diff --git a/.gitattributes b/.gitattributes
index a81ee1e7236fcadbdf695d5c292ef35e9ea7ec40..b1a1a98d3e376342b9fc45fbee56d1ceece72adc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2774,3 +2774,5 @@ dataset/bedroom_supplies/storage/6b753291015c5fbd84c792962d467ad1/mesh/jewelry_b
 dataset/bedroom_supplies/storage/6c15732d7aa450c1b4c3c3e957c0c823/6c15732d7aa450c1b4c3c3e957c0c823.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/6c15732d7aa450c1b4c3c3e957c0c823/mesh/plastic_bin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/6c15732d7aa450c1b4c3c3e957c0c823/mesh/plastic_bin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/remote_holder_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/remote_holder_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/material.mtl b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ddb53ea71fb35c91739566d2dc7e076a8bc22673
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_037_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_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/material_0.png b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..687a8be7d6c78141c21df80cf88344d07a715f6c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:947a07b303085502d1bf18910375fe3920a67902274be1ee5e50465774733074
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/remote_holder_037.glb b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/remote_holder_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d88bc5fab86b0f603ed082c5686bf8ec16565cc9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/remote_holder_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12508168
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/remote_holder_037.mtl b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/remote_holder_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d10a0669aec06de9876dea51497e8faf9b283aa5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/remote_holder_037.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_037_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/6ff83a93cef75abea61e4d54d525cc3d/mesh/remote_holder_037.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/remote_holder_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08cd66903ce98fcb937660a17db300f769a7e9f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/remote_holder_037.obj
@@ -0,0 +1,109286 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_037_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/remote_holder_037_collision.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/remote_holder_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0cd28baff6e5624ffbce62af2e9930e673d3b86
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mesh/remote_holder_037_collision.obj
@@ -0,0 +1,11520 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..687a8be7d6c78141c21df80cf88344d07a715f6c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:947a07b303085502d1bf18910375fe3920a67902274be1ee5e50465774733074
+size 9561335
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037.obj
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index 0000000000000000000000000000000000000000..b3709f92bca6902973779a9349248208b1734578
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_037_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a49baf3d30579c6cfeab27a9ee5c6f2bbd960d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision.obj
@@ -0,0 +1,11520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_0.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..147886687ee478d083b9b750e4f8ca093731d47e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_0.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_1.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bdbedb589c9e9784bc0d0a853ebbdbff0c637be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_1.obj
@@ -0,0 +1,769 @@
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_10.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8143171e27cf832b2d3aab4e36ea09a08bbfac6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_11.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bdb8d673991b8cb35c932c5a9d9f4333274e469
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_11.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_12.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c197b8ca5bb1af023eeb877558ce46c7a5f23209
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_12.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_13.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..162b199b50dc99c8b2f728bfe64f38b042c4e912
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_13.obj
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_14.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1537099379aa4d5d5dcebcf7c74b0245ccaa938c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_14.obj
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+
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_15.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd6b6d4058d97f1a6339b8e5c28c0149ff4e191e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_15.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.04421366 0.02266726 0.04825897
+v 0.04422098 0.01865435 0.04825896
+v 0.04420634 0.02266726 0.04817128
+v 0.04386965 0.02266726 0.04962560
+v 0.04387697 0.02061570 0.04963014
+v 0.04422829 -0.00097079 0.04825889
+v 0.04395748 0.02266727 0.04628611
+v 0.04388429 0.01472874 0.04963767
+v 0.04262537 0.02266726 0.05013658
+v 0.04256682 0.02257996 0.05016077
+v 0.04256682 0.01865435 0.05016983
+v 0.04388429 0.01080313 0.04963916
+v 0.04388429 -0.00706145 0.04963759
+v 0.04419170 -0.00706145 0.04839794
+v 0.04422098 -0.00706145 0.04825886
+v 0.04398676 -0.00706144 0.04648707
+v 0.04395748 -0.00706144 0.04628600
+v 0.04394284 0.02266727 0.04623773
+v 0.04256682 0.01472874 0.05017585
+v 0.04256682 0.01080313 0.05017887
+v 0.04256682 0.02266726 0.05015925
+v 0.04069308 0.02266726 0.05030439
+v 0.04060524 0.02257996 0.05031195
+v 0.04256682 0.00883887 0.05017886
+v 0.04256682 -0.00489640 0.05017730
+v 0.04256682 -0.00706145 0.05017577
+v 0.04365007 -0.00706144 0.04530638
+v 0.04362079 0.02266727 0.04518706
+v 0.04060524 0.01865435 0.05031798
+v 0.04060524 0.01080313 0.05032097
+v 0.04060524 0.02266726 0.05031043
+v -0.02601499 0.02257996 0.05030892
+v -0.02601499 0.02061570 0.05031951
+v 0.04060524 -0.00706145 0.05032090
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+v 0.04361347 -0.00706144 0.04519450
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+v -0.02601499 0.01865435 0.05032100
+v -0.02601499 0.01080313 0.05032400
+v -0.02601499 0.00491617 0.05032549
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+v -0.02796924 0.02257996 0.05017135
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+v -0.02796924 0.01865435 0.05018495
+v -0.02601499 -0.00293505 0.05032395
+v -0.02601499 -0.00706145 0.05032241
+v 0.03956590 -0.00706142 0.03962969
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+v -0.02796924 0.00295482 0.05019093
+v -0.02796924 -0.00489640 0.05019090
+v -0.02788873 0.02266726 0.05017437
+v -0.02796924 0.02266726 0.05016833
+v -0.02940382 0.02266726 0.04963770
+v -0.02941114 0.02061570 0.04964526
+v -0.02941114 0.01865435 0.04964675
+v -0.02941846 0.00295482 0.04965123
+v -0.02796924 -0.00706145 0.05018938
+v 0.03868759 -0.00706141 0.03858658
+v 0.03860708 0.02266730 0.03842492
+v -0.02941846 -0.00706145 0.04965119
+v -0.03016503 0.02266726 0.04831793
+v -0.03020895 0.01865435 0.04825896
+v -0.02941846 0.00491617 0.04964973
+v -0.03021627 0.00099056 0.04825889
+v 0.03858512 -0.00706141 0.03846715
+v 0.03758969 0.02266730 0.03743925
+v -0.03021627 -0.00706145 0.04825886
+v -0.03019431 0.02266726 0.04825897
+v -0.03052368 0.02266727 0.04637228
+v -0.03053832 0.02266727 0.04628611
+v -0.03054563 -0.00686065 0.04628600
+v 0.03746527 -0.00706141 0.03748148
+v 0.03755310 0.02266730 0.03742565
+v -0.03053832 -0.00706144 0.04628600
+v -0.03053832 0.02266731 0.03488135
+v -0.03053832 -0.00706140 0.03488124
+v 0.03648448 -0.00706141 0.03719726
+v 0.03661623 0.02266730 0.03716714
+v -0.01529954 0.02266731 0.03488135
+v -0.01531418 -0.00706140 0.03488124
+v 0.03472785 0.02266730 0.03688293
+v 0.03652108 0.02266730 0.03715051
+v 0.03472785 -0.00706141 0.03694177
+v -0.01529954 0.02258001 0.03488135
+v -0.01530686 0.00099061 0.03488127
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+
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_16.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75a50afbf8737874c412d4783a92a84fccd7c1d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_16.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01540077 -0.00576022 -0.01964014
+v -0.01216577 -0.00097522 -0.02604194
+v -0.01216577 0.00001097 -0.02604394
+v -0.01329118 0.00001096 -0.02385311
+v -0.01540077 0.00001094 -0.01982687
+v -0.01540077 -0.00792728 -0.01969437
+v -0.01216577 -0.02615775 -0.02608421
+v -0.01216577 0.00001102 -0.04015083
+v -0.01540077 0.00001102 -0.04013276
+v -0.01540077 -0.02615777 -0.02309214
+v -0.01216577 -0.02615770 -0.04003045
+v -0.01216577 -0.00097517 -0.04015284
+v -0.01216577 -0.01471273 -0.04015490
+v -0.01540077 -0.02141884 -0.04013284
+v -0.01540077 -0.02615770 -0.04002241
+v -0.01216577 -0.02465919 -0.04010474
+v -0.01263126 -0.02615770 -0.04003045
+v -0.01216577 -0.01667487 -0.04015089
+v -0.01425826 -0.02256385 -0.04013485
+v -0.01540077 -0.02256385 -0.04013083
+v -0.01425826 -0.02615770 -0.04002844
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+v -0.01425826 -0.02452599 -0.04010674
+v -0.01229876 -0.02452599 -0.04011076
+v -0.01216577 -0.02452599 -0.04011076
+v -0.01216577 -0.02256385 -0.04013686
+v -0.01229876 -0.02256385 -0.04013686
+v -0.01540077 -0.02452599 -0.04010273
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+f 1 22 15
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+
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_17.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd06dbd0466ac0c83f8a9164271d847e88602fca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_17.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.00893858 -0.01079085 -0.04100282
+v -0.00893653 0.00001026 -0.04100278
+v -0.00846892 0.01472683 -0.04643620
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+v -0.00784612 0.01804824 -0.04643618
+v -0.00641877 0.01852272 -0.04643618
+v -0.00637589 0.01852646 -0.04643618
+v -0.00445847 0.01856382 -0.04643618
+v 0.01142610 0.00001401 -0.04643678
+v -0.00836069 -0.01667521 -0.04643684
+v -0.00828718 -0.01853208 -0.04100285
+v 0.01192230 -0.00686046 -0.04100281
+v 0.01142406 0.01472683 -0.04643620
+v 0.01184062 0.01472681 -0.04104209
+v 0.01176711 0.01668827 -0.04104208
+v 0.01114839 0.01856380 -0.04104207
+v 0.00925547 0.01908312 -0.04104207
+v 0.00733805 0.01856382 -0.04643618
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+v 0.00925343 -0.01849096 -0.04643685
+v 0.00925343 -0.01905513 -0.04100285
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+
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_18.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b1200b0d5fea4626f820b5eb7880b7583af8471
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_18.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.01526984 -0.03144545 0.03151323
+v -0.01526984 -0.03144551 0.04932703
+v -0.01526984 -0.02306635 0.03520294
+v 0.03472654 -0.02306636 0.03685465
+v 0.03472654 -0.03144545 0.03373513
+v -0.01425652 -0.03144551 0.04932887
+v -0.01425652 -0.03041617 0.04956799
+v -0.01526984 -0.03041617 0.04956431
+v -0.01526984 -0.02306640 0.05026880
+v 0.03666583 -0.02306636 0.03715998
+v 0.03613005 -0.03144546 0.03405149
+v 0.04060847 -0.03144551 0.04940612
+v 0.04060847 -0.03041617 0.04964708
+v -0.01425652 -0.02845344 0.04991931
+v -0.01526984 -0.02845344 0.04991747
+v -0.01526984 -0.02946720 0.04973537
+v -0.01526984 -0.02452881 0.05023752
+v -0.01425652 -0.02306640 0.05027248
+v 0.03666583 -0.03144546 0.03417656
+v 0.03759762 -0.02306636 0.03743588
+v 0.04256522 -0.03144551 0.04932519
+v 0.04256522 -0.03041617 0.04954960
+v 0.04060847 -0.02845344 0.04999105
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_19.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c1e706d53619da4bbf0a16aa1611c86f426ce8a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_19.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_2.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4073f2adc241fe47f2b34c7968709cea91dd24b5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_2.obj
@@ -0,0 +1,820 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_20.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..232da6b98a6bdee16b7a21d44c8f87644e6fa8ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_20.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_21.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ade53bbc92675447154ad7b952a888c778cab4e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_21.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_22.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7deecc9e8661dfbf50930b922257df7b4081676d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_22.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_23.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3618052324eb4af998b5bc893c58fd9a88881aba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_23.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_24.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51691e15ced1f082a0b51be6d2de9e6b6fd85730
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_24.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01526979 0.03488599 0.00410749
+v -0.01526979 0.03390106 0.02598084
+v -0.01526979 0.04996688 0.00410754
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+
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_25.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7880c1678ecd41c4f5c55c2eed2bfbb5abaa09cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_25.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
+v 0.03703869 0.02811955 -0.03984171
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_26.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d8dfd31d81fed0a0944a49b3f2dfd8edd63d077
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_26.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01540047 -0.04994726 -0.01287021
+v -0.01540047 -0.04992681 -0.01402059
+v -0.01425804 -0.04994726 -0.01287021
+v -0.01540047 -0.04994727 -0.01089724
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+v -0.01540047 -0.04991146 -0.01484111
+v -0.01227934 -0.04994556 -0.01284959
+v -0.01540047 -0.04994563 0.00410718
+v -0.01227934 -0.04990805 -0.01484111
+v -0.01540047 -0.04975803 -0.01681407
+v -0.01227934 -0.04975803 -0.01681407
+v -0.01227934 -0.04994222 0.00410718
+v -0.01540047 -0.03296713 0.00410724
+v -0.01540047 -0.04973587 -0.01695426
+v -0.01425804 -0.04973587 -0.01695426
+v -0.01229889 -0.04973417 -0.01695426
+v -0.01227934 -0.04973417 -0.01695220
+v -0.01227934 -0.03658785 0.00410723
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+v -0.01227934 -0.03564850 -0.01695421
+v -0.01227934 -0.04770050 -0.01695426
+f 1 2 3
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+f 1 19 14
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+f 1 10 6
+f 1 6 2
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+
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_27.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f28a6b7dde417b92e381a29919eb3608adf4da5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_27.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01229885 0.04786813 0.03488145
+v -0.01227776 0.04787067 0.03487622
+v -0.01425819 0.04786813 0.03488145
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+v -0.01526949 0.04997772 0.02656811
+v -0.01227776 0.04975206 0.02854059
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+
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_28.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8314f3db1ceca316d596a53c73a91a0d5e274cef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_28.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.01231111 -0.03201325 -0.02246843
+v -0.01222261 -0.03201499 -0.02247059
+v -0.01229451 -0.03201499 -0.02247059
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+v -0.01231111 -0.03564626 -0.01695421
+v 0.01350288 -0.03564626 -0.01695421
+v 0.02891273 -0.03202719 -0.02247059
+v -0.01231111 -0.04837738 -0.02247065
+v -0.01231111 -0.04973411 -0.01695426
+v 0.01741342 -0.03564800 -0.01695421
+v 0.02100869 -0.03564974 -0.01695421
+v 0.03275137 -0.03565671 -0.01695421
+v 0.03087077 -0.03203067 -0.02247059
+v -0.01231111 -0.04886154 -0.02107414
+v 0.00533887 -0.04838783 -0.02247065
+v 0.03850932 -0.04980377 -0.01695426
+v -0.01231111 -0.04973237 -0.01696614
+v 0.03472600 -0.03571593 -0.01695421
+v 0.03276796 -0.03203589 -0.02247059
+v -0.01231111 -0.04886503 -0.02106388
+v 0.03864760 -0.04887374 -0.02111248
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+v 0.04046736 -0.04980551 -0.01695426
+v -0.01231111 -0.04943977 -0.01878712
+v 0.03492512 -0.03574902 -0.01695421
+v 0.03472600 -0.03210556 -0.02247059
+v -0.01231111 -0.04914892 -0.02007779
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_29.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe317b52114f2128d94f8b2ebcd304f4d73f1254
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_29.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_3.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b7827e53c64bd3836c88fd42b6ed5a6a4abedbb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_3.obj
@@ -0,0 +1,823 @@
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_30.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7372e0807744fe74851aa532cdb1b7346eb9c0b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_30.obj
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_31.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eae90bfd828728743270188fe532200d814a516e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_31.obj
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+
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_32.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9feba7380305372bf4dae1ed69435185f908d47b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_32.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.04413896 0.00001101 -0.03850539
+v 0.04414448 -0.02615772 -0.03653290
+v 0.04413896 -0.02256386 -0.03850547
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+
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_33.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be8ee3daaa72c5c6d90a61e74f143cbbb2d5f852
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_33.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01540077 -0.03253488 -0.01695420
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+v -0.01540077 -0.04973407 -0.01695426
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+
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_4.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cebadca1e478bb643cdda55f757030abb5b3b59e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_4.obj
@@ -0,0 +1,871 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_5.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f8919077864f20603008e34354adc2b817441e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_6.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00ec957f5bdcd9fb348809c0a965b46d57fa2437
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_6.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_7.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39987d8cab78e291dab4ab4e8108da8030ee4f57
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_7.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_8.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17451c6c491a93f35b8fa47fb68f96c23932215b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_8.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_9.obj b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77de1270585750cc925043e41eb9c863bca99aef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/mesh/remote_holder_037_collision_9.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/remote_holder_037.xml b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/remote_holder_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..97d9aa68ed36aac28b61712cff527e6390ae95ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/mjcf/remote_holder_037.xml
@@ -0,0 +1,82 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_037">
+  <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_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_037_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_037_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_037_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_037_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_037_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_037_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_037_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_037_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_037_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_037_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_037_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_037_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_037_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_037_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_037_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_037_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_037_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_037_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/remote_holder_037_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/remote_holder_037_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/remote_holder_037_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/remote_holder_037_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/remote_holder_037_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/remote_holder_037_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/remote_holder_037_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/remote_holder_037_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/remote_holder_037_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/remote_holder_037_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/remote_holder_037_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/remote_holder_037_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_037">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/remote_holder_037.urdf b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/remote_holder_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..297a97cb91f96da4f3a14790658836fb94200fa5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/remote_holder_037.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_037">
+   <link name="remote_holder_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_037.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_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>6ff83a93cef75abea61e4d54d525cc3d</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>desktop remote holder</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>dark square remote holder with rounded cavity on pedestal base</description>
+         <min_height>0.1193</min_height>
+         <max_height>0.1193</max_height>
+         <real_height>0.1193</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135020</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.041209 -0.054992 -0.069674</min>
+            <max>0.058012 0.055008 0.049675</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/remote_holder_037.usd b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/remote_holder_037.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/remote_holder_037.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4662922
diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/textures/material_0.png b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/video.mp4 b/dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/video.mp4
new file mode 100644
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