diff --git a/.gitattributes b/.gitattributes
index bea6934325e4fc489648e36b11d83841a140551d..8467436b63b44979a3d7f54fb12b285d1257ffb0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2844,3 +2844,5 @@ dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/mesh/glasses_c
 dataset/bedroom_supplies/storage/cff021edb0e75957a9281f8372adc476/cff021edb0e75957a9281f8372adc476.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/cff021edb0e75957a9281f8372adc476/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/cff021edb0e75957a9281f8372adc476/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/remote_holder_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/material.mtl b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a0bd815b664baa68b83d551c2a48e99f69234cde
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/material_0.png b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8b4733e91798a51d0724c7676901856a0cbf24b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008.glb b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9329acfdbd9b01268196964cd8c9f768d406538f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:121afe4e5fbb42545ae1e35db713e88bdea131a7847a4622de75a886fb9b9f9f
+size 12297812
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008.mtl b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7665935498bdf45b1f2d09fe025618457ee23383
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_008_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/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeadaac89773effbf2358117ed087ba1b4d164ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008.obj
@@ -0,0 +1,109214 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_008_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008_collision.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..505b95bf6b69ead53bf5db6fd56274bc2bb03738
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008_collision.obj
@@ -0,0 +1,12460 @@
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mesh/remote_holder_008_geometry_Looks_material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 9199158
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008.obj
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index 0000000000000000000000000000000000000000..eb4466859ecf5dc282b98a4166681b518fa76c38
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+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008.obj
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7942a377865c66f1bfbd551f2afc8c0b9cfccbe2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision.obj
@@ -0,0 +1,12460 @@
+# https://github.com/mikedh/trimesh
+
+o remote_holder_008_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_0.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dc303ba841dee2f3e79e2cf7834917aea58b3fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_0.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_1.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6064a6924d1f18ef8d65000e7a8299cb6b7bc68
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_1.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_10.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91290bd4f4cb58155d65b187e0c7b322c7babe51
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_10.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.05412553 0.00039409 -0.02378743
+v -0.05412553 0.01363499 -0.02379163
+v -0.05157325 0.00689201 -0.02379165
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+v -0.05202498 0.03615697 0.01557862
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_11.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad47113b488fcfede4a250565bb301f2f8a5809d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_11.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.04740357 0.00039423 -0.02379417
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+v 0.05342113 0.00039407 0.01879007
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_12.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e0579521204e9369ddac13c8747d6dd0b3aff3c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_12.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.07549596 -0.09511482 -0.00899086
+v 0.07388071 -0.09511485 -0.00038763
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_13.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5465e775a786cbd9e0d5e12ab8d7353768e79954
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_13.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01440238 -0.08248064 -0.02379332
+v 0.04714844 -0.08248064 -0.02379332
+v 0.01828203 -0.08461239 -0.02379333
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_14.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4d7fb419af724fbd00c4b9a9fff5b58876054e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_14.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_15.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a390782f81777e682dfae2ba0824c929676ba0f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_15.obj
@@ -0,0 +1,703 @@
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_16.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e90cc68f46d1590cb1f3c48523a0b5d175d8297b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_16.obj
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_17.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a07632c6fff4159c6d40e4490478a51622120f3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_17.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.04793824 0.04854415 0.01897335
+v 0.04793824 0.04909414 0.01892425
+v 0.02754997 0.04854415 0.01895862
+v 0.04793824 0.04543736 0.01828830
+v 0.04793824 0.05270800 0.01841108
+v 0.02754997 0.04614162 0.01840124
+v 0.02754997 0.05270800 0.01835707
+v 0.02754997 0.04558760 0.01827111
+v 0.04793824 0.04400202 0.01558002
+v 0.04793824 0.05318823 0.01833743
+v 0.02754997 0.05310641 0.01822940
+v 0.02754997 0.04445007 0.01608337
+v 0.02754997 0.04418848 0.01558002
+v 0.04793824 0.04356473 0.01221126
+v 0.04793824 0.05506089 0.01773341
+v 0.02754997 0.05483151 0.01767203
+v 0.02754997 0.04376595 0.01225055
+v 0.02754997 0.04366937 0.01148447
+v 0.04793824 0.04350302 0.01148447
+v 0.04793824 0.05527017 0.01733073
+v 0.04793824 0.05581480 0.01558007
+v 0.02754997 0.05490529 0.01727917
+v 0.02754997 0.04335553 -0.00611067
+v 0.04793824 0.04320260 -0.00611067
+v 0.04793824 0.05640505 0.01148452
+v 0.02754997 0.05522322 0.01558006
+v 0.02754997 0.05634206 -0.00611062
+v 0.04793824 0.05690547 -0.00611062
+v 0.02754997 0.05557470 0.01148451
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 24
+f 1 24 28
+f 1 28 25
+f 1 25 21
+f 1 21 20
+f 1 20 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 4
+f 3 5 7
+f 3 7 11
+f 3 11 16
+f 3 16 22
+f 3 22 26
+f 3 26 29
+f 3 29 27
+f 3 27 23
+f 3 23 18
+f 3 18 17
+f 3 17 13
+f 3 13 12
+f 3 12 8
+f 3 8 6
+f 4 6 8
+f 4 8 9
+f 5 10 7
+f 7 10 11
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 10 15 11
+f 11 15 16
+f 13 17 14
+f 14 17 18
+f 14 18 19
+f 15 20 16
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+f 16 21 22
+f 18 23 19
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+f 21 25 26
+f 21 26 22
+f 23 27 28
+f 23 28 24
+f 25 29 26
+f 25 28 27
+f 25 27 29
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_18.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a84a82dfb5a04f34ebd023db1d799b41672b461
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_18.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.04326731 0.11524782 0.03915827
+v 0.04326731 0.11139577 0.03911816
+v 0.04326731 0.11779141 0.03856262
+v 0.00810875 0.11609877 0.05036107
+v 0.00823161 0.11332409 0.05038970
+v 0.00823161 0.11302429 0.05038970
+v 0.04326731 0.11102102 0.03911243
+v 0.04326731 0.11903743 0.03719951
+v 0.01028207 0.11910141 0.04786393
+v 0.00535928 0.11782102 0.05066462
+v 0.00650313 0.11490114 0.05074480
+v 0.00635485 0.11139103 0.05071042
+v 0.00786304 0.11024807 0.05029231
+v 0.04326731 0.11016692 0.03884896
+v 0.04326731 0.11956365 0.03640913
+v 0.01028207 0.12110943 0.04424422
+v 0.00203364 0.12023501 0.04833931
+v 0.00650313 0.11921071 0.04873450
+v 0.00203364 0.11821763 0.05088226
+v 0.00203364 0.11518532 0.05143209
+v 0.00203364 0.11102254 0.05134043
+v 0.00511356 0.10857420 0.05060732
+v 0.04326731 0.10754371 0.03711929
+v 0.04326731 0.12127499 0.03195895
+v 0.00615997 0.12129056 0.04424423
+v 0.00203364 0.12129368 0.04424423
+v -0.00001258 0.12129368 0.04424423
+v -0.00001258 0.12023033 0.04833931
+v -0.00001258 0.11821295 0.05087654
+v -0.00001258 0.11671396 0.05115145
+v -0.00001258 0.11922945 0.04959934
+v -0.00001258 0.11518532 0.05142636
+v -0.00001258 0.11102254 0.05134043
+v 0.00203364 0.10828846 0.05079060
+v 0.00635485 0.10746247 0.04869436
+v 0.01028207 0.10753742 0.04777225
+v 0.04326731 0.10728139 0.03670118
+v 0.04326731 0.12134072 -0.00707902
+v 0.03089679 0.12134228 -0.00707902
+v 0.01440840 0.12134384 -0.00707902
+v -0.00001258 0.12134228 -0.00707902
+v -0.00001258 0.10829002 0.05079060
+v -0.00001258 0.10750931 0.04957637
+v 0.00203364 0.10671767 0.04833926
+v 0.01028207 0.10597444 0.04424417
+v 0.04326731 0.10715648 0.03640335
+v 0.04326731 0.10539222 -0.00707908
+v -0.00001258 0.10539847 -0.00707908
+v -0.00001258 0.10671922 0.04833926
+v -0.00001258 0.10626486 0.04630603
+v -0.00001258 0.10580425 0.04424417
+v 0.00615997 0.10580425 0.04424417
+v 0.04326731 0.10581053 0.03195889
+f 1 2 7
+f 1 7 14
+f 1 14 23
+f 1 23 37
+f 1 37 46
+f 1 46 53
+f 1 53 47
+f 1 47 38
+f 1 38 24
+f 1 24 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 8 15 9
+f 9 16 17
+f 9 17 18
+f 9 18 10
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+f 10 20 11
+f 11 20 12
+f 12 20 21
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+f 13 22 14
+f 14 22 23
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+f 16 25 17
+f 16 24 25
+f 17 19 18
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+f 17 26 27
+f 17 27 28
+f 17 28 19
+f 19 29 30
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+f 19 31 29
+f 20 32 33
+f 20 33 21
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+f 21 34 22
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+f 22 35 36
+f 22 36 23
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+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 27 41 48
+f 27 48 51
+f 27 51 50
+f 27 50 49
+f 27 49 43
+f 27 43 42
+f 27 42 33
+f 27 33 32
+f 27 32 30
+f 27 30 29
+f 27 29 31
+f 27 31 28
+f 33 42 34
+f 34 42 43
+f 34 43 44
+f 34 44 35
+f 35 44 36
+f 36 44 45
+f 36 45 37
+f 37 45 46
+f 38 47 48
+f 38 48 41
+f 38 41 40
+f 38 40 39
+f 43 49 44
+f 44 49 50
+f 44 50 51
+f 44 51 52
+f 44 52 45
+f 45 52 53
+f 45 53 46
+f 47 53 52
+f 47 52 51
+f 47 51 48
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_19.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..444bea679e6e90fd0200d45fd23de99f45e71984
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_19.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00321215 0.00039052 -0.00598123
+v 0.00321215 -0.01743040 -0.00424105
+v 0.00321215 0.00039059 -0.02379143
+v -0.04651582 0.00039052 -0.00426971
+v 0.00321215 -0.03055818 -0.00424110
+v -0.00621650 -0.01655769 -0.00424105
+v 0.00321215 -0.02226737 -0.02379534
+v 0.00202931 0.00039059 -0.02379143
+v -0.04651582 0.00039059 -0.02378952
+v -0.04651582 -0.01398598 -0.00424104
+v -0.02336525 -0.01531826 -0.00424105
+v -0.01924721 -0.01556429 -0.00424105
+v -0.01487606 -0.01586602 -0.00424105
+v -0.01086998 -0.01617240 -0.00424105
+v -0.00687850 -0.01649734 -0.00424105
+v 0.00321215 -0.04703288 -0.00990987
+v -0.01833696 -0.04703290 -0.00424116
+v 0.00321215 -0.03595220 -0.02379539
+v -0.04651582 -0.02642667 -0.02379536
+v -0.04651582 -0.02877563 -0.00424110
+v 0.00321215 -0.04703283 -0.02378969
+v -0.02966886 -0.04703290 -0.00424116
+v 0.00321215 -0.04011615 -0.02379350
+v -0.02270325 -0.04703283 -0.02379160
+v -0.04651582 -0.04703283 -0.02379160
+v -0.04651582 -0.03475919 -0.02379539
+v -0.04651582 -0.04703288 -0.00960164
+f 1 2 5
+f 1 5 16
+f 1 16 21
+f 1 21 23
+f 1 23 18
+f 1 18 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 15
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 11
+f 2 11 10
+f 2 10 20
+f 2 20 22
+f 2 22 17
+f 2 17 5
+f 3 7 8
+f 4 9 19
+f 4 19 26
+f 4 26 25
+f 4 25 27
+f 4 27 20
+f 4 20 10
+f 4 10 11
+f 4 11 12
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+f 4 13 14
+f 4 14 15
+f 4 15 6
+f 5 17 16
+f 7 18 26
+f 7 26 19
+f 7 19 8
+f 8 19 9
+f 16 17 22
+f 16 22 27
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+f 16 25 24
+f 16 24 21
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 20 27 22
+f 21 24 23
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_2.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a447d02c89ceb8bbefb9eb75d5d1fd68dcbfb7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_2.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.00001258 0.11518764 0.05142859
+v -0.00209143 0.11518764 0.05142121
+v -0.00001258 0.11102274 0.05134011
+v -0.00001258 0.11821365 0.05087570
+v -0.00209143 0.11820924 0.05087570
+v -0.00209143 0.11102274 0.05133274
+v -0.00535017 0.11780974 0.05066192
+v -0.00607193 0.11518764 0.05082409
+v -0.00589473 0.11102274 0.05078722
+v -0.00209143 0.10829028 0.05078721
+v -0.00001258 0.10966755 0.05106734
+v -0.00001258 0.11922895 0.04960038
+v -0.00209143 0.12022438 0.04833978
+v -0.00652141 0.11920246 0.04872312
+v -0.00511679 0.10857721 0.05060291
+v -0.00813350 0.11518765 0.05035229
+v -0.01033768 0.11909652 0.04783850
+v -0.04416545 0.11823798 0.03880055
+v -0.04416545 0.11807244 0.03886690
+v -0.04416545 0.11539736 0.03965568
+v -0.00795630 0.11102275 0.05030068
+v -0.00001258 0.10829028 0.05078721
+v -0.00637879 0.10746481 0.04867884
+v -0.00209143 0.10672100 0.04833973
+v -0.00001258 0.10671879 0.04833973
+v -0.00001258 0.12022879 0.04833978
+v -0.00621456 0.12129045 0.04424103
+v -0.01033768 0.12110726 0.04424102
+v -0.04416545 0.11928417 0.03741465
+v -0.01033768 0.10755089 0.04774262
+v -0.04416545 0.11098525 0.03961881
+v -0.04416545 0.10818880 0.03873417
+v -0.04416545 0.11406865 0.03965568
+v -0.04416545 0.10691969 0.03633093
+v -0.01033768 0.10598604 0.04424097
+v -0.00621456 0.10580285 0.04424097
+v -0.00209143 0.10580285 0.04424097
+v -0.00001258 0.10626413 0.04630509
+v -0.00001258 0.12129266 0.04424103
+v -0.00209143 0.12129266 0.04424103
+v -0.04416545 0.12121545 0.03279248
+v -0.04416545 0.12783931 -0.01717415
+v -0.04416545 0.11986245 0.03634572
+v -0.04416545 0.10581613 0.03195940
+v -0.04416545 0.10529538 -0.00754655
+v -0.00001258 0.10580505 0.04424097
+v -0.01446513 0.10529538 -0.00754655
+v -0.00001258 0.10529538 -0.00755392
+v -0.00001258 0.12783931 -0.01717415
+v -0.03919956 0.12679534 -0.02127292
+v -0.04416545 0.12700723 -0.02043990
+v -0.04416545 0.10529544 -0.02386054
+v -0.00001258 0.10529544 -0.02379419
+v -0.00001258 0.12679313 -0.02127292
+v -0.04416545 0.12589040 -0.02293898
+v -0.04416545 0.12679313 -0.02127292
+v -0.00001258 0.12565866 -0.02336655
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+v -0.04416545 0.10770566 -0.02387527
+v -0.04416545 0.11102302 -0.02388263
+v -0.00001258 0.11725161 -0.02380152
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+v -0.04416545 0.11935061 -0.02379414
+v -0.02683018 0.11935061 -0.02380151
+v -0.00001258 0.11935061 -0.02380151
+v -0.04416545 0.12351552 -0.02360246
+v -0.04416545 0.12019816 -0.02375728
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+f 1 6 3
+f 1 3 11
+f 1 11 22
+f 1 22 25
+f 1 25 38
+f 1 38 46
+f 1 46 48
+f 1 48 53
+f 1 53 61
+f 1 61 67
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+f 1 57 54
+f 1 54 49
+f 1 49 39
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+f 1 26 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
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+f 3 6 10
+f 3 10 11
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+f 5 12 13
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+f 5 14 7
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+f 6 15 10
+f 7 16 8
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+f 7 19 20
+f 7 20 16
+f 8 16 9
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+f 9 21 15
+f 10 22 11
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+f 10 23 24
+f 10 24 25
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+f 12 26 13
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+f 18 32 31
+f 18 31 33
+f 18 33 20
+f 18 20 19
+f 23 30 24
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+f 24 34 35
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+f 26 40 27
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+f 27 40 42
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+f 28 41 43
+f 28 43 29
+f 30 32 34
+f 34 44 35
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+f 36 45 47
+f 36 47 37
+f 37 46 38
+f 37 47 48
+f 37 48 46
+f 39 49 42
+f 39 42 40
+f 42 49 50
+f 42 50 51
+f 45 52 53
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+f 45 48 47
+f 49 54 50
+f 50 55 56
+f 50 56 51
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+f 50 58 55
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+f 60 67 61
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+f 63 69 68
+f 65 69 66
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_20.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b0a8ba23ac20d740be804aa768a55d15d261740
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_20.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00321215 -0.07641288 -0.02379533
+v 0.00321215 -0.06927434 -0.02379111
+v 0.00321215 -0.08247924 -0.02379116
+v -0.00209360 -0.08247924 -0.02379116
+v -0.04651582 -0.08100920 -0.02379116
+v -0.04651582 -0.06806812 -0.02379111
+v -0.04332264 -0.06806812 -0.02379111
+v 0.00321215 -0.06806812 -0.02378692
+v 0.00321215 -0.08247937 0.01151971
+v -0.04651582 -0.08247924 -0.02378697
+v -0.04651582 -0.06806818 -0.00896859
+v 0.00321215 -0.06806818 -0.00912365
+v 0.00321215 -0.08186852 0.01557631
+v 0.00202931 -0.08186993 0.01557631
+v -0.00209360 -0.08187275 0.01557631
+v -0.00204492 -0.08247937 0.01152809
+v -0.04651582 -0.08247937 0.01148200
+v -0.04651582 -0.07193945 0.01557635
+v -0.02890464 -0.06806827 0.01760047
+v 0.00321215 -0.07194227 0.01557635
+v -0.01988975 -0.06806828 0.01819136
+v 0.00321215 -0.07987369 0.01832123
+v 0.00202931 -0.07987510 0.01832123
+v -0.00209360 -0.07987792 0.01832123
+v -0.00621650 -0.08187275 0.01557631
+v -0.00209360 -0.08247937 0.01152809
+v -0.04651582 -0.08186570 0.01557631
+v -0.03919973 -0.08247937 0.01150295
+v -0.04651582 -0.07340103 0.01829611
+v -0.02728371 -0.06806828 0.01820813
+v 0.00321215 -0.07298484 0.01752083
+v 0.00321215 -0.07340244 0.01829611
+v -0.02270325 -0.06806828 0.01891216
+v 0.00321215 -0.07641304 0.01899176
+v -0.02270325 -0.07641304 0.01901271
+v -0.01858521 -0.07987369 0.01832543
+v -0.00621650 -0.07987792 0.01832123
+v -0.04651582 -0.07987369 0.01832543
+v -0.04651582 -0.08141425 0.01620073
+v -0.04651582 -0.07641304 0.01899595
+v -0.02720583 -0.06806828 0.01822070
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_21.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..959239aa85acb7ec138cbf592ad564fb190aeccf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_21.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_22.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b698ce201d1c1c4ac8d364a6e616813634fd452
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_22.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_23.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a09454ebd8fcea4ae555088c0f3276835e3b8a18
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_23.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_24.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13c03fffd29de7f625db386e913d0c7febcd2622
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_24.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_25.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7d54f2070b0474e4a7158829d997fcc5dd5d7e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_25.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00001259 0.10529318 -0.00755663
+v -0.03817093 0.08099200 -0.00376739
+v -0.00001259 0.08099201 -0.00530791
+v -0.00001259 0.10529324 -0.02379209
+v -0.00621456 0.10529318 -0.00755466
+v -0.03919956 0.08106574 -0.00376739
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+v -0.04323624 0.08104909 -0.00376739
+v -0.04416545 0.08099201 -0.00414121
+v -0.00001259 0.08393219 -0.02379021
+v -0.04416545 0.08099208 -0.02379218
+v -0.04416545 0.10353536 -0.02386293
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+f 10 15 13
+f 10 13 11
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_26.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d15fe5ee08be78300694230266c1674c43c0db6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_26.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.07404429 -0.08248071 -0.00718093
+v 0.07388105 -0.08248074 -0.00038825
+v 0.07388368 -0.08474590 -0.00038826
+v 0.07404429 -0.09510727 -0.00718098
+v 0.04714845 -0.08248071 -0.00718093
+v 0.04714845 -0.08248074 -0.00038825
+v 0.07388368 -0.08933063 -0.00038828
+v 0.07388105 -0.09511101 -0.00038830
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+v 0.07263565 -0.09511098 -0.00718098
+v 0.04714845 -0.08394837 -0.00718094
+v 0.04714845 -0.08249558 -0.00038825
+v 0.05841758 -0.09511101 -0.00038830
+v 0.05795154 -0.09511098 -0.00718098
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_27.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba70eb356a1284008798a70ca72fb31065e6c1db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_27.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.08078617 0.10269441 -0.01717996
+v -0.08078258 0.08099191 -0.01718004
+v -0.07957097 0.08099190 -0.01364941
+v -0.07957097 0.10685420 -0.01364932
+v -0.07957097 0.11101859 -0.01365360
+v -0.08078258 0.11101860 -0.01717993
+v -0.07971436 0.11518300 -0.02127606
+v -0.07971436 0.11101862 -0.02127607
+v -0.08055675 0.08099192 -0.01803797
+v -0.07971077 0.09853005 -0.02127612
+v -0.07396100 0.08099187 -0.00413260
+v -0.07396459 0.09436101 -0.00413255
+v -0.07396100 0.11518294 -0.00413248
+v -0.07396459 0.09514069 -0.00413255
+v -0.07956739 0.11518297 -0.01365574
+v -0.08077899 0.11518298 -0.01717992
+v -0.07961757 0.11935198 -0.02127604
+v -0.07845615 0.11935199 -0.02338324
+v -0.07850275 0.11518301 -0.02341337
+v -0.07850275 0.11101863 -0.02341553
+v -0.07970361 0.08186792 -0.02127618
+v -0.07970002 0.08099193 -0.02127618
+v -0.07970719 0.09019669 -0.02127615
+v -0.05636758 0.08099187 -0.00413260
+v -0.07204680 0.11927853 -0.00413246
+v -0.07909063 0.12278710 -0.01421906
+v -0.07950645 0.11935195 -0.01370947
+v -0.08066787 0.11935196 -0.01717990
+v -0.07883612 0.12313111 -0.02087179
+v -0.07840238 0.12148462 -0.02334238
+v -0.07289637 0.11100946 -0.02609898
+v -0.07849200 0.08099194 -0.02340489
+v -0.07944910 0.08099193 -0.02172128
+v -0.04416904 0.08099187 -0.00414120
+v -0.04416904 0.10583142 -0.00413251
+v -0.06806427 0.12128276 -0.00413245
+v -0.07558843 0.12627271 -0.01425131
+v -0.07833785 0.12556184 -0.01627250
+v -0.07925193 0.12391077 -0.01745511
+v -0.07837729 0.12560313 -0.01923763
+v -0.07631253 0.12455746 -0.02229737
+v -0.07397535 0.12554352 -0.02331012
+v -0.07034768 0.11743491 -0.02609896
+v -0.07194285 0.11511881 -0.02609897
+v -0.07203605 0.11485280 -0.02609897
+v -0.07273506 0.10685425 -0.02609900
+v -0.07803316 0.08099194 -0.02345649
+v -0.07175645 0.10298339 -0.02609901
+v -0.04416904 0.08099194 -0.02379192
+v -0.04416904 0.12124607 -0.00413245
+v -0.04416904 0.12670383 -0.01373310
+v -0.05982317 0.12670842 -0.01372880
+v -0.06806427 0.12670842 -0.01372665
+v -0.07219019 0.12665796 -0.01376965
+v -0.07219019 0.12775869 -0.01717987
+v -0.07670326 0.12642866 -0.01745511
+v -0.07837729 0.12560313 -0.01900111
+v -0.07631253 0.12613056 -0.02025038
+v -0.07243394 0.12650206 -0.02167596
+v -0.07122592 0.12563525 -0.02335097
+v -0.06394193 0.12064993 -0.02609895
+v -0.06430757 0.12059030 -0.02609895
+v -0.06786353 0.11927403 -0.02609895
+v -0.06805351 0.11918689 -0.02609895
+v -0.07631253 0.08099194 -0.02364571
+v -0.06768788 0.09904832 -0.02609903
+v -0.04745257 0.08099194 -0.02379407
+v -0.06008844 0.09824113 -0.02609903
+v -0.05982317 0.09824572 -0.02609903
+v -0.05659700 0.09891074 -0.02609903
+v -0.05609156 0.09907126 -0.02609903
+v -0.05205525 0.10302467 -0.02609901
+v -0.05187602 0.10352457 -0.02609901
+v -0.05111966 0.10685425 -0.02609900
+v -0.05110891 0.10701018 -0.02609900
+v -0.05096194 0.11101864 -0.02609898
+v -0.04416904 0.10770272 -0.02387998
+v -0.04416904 0.12760734 -0.01647891
+v -0.05157491 0.12784124 -0.01717987
+v -0.06806427 0.12784124 -0.01717987
+v -0.06806427 0.12679559 -0.02127601
+v -0.06806427 0.12565818 -0.02336817
+v -0.05982317 0.12062699 -0.02609895
+v -0.06394193 0.12565818 -0.02337032
+v -0.05982317 0.12565818 -0.02337032
+v -0.04416904 0.12565818 -0.02336817
+v -0.07219019 0.08099194 -0.02380052
+v -0.06394193 0.09823195 -0.02609903
+v -0.07132629 0.08099194 -0.02380052
+v -0.05186885 0.11507753 -0.02609897
+v -0.04416904 0.12351636 -0.02360686
+v -0.04416904 0.11935199 -0.02380038
+v -0.04416904 0.11101863 -0.02388212
+v -0.04416904 0.12783665 -0.01717987
+v -0.04416904 0.12700656 -0.02044173
+v -0.05982317 0.12679559 -0.02127601
+v -0.05572951 0.11917313 -0.02609895
+v -0.04416904 0.12679100 -0.02127601
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 22
+f 2 22 33
+f 2 33 32
+f 2 32 47
+f 2 47 65
+f 2 65 87
+f 2 87 89
+f 2 89 67
+f 2 67 49
+f 2 49 34
+f 2 34 24
+f 2 24 11
+f 2 11 3
+f 2 8 10
+f 2 10 9
+f 3 11 12
+f 3 12 14
+f 3 14 4
+f 4 13 5
+f 4 14 13
+f 5 13 15
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 10
+f 9 21 22
+f 9 10 23
+f 9 23 21
+f 10 20 23
+f 11 24 35
+f 11 35 50
+f 11 50 36
+f 11 36 25
+f 11 25 13
+f 11 13 14
+f 11 14 12
+f 13 25 26
+f 13 26 27
+f 13 27 15
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 31 19
+f 18 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 21
+f 20 21 23
+f 21 32 33
+f 21 33 22
+f 24 34 35
+f 25 36 37
+f 25 37 26
+f 26 37 38
+f 26 38 39
+f 26 39 28
+f 26 28 27
+f 28 39 29
+f 29 39 40
+f 29 40 30
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 31 45 44
+f 31 44 43
+f 31 43 64
+f 31 64 63
+f 31 63 62
+f 31 62 61
+f 31 61 83
+f 31 83 97
+f 31 97 90
+f 31 90 76
+f 31 76 75
+f 31 75 74
+f 31 74 73
+f 31 73 72
+f 31 72 71
+f 31 71 70
+f 31 70 69
+f 31 69 68
+f 31 68 88
+f 31 88 66
+f 31 66 48
+f 31 48 46
+f 31 46 32
+f 32 46 48
+f 32 48 47
+f 34 49 77
+f 34 77 93
+f 34 93 92
+f 34 92 91
+f 34 91 86
+f 34 86 98
+f 34 98 95
+f 34 95 94
+f 34 94 78
+f 34 78 51
+f 34 51 50
+f 34 50 35
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 38 56 57
+f 38 57 39
+f 39 57 40
+f 40 42 41
+f 40 57 56
+f 40 56 58
+f 40 58 42
+f 42 58 59
+f 42 59 60
+f 42 60 61
+f 42 61 62
+f 42 62 63
+f 42 63 64
+f 42 64 43
+f 47 48 65
+f 48 66 65
+f 49 67 68
+f 49 68 69
+f 49 69 70
+f 49 70 71
+f 49 71 72
+f 49 72 73
+f 49 73 74
+f 49 74 75
+f 49 75 76
+f 49 76 77
+f 51 78 79
+f 51 79 52
+f 52 79 53
+f 53 79 80
+f 53 80 54
+f 54 80 55
+f 55 80 81
+f 55 81 59
+f 55 59 58
+f 55 58 56
+f 59 81 60
+f 60 81 82
+f 60 82 61
+f 61 82 84
+f 61 84 85
+f 61 85 86
+f 61 86 83
+f 65 66 87
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+f 67 89 88
+f 67 88 68
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+f 76 92 93
+f 76 93 77
+f 78 94 79
+f 79 94 95
+f 79 95 96
+f 79 96 81
+f 79 81 80
+f 81 96 85
+f 81 85 84
+f 81 84 82
+f 83 86 97
+f 85 96 86
+f 86 96 98
+f 86 91 90
+f 86 90 97
+f 87 88 89
+f 95 98 96
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_28.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9feddf5b25de5fb82faca6d6610a78801bb0d138
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_28.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.01853473 0.08099194 -0.02379462
+v 0.00615997 0.08099194 -0.02379073
+v -0.00001258 0.08602917 -0.02379071
+v 0.00639721 0.08995316 -0.02379265
+v 0.01853473 0.08602917 -0.02379460
+v 0.02763470 0.08099194 -0.02379462
+v -0.00001258 0.08099194 -0.02378879
+v -0.00001258 0.08995316 -0.02379070
+v 0.02264836 0.08995316 -0.02379459
+v 0.04326731 0.08995316 -0.02379265
+v 0.04326731 0.08099282 -0.02379073
+v 0.04000523 0.08099194 -0.02378879
+v 0.02701194 0.08995316 -0.02379459
+v -0.00001258 0.08099188 -0.00774368
+v -0.00001258 0.08995311 -0.00991191
+v 0.04326731 0.08995311 -0.00989830
+v 0.04326731 0.08099194 -0.02377712
+v 0.01761965 0.08099274 -0.00393027
+v -0.00001258 0.08099275 -0.00530512
+v 0.04326731 0.08099188 -0.00774368
+v 0.02580030 0.08109538 -0.00393027
+v 0.02677469 0.08110591 -0.00393027
+v 0.02992240 0.08113924 -0.00393027
+v 0.03404449 0.08117434 -0.00393027
+v 0.03817083 0.08120328 -0.00393027
+v 0.04229292 0.08122610 -0.00393027
+v 0.04326731 0.08122960 -0.00393027
+v 0.03501889 0.08995311 -0.00990024
+v 0.04326731 0.08099274 -0.00393027
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 6
+f 1 6 12
+f 1 12 17
+f 1 17 20
+f 1 20 14
+f 1 14 7
+f 1 7 2
+f 2 7 3
+f 3 7 14
+f 3 14 19
+f 3 19 15
+f 3 15 8
+f 3 8 4
+f 4 9 5
+f 4 8 15
+f 4 15 28
+f 4 28 16
+f 4 16 10
+f 4 10 13
+f 4 13 9
+f 6 10 11
+f 6 11 12
+f 6 13 10
+f 10 16 27
+f 10 27 29
+f 10 29 20
+f 10 20 17
+f 10 17 11
+f 11 17 12
+f 14 18 19
+f 14 20 29
+f 14 29 18
+f 15 19 18
+f 15 18 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 16 28 27
+f 18 29 27
+f 18 27 26
+f 18 26 25
+f 18 25 24
+f 18 24 23
+f 18 23 22
+f 18 22 21
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_29.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3add6c007b78e52866b3b2dc7fdaca4ae76b12f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_29.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.04755343 -0.08248070 -0.00692828
+v -0.04918967 -0.08248073 -0.00040352
+v -0.04722986 -0.08249348 -0.00040352
+v -0.04722197 -0.08248354 -0.00692828
+v -0.07409108 -0.08248070 -0.00692828
+v -0.07395692 -0.08248073 -0.00040352
+v -0.04721934 -0.08372341 -0.00692829
+v -0.04721934 -0.08249348 -0.00057278
+v -0.05852573 -0.09695674 -0.00040358
+v -0.04721934 -0.08249348 -0.00080145
+v -0.04721934 -0.08250904 -0.00692828
+v -0.07409371 -0.09695671 -0.00692834
+v -0.07395692 -0.09695674 -0.00040358
+v -0.05809694 -0.09695671 -0.00692834
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 7
+f 1 7 14
+f 1 14 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 9
+f 2 9 3
+f 3 7 8
+f 3 8 4
+f 3 9 7
+f 4 8 10
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 7 11 10
+f 7 10 8
+f 7 9 14
+f 9 13 12
+f 9 12 14
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_3.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d065dd942d950eaf015286495776be369bde5708
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_3.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.04639394 -0.07540432 -0.02380037
+v 0.04639394 -0.06662876 -0.02379614
+v 0.04639394 -0.08201975 -0.02379620
+v 0.01853035 -0.08057810 -0.02379620
+v 0.01853035 -0.07641301 -0.02379618
+v 0.02265156 -0.06662876 -0.02379614
+v 0.04639394 -0.06662882 -0.00916508
+v 0.04639394 -0.08248064 -0.02379201
+v 0.00321638 -0.08248064 -0.02379201
+v 0.00321638 -0.07224946 -0.02379198
+v 0.00321638 -0.06662876 -0.02378776
+v 0.04639394 -0.07193614 0.01557613
+v 0.00321638 -0.06662882 -0.00938714
+v 0.00321638 -0.07194235 0.01557613
+v 0.04639394 -0.08248077 0.01150353
+v 0.00321638 -0.08248077 0.01152029
+v 0.04639394 -0.07228996 0.01623812
+v 0.00321638 -0.07298517 0.01752023
+v 0.04639394 -0.08202455 0.01458728
+v 0.01032176 -0.08248077 0.01152448
+v 0.00321638 -0.08186782 0.01557609
+v 0.01028372 -0.08248077 0.01152448
+v 0.04326605 -0.08187713 0.01557609
+v 0.04639394 -0.07340107 0.01829954
+v 0.00321638 -0.07340263 0.01829535
+v 0.04639394 -0.08187713 0.01557609
+v 0.00321638 -0.07987373 0.01832047
+v 0.04326605 -0.07988304 0.01832885
+v 0.04639394 -0.08036565 0.01766265
+v 0.04639394 -0.07641317 0.01900343
+v 0.00321638 -0.07641317 0.01899086
+v 0.00321638 -0.07888522 0.01851321
+v 0.03914484 -0.07987839 0.01832885
+v 0.04639394 -0.07988304 0.01832885
+v 0.04639394 -0.07725425 0.01884003
+f 1 2 7
+f 1 7 12
+f 1 12 17
+f 1 17 24
+f 1 24 30
+f 1 30 35
+f 1 35 34
+f 1 34 29
+f 1 29 26
+f 1 26 19
+f 1 19 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 13
+f 2 13 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 7 13 14
+f 7 14 12
+f 8 15 20
+f 8 20 22
+f 8 22 16
+f 8 16 9
+f 9 16 21
+f 9 21 27
+f 9 27 32
+f 9 32 31
+f 9 31 25
+f 9 25 18
+f 9 18 14
+f 9 14 13
+f 9 13 11
+f 9 11 10
+f 12 14 17
+f 14 18 17
+f 15 19 20
+f 16 22 23
+f 16 23 21
+f 17 18 25
+f 17 25 24
+f 19 26 23
+f 19 23 22
+f 19 22 20
+f 21 23 28
+f 21 28 27
+f 23 26 29
+f 23 29 28
+f 24 25 30
+f 25 31 30
+f 27 28 33
+f 27 33 32
+f 28 29 34
+f 28 34 35
+f 28 35 30
+f 28 30 33
+f 30 31 32
+f 30 32 33
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_30.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a14952a4bfcac2787c26f1ba549e28472483c13
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_30.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
+v -0.04725808 0.11102070 -0.04174997
+v -0.04740529 0.10685883 -0.04174999
+v -0.04816729 0.11102072 -0.04584561
+v -0.04903609 0.11494069 -0.04551653
+v -0.04833470 0.11518548 -0.04174996
+v -0.04757270 0.11102069 -0.03766021
+v -0.04770836 0.10685882 -0.03766023
+v -0.04864066 0.10296510 -0.04175000
+v -0.04911980 0.10395312 -0.04584564
+v -0.04833470 0.10685885 -0.04584563
+v -0.04879075 0.10328568 -0.03766024
+v -0.04939400 0.11339020 -0.04808439
+v -0.04930741 0.10685886 -0.04821663
+v -0.04922082 0.11102073 -0.04835764
+v -0.04946328 0.11733928 -0.04393292
+v -0.04935071 0.11750540 -0.04174995
+v -0.04934493 0.11751122 -0.03902638
+v -0.04872725 0.11536617 -0.03766020
+v -0.04909959 0.11409836 -0.03479266
+v -0.05096131 0.11102065 -0.02609898
+v -0.05110851 0.10701325 -0.02609900
+v -0.05111717 0.10685878 -0.02609900
+v -0.05187340 0.10352463 -0.02609901
+v -0.04919195 0.10411047 -0.03497192
+v -0.04967109 0.10088125 -0.04175001
+v -0.05027146 0.10187219 -0.04584565
+v -0.04951235 0.10477210 -0.04789639
+v -0.05205525 0.10302334 -0.02609901
+v -0.04987026 0.10120183 -0.03766025
+v -0.05007230 0.11616767 -0.04666236
+v -0.05080256 0.11102074 -0.05040546
+v -0.05322134 0.11386526 -0.05232987
+v -0.05164538 0.11501647 -0.04984428
+v -0.05282013 0.11814953 -0.04887472
+v -0.05090069 0.10685886 -0.05026445
+v -0.05120376 0.11958633 -0.04174994
+v -0.05176661 0.11913461 -0.04540487
+v -0.05346091 0.12157110 -0.04414737
+v -0.05331659 0.12168474 -0.03873549
+v -0.05151549 0.11941146 -0.03751621
+v -0.04971150 0.11687585 -0.03629693
+v -0.05186763 0.11507468 -0.02609897
+v -0.05173197 0.09873036 -0.04175002
+v -0.05233234 0.09933659 -0.04584566
+v -0.05193402 0.09890231 -0.03766026
+v -0.05310011 0.10007980 -0.04853396
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_31.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09e0f0ac30c527fd3ed286b9fd9492270dede34a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_31.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_32.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf0688192784625c9f694044acf7854e2e6beb01
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_32.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v -0.03096817 -0.12040461 -0.00489596
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_33.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94cdb740b8f32bf56bfc3e2366086253d79410d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_33.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.05982049 -0.03900364 0.02145035
+v -0.07395317 -0.03900364 0.02145035
+v -0.05804582 -0.03901641 0.02145035
+v -0.05804582 -0.03900364 0.02144488
+v -0.07406645 -0.03900354 -0.00652639
+v -0.07395586 -0.04309346 0.02145033
+v -0.05310208 -0.03900363 0.01818604
+v -0.05803233 -0.07641205 0.02145021
+v -0.04651582 -0.07641204 0.01899650
+v -0.07395856 -0.05142630 0.02145030
+v -0.05099836 -0.03900354 -0.00652639
+v -0.07406914 -0.07641195 -0.00652653
+v -0.05305353 -0.03900363 0.01815317
+v -0.05803233 -0.07653548 0.02145021
+v -0.05807279 -0.08057848 0.02145019
+v -0.05807548 -0.08073594 0.02145019
+v -0.05817797 -0.08247656 0.02145019
+v -0.04651582 -0.07908894 0.01847891
+v -0.04651582 -0.07339894 0.01829818
+v -0.07395586 -0.07641205 0.02145021
+v -0.05158902 -0.03900360 0.01148213
+v -0.04651582 -0.07193494 0.01557884
+v -0.04651582 -0.07141146 0.01148201
+v -0.04651582 -0.07103689 -0.00652651
+v -0.07406645 -0.08247646 -0.00652655
+v -0.05203134 -0.03900362 0.01557896
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+v -0.05159711 -0.03900360 0.01155881
+v -0.04651582 -0.08247646 -0.00652655
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_34.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff9580b9388dd62443777c57816ec23b2bbd1fe2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_34.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.07388878 0.00039042 0.02148825
+v 0.07399958 0.00039052 -0.00651515
+v 0.05793345 0.00039042 0.02148825
+v 0.07388878 -0.01578263 0.02148819
+v 0.07400228 -0.01393713 -0.00651520
+v 0.04639394 0.00039052 -0.00651515
+v 0.05209343 0.00039043 0.01828113
+v 0.04639394 -0.02226365 0.01834684
+v 0.04639394 -0.02643055 0.01885119
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+v 0.04639394 0.00039052 -0.00425646
+v 0.04639394 -0.03123218 -0.00651526
+v 0.05022332 0.00039044 0.01655696
+v 0.04639394 -0.02016358 0.01764512
+v 0.04822080 0.00039045 0.01439420
+v 0.04639394 -0.02912483 0.01814945
+v 0.05791993 -0.03731471 0.02148811
+v 0.05089354 -0.03731461 -0.00651529
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+v 0.05297173 -0.03731470 0.01816860
+v 0.05564176 -0.03731470 0.01996679
+v 0.05147186 -0.03731467 0.01148298
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_35.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b735eafcfb0c169a4eb4b2573c45e71afffa4d1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_35.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.02265156 -0.01606522 -0.02379700
+v 0.00615828 -0.01606522 -0.02379317
+v 0.01440492 -0.00560637 -0.02379504
+v 0.02084246 0.00038898 -0.02379502
+v 0.02495944 0.00038898 -0.02379502
+v 0.04639394 -0.00876030 -0.02379505
+v 0.04639394 -0.01606522 -0.02379508
+v 0.00321638 -0.01606522 -0.02379126
+v 0.00615828 -0.00977026 -0.02379315
+v 0.00321638 0.00038898 -0.02379120
+v 0.01028372 0.00038898 -0.02379311
+v 0.04639394 0.00038898 -0.02379311
+v 0.04639394 -0.01606528 -0.00870452
+v 0.00321638 -0.01606528 -0.00793565
+v 0.00321638 0.00038891 -0.00598089
+v 0.04639394 0.00038891 -0.00425762
+f 1 2 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
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+f 1 13 14
+f 1 14 8
+f 1 8 2
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+f 6 13 7
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+f 14 16 15
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_36.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbf62fe4d4f0e90742fe00446d8a950d8a31d8fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_36.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.07388371 -0.03731471 0.02148811
+v 0.07399990 -0.03731461 -0.00651529
+v 0.05792164 -0.03731471 0.02148811
+v 0.07388641 -0.05975629 0.02148803
+v 0.05089314 -0.03731461 -0.00651529
+v 0.07388641 -0.06808125 0.02148800
+v 0.07399720 -0.08247630 -0.00651545
+v 0.05564096 -0.03731470 0.01996679
+v 0.04639394 -0.07641061 0.01900177
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+v 0.04639394 -0.07104771 -0.00651541
+v 0.04639394 -0.07140588 0.01148286
+v 0.04639394 -0.07193201 0.01557811
+v 0.07388371 -0.07408954 0.02148798
+v 0.07387830 -0.08247640 0.02148795
+v 0.04639394 -0.08247630 -0.00651545
+v 0.05297386 -0.03731470 0.01816860
+v 0.04639394 -0.07339984 0.01830005
+v 0.04639394 -0.07725063 0.01884004
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+v 0.05796218 -0.08057532 0.02148795
+v 0.05791083 -0.07641062 0.02148797
+v 0.05191729 -0.03731469 0.01557823
+v 0.04639394 -0.07228571 0.01623598
+v 0.04639394 -0.08247636 0.01150475
+v 0.04639394 -0.07988119 0.01833018
+v 0.04639394 -0.08187511 0.01557807
+f 1 2 5
+f 1 5 11
+f 1 11 25
+f 1 25 18
+f 1 18 8
+f 1 8 3
+f 1 3 10
+f 1 10 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 16
+f 1 16 15
+f 1 15 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
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+f 2 17 12
+f 2 12 5
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+f 5 12 13
+f 5 13 14
+f 5 14 11
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+f 7 15 16
+f 7 16 21
+f 7 21 27
+f 7 27 17
+f 8 18 9
+f 9 19 26
+f 9 26 14
+f 9 14 13
+f 9 13 12
+f 9 12 17
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+f 9 27 29
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+f 9 28 20
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+f 11 14 26
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+f 11 19 25
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+f 20 28 21
+f 21 28 29
+f 21 29 27
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_37.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6df4e81bce669d0999f5eca350ccd1c8eee4f30
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_37.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.02265156 -0.03059633 -0.02380305
+v 0.01430348 -0.03465863 -0.02379890
+v 0.01028372 -0.03059633 -0.02379888
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+v 0.02265156 -0.02226606 -0.02379885
+v 0.04639394 -0.01606522 -0.02379465
+v 0.04639394 -0.02542199 -0.02379886
+v 0.04639394 -0.03465863 -0.02379890
+v 0.00321638 -0.03465863 -0.02379472
+v 0.00321638 -0.02226606 -0.02379467
+v 0.01651413 -0.01606522 -0.02379465
+v 0.04639394 -0.01606528 -0.00870111
+v 0.04639394 -0.03465869 -0.00928154
+v 0.00321638 -0.03465869 -0.00948613
+v 0.00321638 -0.01606522 -0.02379048
+v 0.04639394 -0.01914121 0.01247577
+v 0.00321638 -0.01606528 -0.00793286
+v 0.00321638 -0.01830581 0.01148206
+v 0.00321638 -0.01886276 0.01557799
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+v 0.04639394 -0.01960715 0.01557799
+v 0.00321638 -0.01975094 0.01803304
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+v 0.04639394 -0.01969633 0.01607902
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+v 0.00321638 -0.02643044 0.01880960
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+v 0.04639394 -0.02643044 0.01884718
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_38.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8ebce5e6c7d6517689b129557d9e856b6cc8de5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_38.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.02754798 0.04854286 0.01895798
+v 0.02754798 0.04932363 0.01884498
+v -0.00100688 0.05270634 0.01835949
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+v -0.00100688 0.05483169 0.01767311
+v -0.00100688 0.04455785 0.01628772
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+v 0.02754798 0.04418875 0.01557622
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+v 0.01440257 0.05827539 -0.02379090
+v 0.00064503 0.05827539 -0.02378672
+v -0.00100688 0.04021402 -0.02379096
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+f 34 36 35
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_39.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53b74d6fb5d5b775a039f8ace7c38ea0eb989c16
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_39.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00100688 0.06387492 -0.00904215
+v -0.00100688 0.06387498 -0.02378859
+v -0.00209358 0.06387492 -0.00899587
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+v -0.05412554 0.03615976 -0.00488081
+v -0.05167655 0.03615983 -0.02379054
+v -0.05412554 0.06361451 -0.02379044
+v -0.05412554 0.03615983 -0.02378869
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_4.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d3461bb059ea76c2e81562259a727297e3a2d5f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_4.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.06800944 -0.03892810 0.05149173
+v 0.06388804 -0.03892810 0.05144768
+v 0.06388804 -0.04308951 0.05093663
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_40.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a347597cad4b9f1745a7fb37522e6836c6384b56
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_40.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_41.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0482c692d983c75671a5bafe11a0defcd34600d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_41.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_42.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b09f4c9e0be5a79128f5b4eb81b30806acf8a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_42.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_43.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d94fbab031e44acb74068561d837ce7b594c93
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_43.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.04365779 0.08099197 -0.00376534
+v -0.04024183 0.08099196 -0.00079999
+v -0.03919792 0.08116217 -0.00079999
+v -0.04323402 0.08104760 -0.00376534
+v -0.03817468 0.08099197 -0.00376534
+v -0.03256238 0.08099195 0.00330323
+v -0.03095001 0.08128103 0.00329677
+v -0.03507396 0.08132774 -0.00079999
+v -0.01858331 0.08179187 0.00738706
+v -0.03919792 0.08106404 -0.00376534
+v -0.03507396 0.08099197 -0.00312529
+v -0.02450052 0.08099193 0.00738706
+v -0.02270210 0.08134912 0.00738706
+v -0.01034057 0.08188015 0.01148166
+v -0.00621661 0.08207427 0.01148166
+v 0.00913711 0.08099204 0.00852493
+v -0.00461457 0.08099194 0.00579878
+v -0.01858331 0.08099192 0.01012829
+v -0.01530688 0.08099192 0.01159157
+v -0.00728119 0.08099190 0.01498146
+v -0.00621661 0.08109627 0.01517111
+v 0.00203130 0.08214950 0.01557841
+v -0.00209782 0.08188377 0.01148166
+v 0.00615525 0.08177020 0.01557841
+v 0.00854281 0.08099202 0.01312381
+v -0.00002034 0.08099190 0.01719039
+v -0.00002034 0.08099193 0.00783962
+v 0.00203130 0.08099200 0.01825068
+v 0.00615525 0.08099200 0.01819680
+v 0.00787098 0.08099201 0.01557841
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 11
+f 1 11 17
+f 1 17 27
+f 1 27 26
+f 1 26 20
+f 1 20 19
+f 1 19 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 8
+f 4 8 10
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 9
+f 8 9 15
+f 8 15 10
+f 9 14 15
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 12 18 13
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 16
+f 16 22 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 16 23 22
+f 20 26 28
+f 20 28 21
+f 21 28 22
+f 22 28 29
+f 22 29 24
+f 24 29 30
+f 24 30 25
+f 25 30 26
+f 26 30 29
+f 26 29 28
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_44.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab9a114cb64a0ad6397f74781f711ba9dabfe457
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_44.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.04714680 -0.11310635 0.04152880
+v 0.04714680 -0.11390152 0.04151063
+v 0.04714680 -0.10973720 0.04145160
+v 0.03036143 -0.11390151 0.03780853
+v 0.04714680 -0.11798924 0.03976632
+v 0.03036143 -0.11460476 0.03778581
+v 0.03036143 -0.11750813 0.03656388
+v 0.04714680 -0.10937102 0.04134713
+v 0.03036143 -0.10963454 0.03761776
+v 0.03036143 -0.10980307 0.03765865
+v 0.04714680 -0.11816084 0.03958462
+v 0.03036143 -0.11772416 0.03640035
+v 0.03036143 -0.12024298 0.03421542
+v 0.04714680 -0.10659021 0.03988900
+v 0.03036143 -0.10682001 0.03617781
+v 0.04714680 -0.11877061 0.03891233
+v 0.04714680 -0.12028741 0.03577803
+v 0.04714680 -0.12016177 0.03626861
+v 0.04623153 -0.11984617 0.03716802
+v 0.03036143 -0.12035634 0.03195782
+v 0.04714680 -0.10506112 0.03607334
+v 0.03036143 -0.10627917 0.03571902
+v 0.04714680 -0.12029813 0.03555999
+v 0.03036143 -0.12037777 0.02786506
+v 0.04326883 -0.12037626 0.03195782
+v 0.04714680 -0.10477154 0.03195788
+v 0.04326883 -0.10477614 0.03195788
+v 0.03036143 -0.10486194 0.03195787
+v 0.03036143 -0.10504886 0.03258473
+v 0.04714680 -0.12037779 0.03195782
+v 0.03036143 -0.12037931 0.02732905
+v 0.03036143 -0.10478069 0.02020653
+v 0.03036143 -0.10478377 0.02376782
+v 0.04714680 -0.10476374 -0.00464981
+v 0.04324911 -0.10476374 -0.00487693
+v 0.03036143 -0.10476681 -0.00487693
+v 0.03036143 -0.10478838 0.02839659
+v 0.03036143 -0.12038847 0.01967046
+v 0.03502321 -0.12039305 0.01558225
+v 0.03036143 -0.12041289 -0.00487699
+v 0.04714680 -0.12041289 -0.00487699
+v 0.04714680 -0.10476374 -0.00487693
+f 1 2 5
+f 1 5 11
+f 1 11 16
+f 1 16 18
+f 1 18 17
+f 1 17 23
+f 1 23 30
+f 1 30 41
+f 1 41 42
+f 1 42 34
+f 1 34 26
+f 1 26 21
+f 1 21 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 15
+f 4 15 22
+f 4 22 29
+f 4 29 28
+f 4 28 37
+f 4 37 33
+f 4 33 32
+f 4 32 36
+f 4 36 40
+f 4 40 38
+f 4 38 31
+f 4 31 24
+f 4 24 20
+f 4 20 13
+f 4 13 12
+f 4 12 7
+f 4 7 6
+f 5 7 12
+f 5 12 13
+f 5 13 11
+f 8 14 15
+f 8 15 9
+f 11 13 16
+f 13 17 18
+f 13 18 19
+f 13 19 16
+f 13 20 17
+f 14 21 22
+f 14 22 15
+f 16 19 18
+f 17 20 23
+f 20 24 25
+f 20 25 23
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 23 25 30
+f 24 31 25
+f 25 31 30
+f 26 32 33
+f 26 33 27
+f 26 34 35
+f 26 35 36
+f 26 36 32
+f 27 33 37
+f 27 37 28
+f 30 31 38
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 34 42 35
+f 35 42 41
+f 35 41 40
+f 35 40 36
+f 38 40 39
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_45.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b39247779daee82237cf8fe582025696b2ee2568
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_45.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.05811723 -0.08248081 0.02075438
+v -0.05858549 -0.08248084 0.02973033
+v -0.05854052 -0.08891023 0.03196018
+v -0.05853432 -0.09628841 0.03511845
+v -0.05811723 -0.08488523 0.01993009
+v -0.05811723 -0.08248073 -0.00039918
+v -0.05872038 -0.08248085 0.03196021
+v -0.05865061 -0.08474607 0.03196020
+v -0.05862270 -0.09628841 0.03605552
+v -0.05852657 -0.09628840 0.03196016
+v -0.05811723 -0.08637329 0.01558310
+v -0.05811723 -0.08636653 0.01560480
+v -0.05811723 -0.08494741 0.01989105
+v -0.05811723 -0.08608670 -0.00039920
+v -0.07395581 -0.08248073 -0.00039918
+v -0.05948634 -0.08248085 0.03357406
+v -0.06025850 -0.09628844 0.04276687
+v -0.05931888 -0.09628842 0.03921381
+v -0.05852347 -0.09628837 0.02376945
+v -0.05811723 -0.08638272 0.00740541
+v -0.05812498 -0.08639080 -0.00039920
+v -0.05811723 -0.08638405 -0.00039052
+v -0.07395581 -0.08248079 0.01558312
+v -0.07395581 -0.09628828 -0.00039923
+v -0.06039650 -0.08248086 0.03530938
+v -0.06098259 -0.09628844 0.04307489
+v -0.06204780 -0.08248086 0.03605991
+v -0.05852347 -0.09628836 0.02283238
+v -0.05852657 -0.09628828 -0.00039923
+v -0.07395426 -0.09628840 0.03196016
+v -0.07395426 -0.08248080 0.01967848
+v -0.07395581 -0.09628828 0.00044240
+v -0.06349134 -0.09628844 0.04387314
+v -0.06394409 -0.08248086 0.03674970
+v -0.07385657 -0.09628841 0.03605552
+v -0.07395271 -0.09307439 0.03196017
+v -0.07395115 -0.08248083 0.02599505
+v -0.06394409 -0.09628844 0.04391652
+v -0.06582643 -0.08248087 0.03675838
+v -0.07224248 -0.09628843 0.04039382
+v -0.07355112 -0.09307440 0.03605553
+v -0.07375424 -0.08248085 0.03196021
+v -0.07393720 -0.08891023 0.03196018
+v -0.07394960 -0.08248083 0.02786486
+v -0.06894918 -0.09628844 0.04327012
+v -0.06806693 -0.08248087 0.03676705
+v -0.07046248 -0.09628844 0.04254996
+v -0.07184400 -0.08248086 0.03533107
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 11
+f 1 11 20
+f 1 20 22
+f 1 22 14
+f 1 14 6
+f 1 6 15
+f 1 15 23
+f 1 23 31
+f 1 31 37
+f 1 37 44
+f 1 44 42
+f 1 42 48
+f 1 48 46
+f 1 46 39
+f 1 39 34
+f 1 34 27
+f 1 27 25
+f 1 25 16
+f 1 16 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 4
+f 4 9 18
+f 4 18 17
+f 4 17 26
+f 4 26 33
+f 4 33 38
+f 4 38 45
+f 4 45 47
+f 4 47 40
+f 4 40 35
+f 4 35 30
+f 4 30 32
+f 4 32 24
+f 4 24 29
+f 4 29 28
+f 4 28 19
+f 4 19 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 4 8 7
+f 4 7 9
+f 6 14 21
+f 6 21 29
+f 6 29 24
+f 6 24 15
+f 7 16 17
+f 7 17 18
+f 7 18 9
+f 10 19 11
+f 11 19 20
+f 14 22 21
+f 15 24 32
+f 15 32 23
+f 16 25 17
+f 17 25 27
+f 17 27 26
+f 19 28 22
+f 19 22 20
+f 21 22 29
+f 22 28 29
+f 23 30 31
+f 23 32 30
+f 26 27 34
+f 26 34 33
+f 30 35 36
+f 30 36 37
+f 30 37 31
+f 33 34 38
+f 34 39 38
+f 35 40 41
+f 35 41 42
+f 35 42 43
+f 35 43 36
+f 36 43 44
+f 36 44 37
+f 38 39 46
+f 38 46 45
+f 40 47 48
+f 40 48 42
+f 40 42 41
+f 42 44 43
+f 45 46 48
+f 45 48 47
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_46.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04bda729a135acf7ac1866caf06b965202118624
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_46.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.02754997 0.03755937 -0.02379396
+v 0.04793824 0.03755937 -0.02379742
+v 0.02754997 0.03755932 -0.00962864
+v 0.02754997 0.06441033 -0.02379559
+v 0.04793824 0.03755931 -0.00908329
+v 0.04793824 0.06441033 -0.02379559
+v 0.02754997 0.04335475 -0.00611067
+v 0.02754997 0.06441027 -0.00951081
+v 0.04793824 0.04320494 -0.00611067
+v 0.04793824 0.06441027 -0.00912647
+v 0.02754997 0.05634130 -0.00611062
+v 0.04793824 0.05690639 -0.00611062
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 12
+f 2 12 9
+f 2 9 5
+f 3 5 7
+f 4 8 10
+f 4 10 6
+f 5 9 7
+f 7 9 12
+f 7 12 11
+f 8 11 10
+f 10 11 12
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_47.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6255d47c007eb2d74125e55b1b7848fbcf48235d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_47.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.05804306 -0.08248082 0.02097905
+v 0.04739372 -0.08248078 0.01150461
+v 0.04714844 -0.08248117 0.01150461
+v 0.05804306 -0.08497574 0.01991865
+v 0.05804306 -0.08248074 -0.00038758
+v 0.04714844 -0.08248077 0.00765837
+v 0.04714844 -0.08248430 0.01148370
+v 0.05804306 -0.08643515 0.01557881
+v 0.05804306 -0.08500356 0.01984754
+v 0.05804306 -0.08648290 -0.00038760
+v 0.04714844 -0.08248074 -0.00038758
+v 0.05804306 -0.08643555 0.01556208
+v 0.04714844 -0.08249211 0.00329553
+v 0.05804306 -0.08648293 0.00739064
+v 0.04714844 -0.08249524 -0.00038758
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 12
+f 1 12 14
+f 1 14 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 11
+f 3 11 15
+f 3 15 13
+f 3 13 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 15
+f 5 15 11
+f 7 12 8
+f 7 13 14
+f 7 14 12
+f 10 14 15
+f 13 15 14
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_48.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4114f7cb72aa4faaa81d63063060bc3931ef6b2c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_48.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.04326409 0.08099187 -0.00718797
+v 0.01762120 0.08099185 -0.00392634
+v 0.04326409 0.08117104 -0.00718797
+v 0.05770464 0.08099187 -0.00718797
+v 0.01441266 0.08099183 0.00328862
+v 0.01440418 0.08099218 0.00329660
+v 0.05770464 0.08460199 -0.00718796
+v 0.04326833 0.08219089 -0.00718797
+v 0.05770464 0.08099177 0.01999050
+v 0.05770464 0.08157131 0.01979363
+v 0.05770464 0.08183988 0.01963135
+v 0.05770464 0.08185473 0.01959410
+v 0.05770464 0.08341067 0.01561152
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 7 13
+f 4 13 12
+f 4 12 11
+f 4 11 10
+f 4 10 9
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 7
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_49.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b40cd31531cd6d4a6d712d6ea07b549ec780ca1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_49.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.04738877 0.01311672 -0.02379883
+v 0.04740298 0.01311669 -0.01526823
+v 0.04740298 0.01104511 -0.02379465
+v 0.04740298 0.00039184 -0.02379469
+v 0.01853050 0.00039184 -0.02379469
+v 0.00203532 0.01311672 -0.02379464
+v 0.04740298 0.01311665 -0.00622202
+v 0.04740298 0.00039170 0.01227696
+v -0.00100688 0.00039184 -0.02379050
+v -0.00100688 0.01311672 -0.02379045
+v 0.04740298 0.01288364 0.01148474
+v -0.00100688 0.01311666 -0.00724486
+v 0.04740298 0.00102700 0.01530774
+v -0.00100688 0.00144680 0.01557603
+v -0.00100688 0.00082397 0.01148469
+v -0.00100688 0.00039177 -0.00598313
+v 0.04740298 0.01287368 0.01176560
+v -0.00100688 0.01251242 0.01148474
+v 0.04740298 0.00121261 0.01571436
+v -0.00100688 0.00197124 0.01629705
+v 0.04740298 0.01225952 0.01524491
+v -0.00100688 0.01190823 0.01557606
+v 0.04740298 0.00340753 0.01832175
+v -0.00100688 0.00344116 0.01831756
+v 0.04740298 0.01213371 0.01543773
+v -0.00100688 0.01013808 0.01832178
+v 0.04740298 0.00688928 0.01902602
+v -0.00100688 0.00434679 0.01850202
+v 0.04740298 0.01015552 0.01831759
+v -0.00100688 0.00774259 0.01883319
+v 0.03502094 0.01014057 0.01832598
+v 0.03914355 0.01014306 0.01832598
+v 0.04738877 0.01014680 0.01832598
+v 0.03089833 0.00688928 0.01902183
+v -0.00100688 0.00688928 0.01901344
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 12
+f 1 12 7
+f 1 7 2
+f 2 7 11
+f 2 11 17
+f 2 17 21
+f 2 21 25
+f 2 25 29
+f 2 29 27
+f 2 27 23
+f 2 23 19
+f 2 19 13
+f 2 13 8
+f 2 8 4
+f 2 4 3
+f 4 8 16
+f 4 16 9
+f 4 9 5
+f 5 9 6
+f 6 9 10
+f 7 12 11
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 9 16 15
+f 9 15 14
+f 9 14 20
+f 9 20 24
+f 9 24 28
+f 9 28 35
+f 9 35 30
+f 9 30 26
+f 9 26 22
+f 9 22 18
+f 9 18 12
+f 9 12 10
+f 11 12 18
+f 11 18 17
+f 13 19 14
+f 14 19 20
+f 17 18 22
+f 17 22 21
+f 19 23 24
+f 19 24 20
+f 21 22 26
+f 21 26 25
+f 23 27 28
+f 23 28 24
+f 25 26 29
+f 26 30 27
+f 26 27 31
+f 26 31 32
+f 26 32 33
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+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_5.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25b226aa637276815a62c7918f828f708de324df
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_5.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_50.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e85ff92d4f30ab771e5cbd30aba929f07f381cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_50.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_51.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3fd0f859008ad68b3ed44852bff0b485e63b60c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_51.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+v -0.04745288 0.04630143 -0.00488077
+v -0.04745288 0.05557810 0.01148368
+v -0.05412489 0.05625026 0.01401886
+v -0.04745288 0.04417513 0.01557355
+v -0.05158998 0.03615699 0.01148361
+v -0.05304718 0.03615696 0.01815674
+v -0.05301648 0.03615696 0.01808946
+v -0.05202433 0.03615697 0.01557832
+v -0.05412489 0.05270789 0.01917087
+v -0.05412489 0.04854123 0.01966828
+v -0.04745288 0.05270390 0.01836346
+v -0.04745288 0.05522504 0.01557839
+v -0.05412489 0.05611063 0.01557840
+v -0.05200996 0.03615697 0.01547019
+v -0.05412489 0.05351768 0.01890174
+v -0.04745288 0.05483012 0.01767141
+v -0.05412489 0.05530482 0.01814720
+f 1 2 5
+f 1 5 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 19
+f 1 19 28
+f 1 28 22
+f 1 22 21
+f 1 21 20
+f 1 20 10
+f 1 10 4
+f 1 4 13
+f 1 13 24
+f 1 24 23
+f 1 23 29
+f 1 29 31
+f 1 31 27
+f 1 27 17
+f 1 17 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 6 16
+f 5 16 14
+f 6 17 16
+f 7 15 14
+f 7 14 16
+f 7 16 26
+f 7 26 30
+f 7 30 25
+f 7 25 12
+f 7 12 11
+f 7 11 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 18
+f 12 23 24
+f 12 24 13
+f 12 25 23
+f 16 17 26
+f 17 27 26
+f 18 22 28
+f 18 28 19
+f 23 25 30
+f 23 30 29
+f 26 27 30
+f 27 31 30
+f 29 30 31
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_52.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf9117837dfbb083ffc430399de23e25afd51e40
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_52.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.04740298 0.03755931 -0.00928954
+v 0.04740298 0.01311665 -0.00622494
+v 0.04740298 0.03755931 -0.00934977
+v -0.00100688 0.03755932 -0.00963198
+v 0.04740298 0.01311669 -0.01526931
+v -0.00100688 0.01311666 -0.00724708
+v 0.04740298 0.03755458 -0.02379564
+v 0.04738877 0.03755937 -0.02379564
+v -0.00100688 0.03755937 -0.02379048
+v 0.04740298 0.01521262 -0.02379916
+v 0.04738877 0.01311672 -0.02379745
+v -0.00100688 0.01311672 -0.02379401
+v 0.04740298 0.03603529 -0.02379737
+v 0.04738877 0.03604725 -0.02379737
+v 0.04589136 0.03755937 -0.02379564
+v -0.00100688 0.03604725 -0.02379221
+v 0.01853050 0.03755937 -0.02379392
+v 0.04740298 0.02354360 -0.02380257
+v 0.04535116 0.01311672 -0.02379745
+v 0.01440789 0.01311672 -0.02379573
+v 0.02265311 0.01522219 -0.02379744
+v -0.00100688 0.01829427 -0.02379399
+v 0.04738877 0.02355317 -0.02380257
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 20
+f 2 20 19
+f 2 19 11
+f 2 11 5
+f 3 7 8
+f 4 9 16
+f 4 16 22
+f 4 22 12
+f 4 12 6
+f 5 11 10
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 9 17 16
+f 10 11 19
+f 10 19 20
+f 10 20 21
+f 10 21 18
+f 12 22 23
+f 12 23 18
+f 12 18 21
+f 12 21 20
+f 13 18 14
+f 14 18 23
+f 14 23 17
+f 14 17 15
+f 16 17 23
+f 16 23 22
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_53.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d7bf84288b7c17d0afe633b89e14938d71ad497
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_53.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.04972663 0.10537918 -0.00714319
+v 0.04326731 0.10538074 -0.00714319
+v 0.04972663 0.12136913 -0.00714313
+v 0.04972663 0.10581431 0.03427438
+v 0.04326731 0.12137540 -0.00714313
+v 0.04326731 0.10580962 0.03195825
+v 0.04972663 0.12127817 0.03195831
+v 0.04972663 0.10651886 0.05243542
+v 0.04326731 0.12127504 0.03195831
+v 0.04739227 0.12127817 0.03195831
+v 0.04972663 0.10731113 0.05617931
+v 0.04326731 0.10715620 0.03640015
+v 0.04972663 0.12115133 0.03605120
+v 0.04326731 0.12126564 0.03198369
+v 0.04739227 0.12098536 0.03605119
+v 0.04972663 0.11060401 0.05753093
+v 0.04925748 0.10819426 0.05534170
+v 0.04326731 0.11016722 0.03884955
+v 0.04326731 0.10754294 0.03712355
+v 0.04326731 0.10728147 0.03670474
+v 0.04972663 0.11975618 0.04013774
+v 0.04326731 0.11956361 0.03641289
+v 0.04972663 0.11412081 0.05566534
+v 0.04972663 0.11102208 0.05768323
+v 0.04969754 0.11102208 0.05762612
+v 0.04326731 0.11102059 0.03911607
+v 0.04326731 0.11903749 0.03719974
+v 0.04972663 0.11120841 0.05757535
+v 0.04326731 0.11779267 0.03856403
+v 0.04326731 0.11524825 0.03916050
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 23
+f 1 23 28
+f 1 28 24
+f 1 24 16
+f 1 16 11
+f 1 11 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 20
+f 2 20 19
+f 2 19 18
+f 2 18 26
+f 2 26 30
+f 2 30 29
+f 2 29 27
+f 2 27 22
+f 2 22 14
+f 2 14 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 10
+f 5 10 7
+f 6 8 11
+f 6 11 12
+f 7 10 13
+f 9 14 15
+f 9 15 13
+f 9 13 10
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 13 15 21
+f 14 22 15
+f 15 22 23
+f 15 23 21
+f 16 24 25
+f 16 25 17
+f 17 25 18
+f 18 25 26
+f 22 27 23
+f 23 27 29
+f 23 29 28
+f 24 28 25
+f 25 30 26
+f 25 28 29
+f 25 29 30
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_54.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2093fb738541a8488f476d1582fd267f8465bd7d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_54.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.07388288 -0.08248074 -0.00038325
+v 0.07388288 -0.08933198 -0.00038328
+v 0.05804307 -0.08248074 -0.00038325
+v 0.07387977 -0.08248084 0.02786165
+v 0.07388133 -0.09631459 -0.00038330
+v 0.07387977 -0.08474518 0.02786164
+v 0.07387977 -0.08891089 0.02376715
+v 0.05804307 -0.08248082 0.02098259
+v 0.05804307 -0.08648395 -0.00038327
+v 0.07383015 -0.08248085 0.02973105
+v 0.07385497 -0.08891092 0.03196042
+v 0.07386582 -0.09631472 0.03514403
+v 0.07387357 -0.09631471 0.03196040
+v 0.05841677 -0.09631459 -0.00038330
+v 0.07387822 -0.09307527 0.02376714
+v 0.07387667 -0.09631468 0.02376713
+v 0.07387822 -0.08891090 0.02786162
+v 0.05804307 -0.08497672 0.01992427
+v 0.05840281 -0.09631471 0.03196040
+v 0.05849895 -0.09631472 0.03605487
+v 0.05842452 -0.08891092 0.03196042
+v 0.05853772 -0.08474520 0.03196044
+v 0.05860595 -0.08248086 0.03196045
+v 0.05804307 -0.08648398 0.00738929
+v 0.05839971 -0.09631469 0.02786160
+v 0.07371385 -0.08248086 0.03196045
+v 0.07377123 -0.08474520 0.03196044
+v 0.07378053 -0.09631472 0.03605487
+v 0.07387667 -0.09307528 0.02786161
+v 0.05804307 -0.08500516 0.01985053
+v 0.05804307 -0.08643661 0.01558256
+v 0.05967589 -0.09631474 0.04011464
+v 0.05879512 -0.09307531 0.03605488
+v 0.06090710 -0.09631475 0.04308140
+v 0.06031475 -0.08248087 0.03530456
+v 0.07284549 -0.08248086 0.03360431
+v 0.07299125 -0.09631473 0.03923849
+v 0.06388743 -0.09631475 0.04392284
+v 0.06388743 -0.08248087 0.03674022
+v 0.07181121 -0.08248087 0.03537396
+v 0.07246713 -0.09631474 0.04012332
+v 0.06471392 -0.09631475 0.04391850
+v 0.06801059 -0.08248088 0.03680962
+v 0.06612812 -0.08248088 0.03677926
+v 0.07004969 -0.08248087 0.03611998
+v 0.06899835 -0.09631475 0.04332863
+v 0.07057535 -0.09631475 0.04258260
+v 0.07104210 -0.09631474 0.04217922
+f 1 2 5
+f 1 5 14
+f 1 14 9
+f 1 9 3
+f 1 3 8
+f 1 8 23
+f 1 23 35
+f 1 35 39
+f 1 39 44
+f 1 44 43
+f 1 43 45
+f 1 45 40
+f 1 40 36
+f 1 36 26
+f 1 26 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 9 24
+f 3 24 31
+f 3 31 30
+f 3 30 18
+f 3 18 8
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 6
+f 5 7 15
+f 5 15 16
+f 5 16 13
+f 5 13 12
+f 5 12 28
+f 5 28 37
+f 5 37 41
+f 5 41 48
+f 5 48 47
+f 5 47 46
+f 5 46 42
+f 5 42 38
+f 5 38 34
+f 5 34 32
+f 5 32 20
+f 5 20 19
+f 5 19 25
+f 5 25 14
+f 6 17 7
+f 6 13 17
+f 7 17 29
+f 7 29 15
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 9 14 25
+f 9 25 24
+f 10 26 27
+f 10 27 12
+f 10 12 11
+f 12 27 26
+f 12 26 28
+f 13 16 15
+f 13 15 29
+f 13 29 17
+f 18 30 19
+f 19 30 31
+f 19 31 25
+f 20 32 33
+f 20 33 23
+f 20 23 22
+f 20 22 21
+f 23 33 32
+f 23 32 34
+f 23 34 35
+f 24 25 31
+f 26 36 37
+f 26 37 28
+f 34 38 39
+f 34 39 35
+f 36 40 37
+f 37 40 41
+f 38 42 43
+f 38 43 44
+f 38 44 39
+f 40 45 46
+f 40 46 47
+f 40 47 48
+f 40 48 41
+f 42 46 43
+f 43 46 45
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_55.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..041297ace12b720aa3fe2dcaa640bfe39554d762
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_55.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.02754798 0.08099187 -0.00770214
+v 0.02754798 0.06829611 -0.00770219
+v 0.02754798 0.08099193 -0.02379404
+v -0.00100688 0.08099187 -0.00770214
+v 0.02754798 0.05827958 -0.00869655
+v -0.00100688 0.06675083 -0.00770219
+v 0.02754798 0.07769904 -0.02379563
+v 0.02677373 0.07353234 -0.02379880
+v 0.02351463 0.08099193 -0.02379562
+v -0.00100688 0.08099193 -0.02378932
+v 0.02677373 0.05827958 -0.00869498
+v 0.02754798 0.05827964 -0.02379256
+v -0.00100688 0.05827958 -0.00869025
+v -0.00029692 0.05827958 -0.00869025
+v 0.02754798 0.07353234 -0.02379722
+v 0.02754798 0.06858966 -0.02379724
+v 0.02265094 0.07353234 -0.02380038
+v 0.01939184 0.08099193 -0.02379562
+v 0.00203420 0.08099193 -0.02379089
+v 0.00203420 0.07353234 -0.02379250
+v -0.00100688 0.06520560 -0.02378938
+v 0.02677373 0.05827964 -0.02379413
+v 0.02754798 0.06025849 -0.02379412
+v -0.00100688 0.05827964 -0.02378626
+v 0.02265094 0.06103891 -0.02379570
+v 0.01852536 0.06937008 -0.02379882
+v 0.01852536 0.07353234 -0.02379880
+v 0.00203420 0.06520560 -0.02379095
+v -0.00100688 0.06103891 -0.02378782
+v 0.02125898 0.05827964 -0.02379413
+v 0.00203420 0.05827964 -0.02378783
+v 0.01852536 0.06520560 -0.02379725
+v 0.00203420 0.06103891 -0.02378940
+f 1 2 5
+f 1 5 12
+f 1 12 23
+f 1 23 16
+f 1 16 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 19
+f 1 19 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 21
+f 4 21 29
+f 4 29 24
+f 4 24 13
+f 4 13 6
+f 5 11 14
+f 5 14 13
+f 5 13 24
+f 5 24 31
+f 5 31 30
+f 5 30 22
+f 5 22 12
+f 5 6 11
+f 6 13 14
+f 6 14 11
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 10 19 20
+f 10 20 21
+f 12 22 23
+f 16 23 22
+f 16 22 17
+f 17 25 32
+f 17 32 26
+f 17 26 27
+f 17 27 19
+f 17 19 18
+f 17 22 25
+f 19 27 20
+f 20 28 21
+f 20 27 26
+f 20 26 28
+f 21 28 33
+f 21 33 29
+f 22 30 25
+f 24 29 33
+f 24 33 31
+f 25 30 32
+f 26 32 33
+f 26 33 28
+f 30 31 32
+f 31 33 32
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_56.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdfe82d1aab9ce383cac3008256d679e2aac0869
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_56.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.07405135 0.09455434 -0.00718792
+v 0.07405135 0.08099719 -0.00718797
+v 0.05795268 0.09455434 -0.00718792
+v 0.07387532 0.09455419 0.03196005
+v 0.07404335 0.08099188 -0.00717373
+v 0.07403535 0.08099188 -0.00718797
+v 0.07387532 0.09436035 0.03196005
+v 0.07388012 0.08099175 0.02786539
+v 0.05770624 0.08460322 -0.00718796
+v 0.05770624 0.08341086 0.01561475
+v 0.05841516 0.09455419 0.03214984
+v 0.07354726 0.09455418 0.03605467
+v 0.05770624 0.08099188 -0.00718797
+v 0.07386732 0.09019403 0.03196003
+v 0.07364648 0.08099173 0.03196000
+v 0.05770624 0.08184018 0.01963345
+v 0.05770624 0.08157198 0.01979002
+v 0.05770624 0.08099178 0.01998929
+v 0.05842316 0.09019403 0.03196003
+v 0.05874642 0.09455418 0.03605467
+v 0.07240627 0.09455417 0.03814705
+v 0.07353126 0.09436034 0.03605467
+v 0.07135170 0.09455416 0.03999272
+v 0.07174216 0.08099172 0.03516738
+v 0.05866960 0.08099173 0.03196000
+v 0.05853358 0.08603035 0.03196002
+v 0.05878482 0.09455418 0.03624446
+v 0.06840562 0.09455416 0.04123581
+v 0.06801035 0.08099172 0.03643894
+v 0.06001863 0.08099172 0.03448415
+v 0.06064753 0.09455416 0.03992155
+v 0.06801035 0.09455416 0.04127377
+v 0.06388807 0.09455416 0.04128326
+v 0.06388807 0.08099172 0.03641996
+v 0.06037708 0.08099172 0.03514840
+v 0.06068914 0.09455416 0.03997848
+v 0.06315194 0.08099172 0.03615900
+f 1 2 6
+f 1 6 13
+f 1 13 9
+f 1 9 3
+f 1 3 11
+f 1 11 20
+f 1 20 27
+f 1 27 31
+f 1 31 36
+f 1 36 33
+f 1 33 32
+f 1 32 28
+f 1 28 23
+f 1 23 21
+f 1 21 12
+f 1 12 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 3 10 11
+f 4 12 7
+f 5 8 15
+f 5 15 24
+f 5 24 29
+f 5 29 34
+f 5 34 37
+f 5 37 35
+f 5 35 30
+f 5 30 25
+f 5 25 18
+f 5 18 13
+f 5 13 6
+f 7 12 14
+f 7 14 8
+f 8 14 15
+f 9 13 18
+f 9 18 17
+f 9 17 16
+f 9 16 10
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 12 21 22
+f 12 22 15
+f 12 15 14
+f 15 22 21
+f 15 21 23
+f 15 23 24
+f 18 25 26
+f 18 26 19
+f 19 26 20
+f 20 26 25
+f 20 25 27
+f 23 28 24
+f 24 28 29
+f 25 30 31
+f 25 31 27
+f 28 32 29
+f 29 32 33
+f 29 33 34
+f 30 35 31
+f 31 35 36
+f 33 36 35
+f 33 35 37
+f 33 37 34
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_57.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33e6ab0ec6b0de6fd7b3f080e6a3d1b4fdbeb506
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_57.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.07396206 0.08099186 -0.00413260
+v -0.07396551 0.09436047 -0.00413255
+v -0.05636501 0.08099186 -0.00413260
+v -0.07395689 0.08099178 0.01558159
+v -0.07396378 0.09930074 -0.00413254
+v -0.07395344 0.10079935 0.03419532
+v -0.05635811 0.08125555 -0.00413260
+v -0.05757848 0.10079932 0.04453836
+v -0.05878505 0.08099172 0.03196085
+v -0.07395516 0.08099177 0.01967879
+v -0.07396206 0.10079950 -0.00413253
+v -0.07394482 0.08099174 0.02786365
+v -0.07395000 0.10079935 0.03605335
+v -0.05815592 0.10079950 -0.00413253
+v -0.07071637 0.10079932 0.04453836
+v -0.05769052 0.10068686 0.04453836
+v -0.06046047 0.08099171 0.03514809
+v -0.07378969 0.08099173 0.03109853
+v -0.07390345 0.10079934 0.03828776
+v -0.07394654 0.09852504 0.03605334
+v -0.07159027 0.10079932 0.04376180
+v -0.07183331 0.08099171 0.03522431
+v -0.07018376 0.09994621 0.04453836
+v -0.05947798 0.09893217 0.04453835
+v -0.06394403 0.08099171 0.03642489
+v -0.07373970 0.08099172 0.03196085
+v -0.07346736 0.10079933 0.04015055
+v -0.07243143 0.10079932 0.04252311
+v -0.06884963 0.08099171 0.03624385
+v -0.07223321 0.08099171 0.03455257
+v -0.06805845 0.09870726 0.04453835
+v -0.06806707 0.08099171 0.03650111
+v -0.05991062 0.09877125 0.04453835
+v -0.06386819 0.09780568 0.04453835
+v -0.06394403 0.09780374 0.04453835
+f 1 2 5
+f 1 5 11
+f 1 11 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 25
+f 1 25 32
+f 1 32 29
+f 1 29 22
+f 1 22 30
+f 1 30 26
+f 1 26 18
+f 1 18 12
+f 1 12 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 6
+f 5 6 11
+f 6 10 12
+f 6 12 13
+f 6 13 19
+f 6 19 27
+f 6 27 28
+f 6 28 21
+f 6 21 15
+f 6 15 8
+f 6 8 14
+f 6 14 11
+f 7 14 8
+f 8 15 23
+f 8 23 31
+f 8 31 35
+f 8 35 34
+f 8 34 33
+f 8 33 24
+f 8 24 16
+f 8 16 17
+f 8 17 9
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 13 20 19
+f 15 21 22
+f 15 22 23
+f 16 24 17
+f 17 24 25
+f 18 26 19
+f 19 26 27
+f 21 28 22
+f 22 29 23
+f 22 28 30
+f 23 29 32
+f 23 32 31
+f 24 33 25
+f 25 33 34
+f 25 34 32
+f 26 30 28
+f 26 28 27
+f 31 32 35
+f 32 34 35
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_58.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77b328b68a5ee0ded1f79a72dea2843a9f92607b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_58.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.05040385 0.00039052 -0.00645828
+v -0.05040385 0.00039044 0.01669325
+v -0.05040385 0.01642440 -0.00645822
+v -0.00101171 0.00039052 -0.00645828
+v -0.05040385 0.00076712 0.01710262
+v -0.00101171 0.00039052 -0.00598402
+v -0.00101171 0.00082521 0.01148384
+v -0.00101171 0.00098843 0.01255967
+v -0.00101171 0.00144671 0.01557749
+v -0.00101171 0.00197092 0.01629887
+v -0.00101171 0.00344151 0.01832073
+v -0.05040385 0.01507929 0.01148390
+v -0.00101171 0.01251161 0.01148389
+v -0.00101171 0.01286323 -0.00645823
+v -0.05040385 0.00280116 0.01838314
+v -0.00101171 0.00434711 0.01850296
+v -0.05040385 0.01425686 0.01465647
+v -0.00101171 0.01190733 0.01557752
+v -0.00101171 0.01206743 0.01450419
+v -0.05040385 0.00373815 0.01857035
+v -0.00101171 0.00689125 0.01901467
+v -0.05040385 0.01307346 0.01606927
+v -0.00101171 0.01013694 0.01832326
+v -0.00101171 0.01060309 0.01760188
+v -0.05040385 0.00689125 0.01904213
+v -0.00209481 0.00689125 0.01901717
+v -0.00621445 0.00689125 0.01901967
+v -0.00101171 0.00774348 0.01883495
+v -0.05040385 0.01082752 0.01838816
+f 1 2 5
+f 1 5 15
+f 1 15 20
+f 1 20 25
+f 1 25 29
+f 1 29 22
+f 1 22 17
+f 1 17 12
+f 1 12 3
+f 1 3 14
+f 1 14 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 5
+f 3 12 13
+f 3 13 14
+f 4 14 13
+f 4 13 19
+f 4 19 18
+f 4 18 24
+f 4 24 23
+f 4 23 28
+f 4 28 21
+f 4 21 16
+f 4 16 11
+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 5 11 15
+f 11 16 15
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 15 16 21
+f 15 21 20
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 20 21 26
+f 20 26 27
+f 20 27 25
+f 21 28 29
+f 21 29 26
+f 22 29 23
+f 23 29 28
+f 25 27 29
+f 26 29 27
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_59.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4dc032e8e79231d9401a0000b4f3c4025bfb304
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_59.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.04416837 0.11539537 0.03965512
+v -0.04416837 0.11406735 0.03965512
+v -0.04416837 0.11807165 0.03886428
+v -0.05064751 0.11547229 0.04453841
+v -0.05056874 0.11518482 0.04453841
+v -0.05002030 0.11186073 0.04453840
+v -0.04998822 0.11102262 0.04453840
+v -0.04416837 0.11098417 0.03962177
+v -0.05176480 0.11794815 0.04453842
+v -0.04416837 0.11823766 0.03880235
+v -0.05154017 0.10691306 0.04453838
+v -0.04416837 0.10818846 0.03873562
+v -0.05201568 0.11835100 0.04453842
+v -0.04416837 0.11928428 0.03741121
+v -0.05240075 0.11865467 0.04453843
+v -0.05172980 0.10654057 0.04453838
+v -0.04416837 0.10691916 0.03632970
+v -0.05205360 0.10620856 0.04453838
+v -0.05364641 0.10463559 0.04453837
+v -0.05571471 0.10259700 0.04453837
+v -0.05757881 0.10079933 0.04453836
+v -0.04416837 0.11986125 0.03634880
+v -0.05569429 0.12030861 0.04453843
+v -0.04416837 0.10581587 0.03196094
+v -0.07071503 0.10079933 0.04453836
+v -0.05815642 0.10079951 -0.00413253
+v -0.04416837 0.10583625 -0.00413251
+v -0.04416837 0.12121559 0.03279473
+v -0.05602102 0.12041995 0.04453843
+v -0.07197527 0.10259700 0.04453837
+v -0.07159020 0.10079933 0.04376180
+v -0.07396190 0.10079951 -0.00413253
+v -0.04416837 0.12124610 -0.00413245
+v -0.04416837 0.12127632 0.03196100
+v -0.06034433 0.12142812 0.04453844
+v -0.05945166 0.12126212 0.04453844
+v -0.07205112 0.10273467 0.04453837
+v -0.07243035 0.10079933 0.04252311
+v -0.07396190 0.11518500 -0.00413248
+v -0.07395314 0.10079936 0.03419532
+v -0.07396773 0.11518483 0.04015060
+v -0.06806620 0.12128254 -0.00413245
+v -0.06423590 0.12147873 0.04453844
+v -0.06370204 0.12147468 0.04453844
+v -0.04416837 0.12127839 0.02050790
+v -0.04416837 0.12127836 0.02869753
+v -0.07341637 0.10683411 0.04453838
+v -0.07346597 0.10079934 0.04015055
+v -0.07204820 0.11927837 -0.00413246
+v -0.07395022 0.10079936 0.03605335
+v -0.07396190 0.11102263 0.04015059
+v -0.07369351 0.11102262 0.04453840
+v -0.07320633 0.11518684 0.04453841
+v -0.07204528 0.11928022 0.04015062
+v -0.06880718 0.12091004 -0.00413246
+v -0.06806620 0.12129459 0.01967894
+v -0.06806620 0.12129660 0.02376660
+v -0.06806620 0.12129047 0.04015063
+v -0.06808370 0.12068110 0.04453843
+v -0.04416837 0.12128041 0.02460034
+v -0.04416837 0.12128041 0.02376660
+v -0.07386563 0.10269216 0.04015056
+v -0.07390355 0.10079935 0.03828776
+v -0.07203945 0.11928435 0.01967893
+v -0.07395022 0.10685639 0.04015057
+v -0.07144726 0.11865467 0.04453843
+v -0.07203945 0.11928433 0.02376659
+f 1 2 8
+f 1 8 12
+f 1 12 17
+f 1 17 24
+f 1 24 27
+f 1 27 33
+f 1 33 45
+f 1 45 61
+f 1 61 60
+f 1 60 46
+f 1 46 34
+f 1 34 28
+f 1 28 22
+f 1 22 14
+f 1 14 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 3 10 9
+f 4 9 13
+f 4 13 15
+f 4 15 23
+f 4 23 29
+f 4 29 36
+f 4 36 35
+f 4 35 44
+f 4 44 43
+f 4 43 59
+f 4 59 66
+f 4 66 53
+f 4 53 52
+f 4 52 47
+f 4 47 37
+f 4 37 30
+f 4 30 25
+f 4 25 21
+f 4 21 20
+f 4 20 19
+f 4 19 18
+f 4 18 16
+f 4 16 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 7 11 12
+f 7 12 8
+f 9 10 13
+f 10 14 15
+f 10 15 13
+f 11 16 12
+f 12 16 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 17
+f 14 22 23
+f 14 23 15
+f 17 21 24
+f 21 25 31
+f 21 31 38
+f 21 38 48
+f 21 48 63
+f 21 63 50
+f 21 50 40
+f 21 40 32
+f 21 32 26
+f 21 26 27
+f 21 27 24
+f 22 28 29
+f 22 29 23
+f 25 30 31
+f 26 32 39
+f 26 39 49
+f 26 49 55
+f 26 55 42
+f 26 42 33
+f 26 33 27
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 30 37 31
+f 31 37 38
+f 32 40 41
+f 32 41 39
+f 33 42 43
+f 33 43 44
+f 33 44 45
+f 34 46 44
+f 34 44 35
+f 37 47 38
+f 38 47 48
+f 39 41 49
+f 40 50 51
+f 40 51 41
+f 41 51 52
+f 41 52 53
+f 41 53 54
+f 41 54 49
+f 42 55 56
+f 42 56 43
+f 43 57 58
+f 43 58 59
+f 43 56 57
+f 44 46 60
+f 44 60 61
+f 44 61 45
+f 47 52 62
+f 47 62 48
+f 48 62 63
+f 49 54 67
+f 49 67 64
+f 49 64 57
+f 49 57 55
+f 50 63 65
+f 50 65 51
+f 51 65 52
+f 52 65 62
+f 53 66 54
+f 54 66 59
+f 54 59 58
+f 54 58 57
+f 54 57 67
+f 55 57 56
+f 57 64 67
+f 62 65 63
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_6.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b74d41bfc2ac47acb2e98ff8af7f359a76631c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_6.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.04639394 -0.03466181 -0.00928368
+v 0.04639394 -0.06662727 -0.00916774
+v 0.04639394 -0.03466175 -0.02379981
+v 0.00331359 -0.03466181 -0.00948856
+v 0.04639394 -0.06662721 -0.02379849
+v 0.00321638 -0.06662727 -0.00938981
+v 0.04639394 -0.03791932 -0.02379982
+v 0.02265156 -0.03466175 -0.02380268
+v 0.00321638 -0.03466181 -0.00948999
+v 0.02265156 -0.06662721 -0.02379563
+v 0.00321638 -0.06662721 -0.02378990
+v 0.00321638 -0.06094133 -0.02379274
+v 0.01842891 -0.03466175 -0.02380125
+v 0.00321638 -0.03466175 -0.02379552
+v 0.00321638 -0.06391726 -0.02379132
+v 0.00321638 -0.03595414 -0.02379552
+v 0.00615828 -0.03466175 -0.02379695
+v 0.01018227 -0.03466175 -0.02379838
+v 0.01430348 -0.03466175 -0.02379981
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 19
+f 1 19 18
+f 1 18 17
+f 1 17 14
+f 1 14 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 10
+f 2 10 5
+f 3 7 8
+f 4 9 6
+f 5 10 8
+f 5 8 7
+f 6 9 14
+f 6 14 16
+f 6 16 12
+f 6 12 15
+f 6 15 11
+f 8 10 12
+f 8 12 13
+f 10 11 15
+f 10 15 12
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 14 17 16
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_60.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cca953b05f19512d09b04692e8016b54d3d436be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_60.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.04721934 -0.08248077 0.01065104
+v -0.05656833 -0.08248080 0.01954563
+v -0.05811618 -0.08488495 0.01992667
+v -0.05811618 -0.08491169 0.01991010
+v -0.05811618 -0.08494646 0.01988732
+v -0.05811618 -0.08637297 0.01557773
+v -0.04721934 -0.08248115 0.01058477
+v -0.04721934 -0.08248073 -0.00004732
+v -0.05811618 -0.08248081 0.02075298
+v -0.05811618 -0.08638173 0.00740589
+v -0.04721934 -0.08249335 0.00329514
+v -0.04723001 -0.08249334 -0.00040352
+v -0.04918856 -0.08248073 -0.00040352
+v -0.05811618 -0.08248073 -0.00040352
+v -0.05811618 -0.08638361 -0.00039111
+v -0.05789963 -0.08618801 -0.00040354
+v -0.05811618 -0.08608600 -0.00040354
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 8
+f 1 8 13
+f 1 13 14
+f 1 14 9
+f 1 9 2
+f 2 9 3
+f 3 9 14
+f 3 14 17
+f 3 17 15
+f 3 15 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 11
+f 6 11 7
+f 8 11 12
+f 8 12 13
+f 10 15 11
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 12 17 14
+f 12 14 13
+f 15 17 16
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_61.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe799c68e053a290101b58460ff09229925c9d48
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_61.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00101171 0.03615707 -0.00987440
+v -0.00101171 0.01286469 -0.00645823
+v -0.00101171 0.03615712 -0.02379057
+v -0.05040385 0.03615706 -0.00807039
+v -0.00101171 0.00039402 -0.00645828
+v -0.05040385 0.01642524 -0.00645822
+v -0.00101171 0.02771614 -0.02379229
+v -0.00209481 0.03615712 -0.02379226
+v -0.05040385 0.03615712 -0.02379057
+v -0.00101171 0.00039409 -0.02379070
+v -0.05040385 0.00039402 -0.00645828
+v -0.00101171 0.01829136 -0.02379402
+v -0.05040385 0.01938368 -0.02379572
+v -0.02693835 0.03615712 -0.02379226
+v -0.05040385 0.02771614 -0.02379399
+v -0.00101171 0.01412864 -0.02379404
+v -0.05040385 0.00039409 -0.02379070
+f 1 2 5
+f 1 5 10
+f 1 10 16
+f 1 16 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 5
+f 3 7 8
+f 4 9 15
+f 4 15 13
+f 4 13 17
+f 4 17 11
+f 4 11 6
+f 5 11 17
+f 5 17 10
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 9 14 15
+f 10 17 13
+f 10 13 16
+f 12 16 13
+f 13 15 14
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_62.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2693431234f757ed05fca216b803286214ce4484
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_62.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.04793878 0.03755937 -0.02379408
+v 0.04793878 0.06936853 -0.02379821
+v 0.05342113 0.03755937 -0.02379408
+v 0.04793878 0.03755931 -0.00908057
+v 0.04793878 0.08099193 -0.02379392
+v 0.05342113 0.08099193 -0.02379392
+v 0.05342113 0.03755921 0.01848023
+v 0.05185129 0.03755922 0.01557909
+v 0.04793878 0.04400438 0.01557911
+v 0.04793878 0.08099179 0.01231760
+v 0.05342113 0.08099178 0.01556653
+v 0.05342113 0.04854489 0.01953215
+v 0.04793878 0.04854489 0.01897228
+v 0.04793878 0.04543710 0.01828940
+v 0.05294830 0.03755921 0.01817061
+v 0.04793878 0.08046887 0.01466311
+v 0.05336639 0.08099178 0.01554532
+v 0.05342113 0.07951229 0.01753454
+v 0.05342113 0.05047079 0.01949822
+v 0.05342113 0.07353052 0.01864154
+v 0.04793878 0.04909758 0.01892562
+v 0.04793878 0.07774369 0.01635543
+v 0.05342113 0.07721651 0.01823013
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 13
+f 1 13 21
+f 1 21 22
+f 1 22 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 18
+f 3 18 23
+f 3 23 20
+f 3 20 19
+f 3 19 12
+f 3 12 7
+f 4 8 9
+f 5 10 17
+f 5 17 11
+f 5 11 6
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 8 15 14
+f 8 14 9
+f 10 16 17
+f 11 17 16
+f 11 16 18
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 16 22 18
+f 18 22 23
+f 20 23 22
+f 20 22 21
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_63.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10375185d0a9a3a2be976dcfc87e280bd7817c4c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_63.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.05802917 0.00039042 0.02145049
+v -0.05378145 0.00039043 0.01921038
+v -0.07394936 0.00039042 0.02145049
+v -0.05802377 -0.01810350 0.02145042
+v -0.04651582 -0.01810349 0.01877489
+v -0.05216866 0.00039043 0.01826833
+v -0.07406533 0.00039052 -0.00652625
+v -0.07395476 -0.03059345 0.02145038
+v -0.05802377 -0.01814592 0.02145042
+v -0.05804535 -0.03892651 0.02145035
+v -0.04651582 -0.02226424 0.01874749
+v -0.04651582 -0.01550061 0.01807931
+v -0.04844954 0.00039044 0.01558184
+v -0.04651582 0.00039052 -0.00652625
+v -0.07406803 -0.03775801 -0.00652639
+v -0.07395476 -0.03900363 0.02145035
+v -0.05981996 -0.03900363 0.02145035
+v -0.05804535 -0.03900363 0.02144488
+v -0.04651582 -0.02486326 0.01804916
+v -0.04651582 0.00039052 -0.00426697
+v -0.04694194 0.00039046 0.01148227
+v -0.04651582 -0.03002265 -0.00652636
+v -0.07406533 -0.03900353 -0.00652639
+v -0.05310181 -0.03900362 0.01818604
+v -0.04651582 -0.02600466 0.01557900
+v -0.05305327 -0.03900362 0.01815317
+v -0.05203112 -0.03900361 0.01557896
+v -0.04651582 -0.02678357 0.01148217
+v -0.05158881 -0.03900359 0.01148213
+v -0.05099818 -0.03900353 -0.00652639
+v -0.05159691 -0.03900359 0.01155881
+f 1 2 6
+f 1 6 13
+f 1 13 21
+f 1 21 20
+f 1 20 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 17
+f 1 17 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 19
+f 5 19 25
+f 5 25 28
+f 5 28 22
+f 5 22 14
+f 5 14 20
+f 5 20 12
+f 5 12 13
+f 5 13 6
+f 7 14 22
+f 7 22 30
+f 7 30 23
+f 7 23 15
+f 7 15 8
+f 8 15 16
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 12 20 21
+f 12 21 13
+f 15 23 16
+f 16 23 30
+f 16 30 29
+f 16 29 31
+f 16 31 27
+f 16 27 26
+f 16 26 24
+f 16 24 18
+f 16 18 17
+f 18 24 19
+f 19 24 26
+f 19 26 27
+f 19 27 25
+f 22 28 29
+f 22 29 30
+f 25 27 31
+f 25 31 29
+f 25 29 28
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_64.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c329f17dfc5cfd7190cd347094df80b4844f488
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_64.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00100688 0.06674966 -0.00770219
+v 0.00035434 0.06722776 0.01384362
+v -0.00100688 0.06717339 0.01394396
+v -0.00100688 0.08099050 -0.00770214
+v 0.02754798 0.06829712 -0.00770219
+v 0.00184972 0.06767666 0.01535685
+v 0.02754798 0.06980131 0.00738938
+v -0.00100688 0.06728074 0.01438871
+v -0.00100688 0.08099041 0.01687283
+v 0.01440257 0.08099185 0.00329721
+v 0.02754798 0.08099050 -0.00770214
+v 0.00615979 0.06833188 0.01557922
+v 0.00615979 0.06978175 0.01882534
+v 0.00203420 0.06972041 0.01870602
+v 0.02754798 0.06996303 0.00801853
+v -0.00100688 0.06877103 0.01676160
+v -0.00100688 0.08037420 0.01810131
+v 0.00203420 0.08085238 0.01856775
+v 0.00203420 0.08099040 0.01825046
+v 0.02754798 0.08099044 0.00747620
+v 0.00615979 0.08099040 0.01819894
+v 0.02754798 0.07069074 0.01041040
+v 0.00615979 0.07353470 0.02000230
+v 0.00874806 0.07054293 0.01829110
+v 0.00203420 0.07353470 0.01978264
+v -0.00100688 0.07030733 0.01825585
+v -0.00100688 0.07796657 0.01887961
+v 0.00203420 0.07769890 0.01964436
+v 0.00615979 0.07769890 0.01983148
+v 0.00615979 0.08085517 0.01865453
+v 0.02754798 0.08034356 0.01022061
+v 0.02754798 0.07123723 0.01073854
+v 0.02754798 0.07353473 0.01175822
+v -0.00100688 0.07353470 0.01912095
+v -0.00100688 0.07130969 0.01853788
+v -0.00100688 0.07462768 0.01908298
+v 0.00864185 0.08032122 0.01816097
+v 0.02754798 0.07431404 0.01172296
+v 0.02754798 0.07769893 0.01156840
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 26
+f 1 26 35
+f 1 35 34
+f 1 34 36
+f 1 36 27
+f 1 27 17
+f 1 17 9
+f 1 9 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 6
+f 3 6 8
+f 4 9 10
+f 4 10 11
+f 5 11 20
+f 5 20 31
+f 5 31 39
+f 5 39 38
+f 5 38 33
+f 5 33 32
+f 5 32 22
+f 5 22 15
+f 5 15 7
+f 6 7 12
+f 6 12 13
+f 6 13 14
+f 6 14 8
+f 7 15 12
+f 8 14 16
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 20 11
+f 10 19 21
+f 10 21 20
+f 12 15 22
+f 12 22 13
+f 13 23 14
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+f 13 24 23
+f 14 23 25
+f 14 25 26
+f 14 26 16
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 19 30 21
+f 20 21 31
+f 21 30 31
+f 22 32 24
+f 23 29 28
+f 23 28 25
+f 23 24 33
+f 23 33 29
+f 24 32 33
+f 25 28 34
+f 25 34 35
+f 25 35 26
+f 27 36 28
+f 28 36 34
+f 29 37 30
+f 29 33 38
+f 29 38 39
+f 29 39 37
+f 30 37 31
+f 31 37 39
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_65.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4c369178591ded0993969c055261c270e02bfd6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_65.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00321215 -0.04703288 -0.00991069
+v 0.00321215 -0.06806818 -0.00912459
+v 0.00321215 -0.04703283 -0.02378940
+v -0.01730502 -0.04703289 -0.00798395
+v 0.00321215 -0.06806812 -0.02378948
+v -0.01677445 -0.06806818 -0.00798403
+v 0.00321215 -0.05261493 -0.02379097
+v -0.02270325 -0.04703283 -0.02379095
+v -0.03127032 -0.04703289 -0.00798395
+v 0.00321215 -0.06510720 -0.02379102
+v -0.04332264 -0.06806812 -0.02379258
+v -0.03181063 -0.06806818 -0.00798403
+v 0.00321215 -0.05975160 -0.02379255
+v -0.04651582 -0.04703283 -0.02379095
+v -0.04651582 -0.04703288 -0.00960117
+v -0.04651582 -0.06806818 -0.00897138
+v -0.03185931 -0.06806612 -0.00798403
+v 0.00321215 -0.06094173 -0.02379255
+v -0.04651582 -0.06806812 -0.02379258
+v -0.03185931 -0.06806818 -0.00798557
+v -0.04651582 -0.05975160 -0.02379255
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 20
+f 2 20 16
+f 2 16 19
+f 2 19 11
+f 2 11 5
+f 3 7 8
+f 4 9 17
+f 4 17 12
+f 4 12 6
+f 5 11 10
+f 7 13 8
+f 8 13 21
+f 8 21 14
+f 9 15 16
+f 9 16 17
+f 10 11 18
+f 11 19 21
+f 11 21 13
+f 11 13 18
+f 12 17 20
+f 14 21 19
+f 14 19 16
+f 14 16 15
+f 16 20 17
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_66.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4285021f0e96db7b049b4ce58d2cbb7fc88ee635
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_66.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.03096817 -0.11420786 0.03766323
+v -0.04721934 -0.10973673 0.04144841
+v -0.04721934 -0.11390009 0.04152564
+v -0.04721934 -0.11433956 0.04141204
+v -0.03096817 -0.11451717 0.03754963
+v -0.03096817 -0.11017771 0.03751785
+v -0.04721934 -0.10659010 0.03989892
+v -0.03096817 -0.10986840 0.03749967
+v -0.04721934 -0.11799915 0.03978528
+v -0.03096817 -0.11807262 0.03593650
+v -0.04721934 -0.10648291 0.03971261
+v -0.03096817 -0.10631139 0.03559120
+v -0.04721934 -0.11875096 0.03898098
+v -0.03096817 -0.12023164 0.03415070
+v -0.03096817 -0.10488124 0.03195599
+v -0.04721934 -0.10505580 0.03607286
+v -0.04721934 -0.11999125 0.03759960
+v -0.03096817 -0.12034647 0.03195594
+v -0.04721934 -0.12029135 0.03580017
+v -0.03096817 -0.10479393 0.02787548
+v -0.04332517 -0.10478017 0.03195600
+v -0.04721934 -0.10498536 0.03582294
+v -0.04332517 -0.12038015 0.03195594
+v -0.03096817 -0.12038013 0.02786179
+v -0.04721934 -0.12038015 0.03195594
+v -0.04721934 -0.10477405 0.03195600
+v -0.03096817 -0.10478933 0.02378133
+v -0.04721934 -0.12040451 -0.00466422
+v -0.03096817 -0.12040451 -0.00489596
+v -0.03096817 -0.12038319 0.02376764
+v -0.03096817 -0.10477544 -0.00488227
+v -0.04721934 -0.10476319 -0.00489590
+v -0.04721934 -0.12040451 -0.00489596
+v -0.03096817 -0.10482138 -0.00489591
+v -0.03508028 -0.10477238 -0.00489590
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 14
+f 1 14 18
+f 1 18 24
+f 1 24 30
+f 1 30 29
+f 1 29 34
+f 1 34 31
+f 1 31 27
+f 1 27 20
+f 1 20 15
+f 1 15 12
+f 1 12 8
+f 1 8 6
+f 1 6 2
+f 2 7 11
+f 2 11 16
+f 2 16 22
+f 2 22 26
+f 2 26 32
+f 2 32 33
+f 2 33 28
+f 2 28 25
+f 2 25 19
+f 2 19 17
+f 2 17 13
+f 2 13 9
+f 2 9 4
+f 2 4 3
+f 2 6 8
+f 2 8 7
+f 4 9 5
+f 5 9 10
+f 7 8 12
+f 7 12 11
+f 9 13 14
+f 9 14 10
+f 11 12 15
+f 11 15 16
+f 13 17 14
+f 14 17 19
+f 14 19 18
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 18 19 23
+f 18 23 24
+f 19 25 23
+f 20 26 21
+f 20 27 26
+f 21 26 22
+f 23 25 28
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 26 27 31
+f 26 31 32
+f 28 33 29
+f 29 33 32
+f 29 32 35
+f 29 35 34
+f 31 34 35
+f 31 35 32
+
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_67.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e5eb6384e1273460caef3642f0646f034da0c2f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_67.obj
@@ -0,0 +1,604 @@
+# https://github.com/mikedh/trimesh
+v 0.07674942 0.11102103 -0.04175029
+v 0.07661943 0.10685671 -0.04175031
+v 0.07586553 0.11102105 -0.04584632
+v 0.07485166 0.11509211 -0.04567320
+v 0.07566044 0.11518534 -0.04175028
+v 0.07642879 0.11102102 -0.03766013
+v 0.07630459 0.10685670 -0.03766015
+v 0.07506252 0.10233104 -0.04181487
+v 0.07476789 0.10360454 -0.04584635
+v 0.07572977 0.10685673 -0.04584634
+v 0.07493543 0.10258456 -0.03790076
+v 0.07458880 0.10685674 -0.04851052
+v 0.07465813 0.11102106 -0.04861320
+v 0.07441838 0.11363796 -0.04823762
+v 0.07434040 0.11747587 -0.04419146
+v 0.07374824 0.11641514 -0.04692312
+v 0.07449638 0.11770026 -0.04175027
+v 0.07445304 0.11763905 -0.03864010
+v 0.07514918 0.11550298 -0.03742833
+v 0.07470435 0.11432566 -0.03460864
+v 0.07289324 0.11102098 -0.02615838
+v 0.07461769 0.10390174 -0.03479353
+v 0.07273437 0.10697031 -0.02615840
+v 0.07272571 0.10685666 -0.02615840
+v 0.07191115 0.10347625 -0.02615841
+v 0.07413820 0.10070495 -0.04322326
+v 0.07426240 0.10052134 -0.03942357
+v 0.07426240 0.10052135 -0.04049746
+v 0.07362404 0.10152092 -0.04584636
+v 0.07432306 0.10450794 -0.04809682
+v 0.07170606 0.10296045 -0.02615841
+v 0.07387534 0.10112456 -0.03669484
+v 0.07297412 0.10685675 -0.05055560
+v 0.07306656 0.11102107 -0.05066121
+v 0.07058532 0.11400515 -0.05240700
+v 0.07216534 0.11521160 -0.04995995
+v 0.07203536 0.11924769 -0.04561449
+v 0.07032246 0.12162563 -0.04430293
+v 0.07262461 0.11978387 -0.04175026
+v 0.07099838 0.11824232 -0.04895060
+v 0.07047556 0.12173926 -0.03845817
+v 0.07228954 0.11951867 -0.03718477
+v 0.07410642 0.11710283 -0.03591137
+v 0.07190248 0.11515615 -0.02615837
+v 0.07251196 0.09897977 -0.04181489
+v 0.06985163 0.09655811 -0.04175035
+v 0.07156164 0.09918086 -0.04584637
+v 0.07235309 0.09913712 -0.03790078
+v 0.06947613 0.09675335 -0.03766018
+v 0.07074130 0.09996478 -0.04866018
+v 0.07197469 0.10296344 -0.04974286
+v 0.07046111 0.10419613 -0.05230141
+v 0.06765925 0.09904383 -0.02615843
+v 0.07091172 0.10685675 -0.05266523
+v 0.07100704 0.11102107 -0.05274444
+v 0.06800876 0.11102108 -0.05446090
+v 0.06815607 0.11531070 -0.05316107
+v 0.06962633 0.11678234 -0.05168226
+v 0.06938081 0.12101949 -0.04703461
+v 0.06800876 0.12223178 -0.04574065
+v 0.06800876 0.12312640 -0.04175025
+v 0.07056221 0.12180629 -0.04175025
+v 0.06813008 0.11945169 -0.05003034
+v 0.06838716 0.12255522 -0.03731973
+v 0.07001628 0.12139829 -0.03572650
+v 0.06803187 0.11920682 -0.02615835
+v 0.06741373 0.09581791 -0.03766019
+v 0.06779212 0.09565764 -0.04175035
+v 0.06679558 0.09608604 -0.04584638
+v 0.06885510 0.09709725 -0.04584637
+v 0.06757837 0.09874667 -0.04964312
+v 0.06645474 0.10030574 -0.05224567
+v 0.06920460 0.10142186 -0.05138891
+v 0.06595502 0.09644158 -0.04789733
+v 0.06790189 0.10276237 -0.05290584
+v 0.06800876 0.10685676 -0.05430247
+v 0.06712199 0.09887481 -0.02615843
+v 0.06656739 0.09618216 -0.03506349
+v 0.06368753 0.10710738 -0.05563456
+v 0.06368753 0.11086372 -0.05575484
+v 0.06388685 0.11518539 -0.05459879
+v 0.06687646 0.11788388 -0.05245980
+v 0.06663383 0.12174804 -0.04838136
+v 0.06388685 0.12344406 -0.04584628
+v 0.06388685 0.12435326 -0.04175024
+v 0.06388685 0.12405309 -0.03766008
+v 0.06726641 0.12205689 -0.03444136
+v 0.06388685 0.12065807 -0.02615835
+v 0.06388685 0.09490578 -0.03766019
+v 0.06388685 0.09458232 -0.04175035
+v 0.06388685 0.09544492 -0.04584638
+v 0.06388685 0.09788699 -0.05017420
+v 0.06388685 0.09997062 -0.05252441
+v 0.06388685 0.10269245 -0.05411763
+v 0.06388685 0.09630461 -0.04812619
+v 0.06388685 0.09821913 -0.02615843
+v 0.05998157 0.10710738 -0.05560815
+v 0.06150382 0.10866063 -0.05613042
+v 0.06217973 0.10866063 -0.05613042
+v 0.06217973 0.10937751 -0.05613042
+v 0.06150382 0.10937751 -0.05613042
+v 0.05998157 0.11086372 -0.05572843
+v 0.05976493 0.11518539 -0.05454597
+v 0.06388685 0.11839095 -0.05285591
+v 0.06388685 0.12047456 -0.05089885
+v 0.06388685 0.12206276 -0.04885082
+v 0.05976493 0.12341201 -0.04584628
+v 0.05976493 0.12432703 -0.04175024
+v 0.05976493 0.12399189 -0.03766008
+v 0.06349112 0.12065515 -0.02615835
+v 0.05976493 0.09825993 -0.02615843
+v 0.05976493 0.09497863 -0.03766019
+v 0.05976493 0.09465809 -0.04175035
+v 0.05949919 0.09567223 -0.04618674
+v 0.06069792 0.09626090 -0.04819661
+v 0.05976493 0.10002016 -0.05248040
+v 0.05976493 0.10269245 -0.05405308
+v 0.05564013 0.10685676 -0.05414990
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_68.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df818c664ad5f2df078f915ce22eba28d398c16a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_68.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_69.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..181bc7e83448c49955424ff0c9d3b03295b2832e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_69.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_7.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9df0296b1c4c6d6cb82782819f65955bb3128981
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_7.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_70.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cd03ee4135066de2c63c550f3032c89cc8e14e8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_70.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_8.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19b07193a13801751c6601862f4d934abe3d94e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_8.obj
@@ -0,0 +1,715 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_9.obj b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d82248939b1589a1c13ed234ae8e75af2e70bd1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/mesh/remote_holder_008_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/remote_holder_008.xml b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/remote_holder_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1904def8170a6a2570fd5a99afe0c962ca39dabf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/mjcf/remote_holder_008.xml
@@ -0,0 +1,156 @@
+<?xml version='1.0' encoding='utf-8'?>
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+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" 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/d36077fd68ae5265a516ef2eefb78fa0/remote_holder_008.urdf b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/remote_holder_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..633297465c01a5dc52300cdfbe10cb7bcc3150bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/remote_holder_008.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_008">
+   <link name="remote_holder_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>d36077fd68ae5265a516ef2eefb78fa0</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>wooden remote holder</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>wooden holder with compartments and decorative spherical legs</description>
+         <min_height>0.1223</min_height>
+         <max_height>0.1223</max_height>
+         <real_height>0.1223</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427231656</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>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Internal divider layout is merged into one region and misses clear functional compartments; merging cannot fix it.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/remote_holder_008.usd b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/remote_holder_008.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/remote_holder_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d120bd40d32e493ad59368a8de0c96df703d1c63485a91ce3f05ce0c512ba9c6
+size 4756455
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/textures/material_0.png b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:710833cd9d61d76375ba19b56b91f6deada2c57cc661514e59cc7a09541d4835
+size 9199158
diff --git a/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/video.mp4 b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edd74c51960b4635a0e958f5db9a2473c6aadd9ab7437174c926f2a99241ee06
+size 320013