dddbca657d3d73d8a2349cb1d445520a69b9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision.obj
@@ -0,0 +1,15067 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_0.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..506bc09d13c5eed4f1137adc8e0317ebc6621217
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_1.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94fc0fa103d226453af176de6a362639842e7cd5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_10.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c8f35be8a09afed002df902480f249ba18687d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_10.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_11.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..257e1c1402686085ebf1c1743c73ff5d4565a119
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_11.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_12.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29c91f78192c3cf517433317177ddbe01c8aa0fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_12.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_13.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..661aef4509fcea8da9e0a41037670c268cdce6ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_13.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_14.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..646f6c5d02df89732b28d6923a242f3e74b4f453
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_14.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_15.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f333a9d49a83bc58057a93ca7cd7b3808eaf82ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_15.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_16.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..621a0bb92d06eefea49923d67404e3873c57885b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_16.obj
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_17.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d1be4d7395077cce2ef69496eb0f1be06191ce6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_17.obj
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_18.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..349ddcc7be3bc35acae0d2d5849cf0a30a17eb70
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_19.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7779e4825eeb5a4b9a55def0bb1021d5f6a2586
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_19.obj
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_2.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afcc14cbdc847ff591b321d5ed74277d70aeda09
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_20.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67886ab6ceda20a9f6c4cd1548daabf168f3cf98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_20.obj
@@ -0,0 +1,196 @@
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+v 0.00009112 0.06558379 0.00742312
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+v -0.00457056 0.05915199 0.04102264
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+f 36 59 40
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+f 37 61 38
+f 39 62 40
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+f 46 53 50
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+f 55 58 56
+f 58 63 59
+
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_21.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c63d9257e925a2c479b2b57c2f9c60a9d41058
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_21.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.06280730 -0.00199622 -0.04962893
+v -0.06268021 -0.00502373 -0.04962894
+v -0.06103722 -0.00265219 -0.04608408
+v -0.06105272 -0.00206014 -0.04608408
+v -0.06105272 -0.00026045 -0.04608407
+v -0.06280421 -0.00026044 -0.04962892
+v -0.06266781 -0.00510110 -0.04962894
+v -0.06041413 -0.00816898 -0.04608410
+v -0.04697575 -0.00026045 -0.04608407
+v -0.04631545 -0.00026044 -0.04962892
+v -0.06210052 -0.00819252 -0.04962895
+v -0.05959884 -0.01285153 -0.04608412
+v -0.03196568 -0.03462607 -0.04608420
+v -0.03113799 -0.03462606 -0.04962905
+v -0.06006073 -0.01734233 -0.04962898
+v -0.05903464 -0.01588914 -0.04608413
+v -0.05069882 -0.03462607 -0.04608420
+v -0.05242860 -0.03462606 -0.04962905
+v -0.05918654 -0.02040685 -0.04962899
+v -0.05869674 -0.01724815 -0.04608413
+v -0.05138701 -0.03353616 -0.04608419
+v -0.05583547 -0.02922027 -0.04962903
+v -0.05778845 -0.02011756 -0.04608414
+v -0.05802095 -0.01943805 -0.04608414
+v -0.05595017 -0.02899489 -0.04962903
+v -0.05189541 -0.03269855 -0.04608419
+v -0.05230150 -0.03201568 -0.04608419
+v -0.05382979 -0.02929765 -0.04608418
+v -0.05423588 -0.02851386 -0.04608417
+v -0.05500778 -0.02702029 -0.04608417
+v -0.05654226 -0.02331999 -0.04608416
+v -0.05531777 -0.02635423 -0.04608417
+v -0.05583547 -0.02513314 -0.04608416
+f 1 2 3
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+f 1 4 5
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+f 25 32 33
+f 25 33 31
+
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_22.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5936ea9c4e22aadd799e49dd81c39d99a15677a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_22.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.06280711 -0.00026044 -0.04962892
+v -0.06105174 -0.00026045 -0.04608407
+v -0.06105174 0.00112207 -0.04608407
+v -0.06280401 0.00098283 -0.04962892
+v -0.04631531 -0.00026044 -0.04962892
+v -0.04698092 -0.00026045 -0.04608407
+v -0.06267708 0.00401643 -0.04962891
+v -0.06047281 0.00710968 -0.04608404
+v -0.03118259 0.03360970 -0.04962880
+v -0.03202777 0.03360969 -0.04608395
+v -0.06027777 0.00840601 -0.04608404
+v -0.06211363 0.00714616 -0.04962889
+v -0.05257519 0.03360970 -0.04962880
+v -0.05077648 0.03360969 -0.04608395
+v -0.05938615 0.01312714 -0.04608402
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+v -0.05145758 0.03255871 -0.04608395
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+v -0.05392810 0.02822547 -0.04608397
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+v -0.05664319 0.02223455 -0.04608399
+v -0.05807040 0.01851798 -0.04608400
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+f 21 27 22
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+
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_23.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b99c53e1a86a1d368fc6033cdba751a3f646ab6a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_23.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.03981270 -0.02535264 -0.04608139
+v 0.04699829 0.00016778 -0.04608130
+v 0.05575704 -0.02535264 -0.04608139
+v 0.03981688 -0.02535274 -0.01790521
+v 0.06112537 0.00016778 -0.04608130
+v 0.04702333 0.00016768 -0.01790512
+v 0.05659578 -0.02331921 -0.04608139
+v 0.05654153 -0.02331931 -0.01790521
+v 0.05565064 -0.02535274 -0.01790521
+v 0.06112537 -0.00038430 -0.04608130
+v 0.06090421 0.00016768 -0.01790512
+v 0.05802705 -0.01956209 -0.04608137
+v 0.05681903 -0.02260735 -0.01790520
+v 0.06112120 -0.00206301 -0.04608131
+v 0.06090213 -0.00112883 -0.01790512
+v 0.05844642 -0.01820813 -0.04608137
+v 0.05792691 -0.01947975 -0.02001805
+v 0.05742825 -0.02098609 -0.01790520
+v 0.06109199 -0.00288738 -0.04608131
+v 0.06089586 -0.00206311 -0.01790513
+v 0.05873018 -0.01724636 -0.04608136
+v 0.05859247 -0.01724646 -0.02001804
+v 0.05791647 -0.01946726 -0.01790519
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+v 0.06078737 -0.00430639 -0.01790514
+v 0.05935819 -0.01420869 -0.04608135
+v 0.05937696 -0.01420878 -0.02306597
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+v 0.05856535 -0.01724646 -0.01790518
+v 0.05812094 -0.01878029 -0.01790519
+v 0.06044311 -0.00821579 -0.04608133
+v 0.06075191 -0.00477353 -0.01790514
+v 0.06066845 -0.00582523 -0.01790514
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+v 0.05996116 -0.01117361 -0.02306596
+v 0.06038887 -0.00813595 -0.01790515
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+f 38 40 41
+
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_24.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3eb9d99e3b93fbaef6323c285ff83e9fd0b444b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_24.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.05565153 -0.02535274 -0.01790521
+v 0.03981675 -0.02535274 -0.01790521
+v 0.05528859 -0.02618257 -0.01790522
+v 0.05533173 -0.02642752 -0.04608140
+v 0.05575558 -0.02535264 -0.04608139
+v 0.03981421 -0.02535264 -0.04608139
+v 0.02982960 -0.03655530 -0.04600145
+v 0.02982960 -0.03657211 -0.01790525
+v 0.05507031 -0.02665039 -0.01790522
+v 0.05457032 -0.02770021 -0.01790522
+v 0.05386729 -0.02931242 -0.04608141
+v 0.02982960 -0.03655530 -0.04608143
+v 0.02982960 -0.05363924 -0.01790532
+v 0.05395358 -0.02887533 -0.01790523
+v 0.05367693 -0.02939884 -0.01790523
+v 0.05326070 -0.03039843 -0.04608141
+v 0.02982960 -0.05380065 -0.04608150
+v 0.03060116 -0.05321597 -0.01790532
+v 0.05224548 -0.03196072 -0.01790524
+v 0.05230640 -0.03207480 -0.04608142
+v 0.03150978 -0.05285108 -0.04608149
+v 0.03138287 -0.05278435 -0.01790531
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+v 0.05180640 -0.03291576 -0.04608142
+v 0.03234733 -0.05235263 -0.04608149
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+v 0.05139017 -0.03359521 -0.04608142
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+v 0.03664167 -0.04929240 -0.01790530
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+v 0.04694608 -0.03968246 -0.04608145
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+v 0.04153753 -0.04521010 -0.01790529
+v 0.04466185 -0.04211078 -0.01790527
+v 0.04610853 -0.04064874 -0.04608145
+v 0.04160606 -0.04525455 -0.04608147
+v 0.04314411 -0.04369246 -0.01790528
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+v 0.04318472 -0.04373692 -0.04608146
+v 0.04402227 -0.04287368 -0.04608146
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+f 1 22 27
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+f 1 31 35
+f 1 35 43
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+f 4 25 21
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+
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_25.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed4b7585eacef33b576ea569d48734b01de78ad9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_25.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.02714227 -0.05687590 -0.04962913
+v 0.02854592 -0.05640528 -0.04962913
+v 0.02714227 -0.05514702 -0.04608427
+v 0.02714227 -0.03785814 -0.04962906
+v 0.02716647 -0.05513711 -0.04608427
+v 0.03491767 -0.05241249 -0.04962911
+v 0.03302654 -0.05193693 -0.04608426
+v 0.03234892 -0.05234810 -0.04608426
+v 0.03150880 -0.05284844 -0.04608426
+v 0.02985622 -0.05378472 -0.04608427
+v 0.02875335 -0.05439403 -0.04608427
+v 0.02714227 -0.03855169 -0.04608421
+v 0.02714227 -0.03783337 -0.04962732
+v 0.04607428 -0.00626756 -0.04962616
+v 0.04618146 -0.00626756 -0.04962894
+v 0.03780795 -0.05049041 -0.04962911
+v 0.03491767 -0.05069353 -0.04608426
+v 0.04663436 -0.00626757 -0.04608409
+v 0.06246174 -0.00626756 -0.04962894
+v 0.04093678 -0.04755279 -0.04962909
+v 0.04160749 -0.04525422 -0.04608424
+v 0.04008974 -0.04665120 -0.04608424
+v 0.03911480 -0.04748840 -0.04608424
+v 0.03827814 -0.04817202 -0.04608425
+v 0.03676040 -0.04941048 -0.04608425
+v 0.06062593 -0.00626757 -0.04608409
+v 0.06210219 -0.00827882 -0.04962895
+v 0.06044270 -0.00821938 -0.04608410
+v 0.06024563 -0.00949252 -0.04608410
+v 0.04399646 -0.04454581 -0.04962908
+v 0.04318746 -0.04373834 -0.04608423
+v 0.04231968 -0.04457554 -0.04608423
+v 0.06006931 -0.01725020 -0.04962898
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+v 0.05873135 -0.01725021 -0.04608413
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+v 0.04994297 -0.03836838 -0.04962906
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+v 0.05326195 -0.03039768 -0.04608418
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+v 0.05180644 -0.03290927 -0.04608419
+v 0.05139156 -0.03359290 -0.04608419
+f 1 2 3
+f 1 3 12
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+f 1 38 43
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+f 43 54 55
+f 43 55 47
+f 47 55 48
+
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_26.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58a057b4f3ca429dfacadefa016c7eb2a2a515a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_26.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.03113484 -0.03462606 -0.04962905
+v -0.05242990 -0.03462606 -0.04962905
+v -0.03196079 -0.03462607 -0.04608420
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+v -0.05069593 -0.03462607 -0.04608420
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+v -0.00002077 -0.06338290 -0.04962915
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+v -0.00153415 -0.06167411 -0.04608430
+v -0.00153415 -0.06338009 -0.04962915
+v -0.05005467 -0.03822102 -0.04962906
+v -0.04941340 -0.03652912 -0.04608420
+v -0.00392478 -0.06152491 -0.04608430
+v -0.00456604 -0.06325903 -0.04962915
+v -0.00449935 -0.06326185 -0.04962915
+v -0.04995719 -0.03835896 -0.04962906
+v -0.04887474 -0.03730610 -0.04608421
+v -0.00456091 -0.06147705 -0.04608430
+v -0.00767488 -0.06097596 -0.04608429
+v -0.01232275 -0.06013141 -0.04608429
+v -0.01535977 -0.05955993 -0.04608429
+v -0.00772105 -0.06266504 -0.04962915
+v -0.04986485 -0.03846875 -0.04962906
+v -0.04611987 -0.04063362 -0.04608422
+v -0.04763838 -0.03882347 -0.04608421
+v -0.04834121 -0.03798455 -0.04608421
+v -0.01672438 -0.05921648 -0.04608429
+v -0.01682185 -0.06059027 -0.04962914
+v -0.04695608 -0.04156261 -0.04962907
+v -0.04470909 -0.04215099 -0.04608422
+v -0.04549400 -0.04131207 -0.04608422
+v -0.01889442 -0.05854366 -0.04608429
+v -0.01987940 -0.05970912 -0.04962914
+v -0.04555556 -0.04303775 -0.04962908
+v -0.04319058 -0.04371340 -0.04608423
+v -0.01957672 -0.05831281 -0.04608428
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+v -0.03494138 -0.05063588 -0.04608426
+v -0.03599305 -0.04992364 -0.04608425
+v -0.03676257 -0.04939439 -0.04608425
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+
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_27.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a25ae21839de6844a49a7dae50cff6d7b6f6ace
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_27.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.01882201 0.04223015 0.02564826
+v 0.01882201 0.04223009 0.04094224
+v 0.00009112 0.04602079 0.02733660
+v 0.01882201 0.04223260 -0.01790495
+v 0.01882201 0.05494637 0.04157104
+v 0.01881468 0.04223238 0.04157100
+v 0.00009112 0.04602074 0.04157101
+v 0.00009112 0.04602553 -0.01790494
+v 0.01882201 0.05778386 -0.01790490
+v 0.01882201 0.05742927 0.04157105
+v 0.00009112 0.05924000 0.04157106
+v 0.00009112 0.06408713 -0.01790487
+v 0.01530722 0.06333952 -0.01790488
+v 0.01548140 0.06346754 -0.01696174
+v 0.01882201 0.05781587 -0.01781758
+v 0.01848098 0.05750014 0.04157105
+v 0.01882201 0.05849470 0.03180199
+v 0.01581326 0.06370285 0.02875137
+v 0.01564825 0.06359768 0.03180201
+v 0.01538789 0.06341020 0.03367083
+v 0.01240848 0.06336675 0.03652353
+v 0.00150474 0.05925143 0.04157106
+v 0.00009112 0.06364567 0.03690195
+v 0.00009112 0.06422658 -0.01696173
+v 0.01061533 0.06424259 -0.01696173
+v 0.00243982 0.06408713 -0.01790487
+v 0.01458482 0.06354071 -0.01790488
+v 0.01365341 0.06397509 -0.01696174
+v 0.01578392 0.06368244 -0.01391692
+v 0.01882201 0.05812222 -0.01696176
+v 0.01061533 0.05861585 0.04157106
+v 0.01061533 0.06353593 0.03674476
+v 0.01882201 0.05881479 0.02875136
+v 0.01582426 0.06370745 0.02570654
+v 0.01365341 0.06419669 0.02875138
+v 0.01365341 0.06409380 0.03180202
+v 0.01351407 0.06361825 0.03474787
+v 0.01061533 0.06403206 0.03484685
+v 0.00392127 0.05917827 0.04157106
+v 0.00758091 0.06364109 0.03689613
+v 0.00454282 0.06364338 0.03690195
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+v 0.01061533 0.06422869 0.03180202
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+v 0.01581326 0.06369843 -0.00782145
+v 0.01582059 0.06370521 0.01047078
+v 0.01582243 0.06370747 0.01960525
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+
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_28.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1100f2ecddd58c55aed818d4e58c265cc5fb6e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_28.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_29.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e13a62aaf02f2e25a5f96c45fb6dc57e9aac4254
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_29.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_3.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d22a88845ae29e4b4074aa941ed1a0fa00d9eaf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_3.obj
@@ -0,0 +1,763 @@
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_30.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b159cc4a1be3ccc1ade6bc5dca38494b4ae4e21d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_30.obj
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_31.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee284f73470ce1f4b36e846fea034cbbeddde05e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_31.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_32.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acc3fd391ea54baec18d35a7d20eaac5e59b5e1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_32.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_33.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14ef7a636cab688ccc2aca753cc8011bf14bf9f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_33.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_34.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9e00a8c7aa050f75274361d09a4ef3be8f553a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_34.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_4.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17acb61bf5bed3ae36cee8d14a3f5a4c4603de75
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_4.obj
@@ -0,0 +1,799 @@
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_5.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5030276ea27501a6a42b02b7fb769d07b2c12b01
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_5.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00858977 -0.06078954 -0.04608152
+v -0.00858977 -0.04630228 -0.04608147
+v -0.00766840 -0.06097644 -0.04608152
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+v -0.00858977 -0.04631959 -0.01790529
+v 0.02982960 -0.03657124 -0.01790525
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+v -0.00455829 -0.06147813 -0.04608153
+v -0.00858977 -0.06021911 -0.01790534
+v 0.02982960 -0.05364069 -0.01790532
+v 0.02982960 -0.03655639 -0.04600145
+v 0.02982960 -0.03655639 -0.04608143
+v -0.00391897 -0.06152485 -0.04608153
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+v -0.00854088 -0.06022649 -0.01790534
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+v 0.01365104 -0.05942478 -0.01790534
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+
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_6.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26d856093f2d8bec0c32727881b8b02f5d9c6899
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_6.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.03636712 -0.02999325 -0.01790523
+v -0.03636712 -0.02999014 -0.04608141
+v -0.03636712 -0.04947635 -0.01790530
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+
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_7.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11beabf1979c138c81d8e90aaff8e08254c844da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_7.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00454392 0.06408532 -0.01790488
+v 0.00150583 0.06064468 -0.04608108
+v 0.00004152 0.06408532 -0.01790488
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+v 0.01907465 0.05751519 -0.04608109
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+
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_8.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10dfb288038e954d282e15be424430d5c17b2e7e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_8.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_9.obj b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..614ddd7888ad83f97f13c7d42a5ed4b7f06095a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/mesh/remote_holder_007_collision_9.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/remote_holder_007.xml b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/remote_holder_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..07e80fe39aa7bf1bdb58808d6de5732c6ec2e826
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/mjcf/remote_holder_007.xml
@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_007">
+  <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_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_007_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_007_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_007_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_007_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_007_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_007_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_007_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_007_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_007_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_007_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_007_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_007_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_007_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_007_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_007_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_007_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_007_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_007_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_007_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/remote_holder_007_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/remote_holder_007_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/remote_holder_007_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/remote_holder_007_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/remote_holder_007_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/remote_holder_007_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/remote_holder_007_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/remote_holder_007_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/remote_holder_007_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/remote_holder_007_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/remote_holder_007_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/remote_holder_007_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/remote_holder_007_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_007">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" 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/36c0789ad9975701af1278ae9526b62e/remote_holder_007.urdf b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/remote_holder_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c4fabbd1a4ba08de36fd651896009ef60b27ca5a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/remote_holder_007.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_007">
+   <link name="remote_holder_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_007.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_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>36c0789ad9975701af1278ae9526b62e</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>cylindrical remote holder</name>
+         <color>brown</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical holder with base, designed for storing remotes or small devices</description>
+         <min_height>0.1851</min_height>
+         <max_height>0.1851</max_height>
+         <real_height>0.1851</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427231624</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>3</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
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/remote_holder_007.usd b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/remote_holder_007.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b36bde8237aee65ca657d8d8ab8a36a03748f43a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/remote_holder_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54e3270c1bf178f38867a39ca13006fb6d033fe91c0818174129d0a5fde699d8
+size 4788959
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/textures/material_0.png b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bda3682ebb06eaeddd62bd9e8a5b3a1a03857c60
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abd4ff200bdd24c6ec235bfdbf40ba3287e114afda653a1c089f49f7c12c6ca3
+size 10497271
diff --git a/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/video.mp4 b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d814796a2a03b50fae897ff91348e512ec885b7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/36c0789ad9975701af1278ae9526b62e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e406aa7b4e61dbd5977770b8eaf0189447b4d7ad2f4f39e27dbd82ca654acb7
+size 280238