diff --git a/.gitattributes b/.gitattributes
index 0df5d288bd2996294a144fee52d5c93ccd70f73f..2acadc1c9d1962d01564703baf22bf5968fd9fcc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2760,5 +2760,7 @@ dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/mesh/pill_orga
 dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/pill_organizer_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/4ed349f6cf9b5b6783906e538450ed91/mesh/storage_box_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/4ed349f6cf9b5b6783906e538450ed91/storage_box_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5e47ba5b4adf59098c7cba368d60821b/mesh/storage_box_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/5e47ba5b4adf59098c7cba368d60821b/storage_box_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/jewelry_box_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/remote_holder_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/remote_holder_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/material.mtl b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..89ab32a35b5f8eaa09b7dcb1daf7640eddc4b7af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_016_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_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/material_0.png b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bb4589a25c6061eafd61573e7d89cca3a26b3dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:874a3294cfd76cae62a9784638689756177761e01fff4dc8e7db6e75d49d3e84
+size 8787601
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/remote_holder_016.glb b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/remote_holder_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b18353ab023b69bff4b512b71dc57f0aa697363d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/remote_holder_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e8e21884049d89039b08cb3fe82e86dd4b74b9e08a4cba3274ef3a20e18fd08
+size 11749160
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/remote_holder_016.mtl b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/remote_holder_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..93978cae4ec3e56f2d2d9bcdf5b5c5e3758c219e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/remote_holder_016.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_016_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/5c75ec256ef552acb591849089f4724e/mesh/remote_holder_016.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/remote_holder_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53c8a96a0a240fd9786ec3eb5f478d6acc86d66d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/remote_holder_016.obj
@@ -0,0 +1,110014 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_016_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/remote_holder_016_collision.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/remote_holder_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9966a5a2d5de9e8556e4690b1372dd2b8b339698
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mesh/remote_holder_016_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e742118e4b560183c6466900e88b1cc39f09b37
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision.obj
@@ -0,0 +1,11633 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_0.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc3e14440a0b065607b12a741eefd7fac8f2fa4d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_0.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_1.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca276367cf95794fda28e9efed454377f521f563
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_1.obj
@@ -0,0 +1,1423 @@
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_10.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13da43da5dcabe40ea8287a8c0405bc1b3f314a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_10.obj
@@ -0,0 +1,181 @@
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_11.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f2971322382946351340eb79f04eceab2e2df0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_11.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00513591 0.01350158 0.04437578
+v 0.00513591 0.00859483 0.04422273
+v 0.00513591 0.01394135 0.04367866
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+v 0.00453242 0.01394133 0.04935762
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+v 0.00513591 0.01394152 -0.00351280
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+v 0.00497847 0.00794367 0.05025025
+v 0.00513591 0.00794388 -0.00711743
+v 0.00447411 0.01394133 0.04968068
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+v -0.00204037 0.01350145 0.07797345
+v -0.00090117 0.01124624 0.07524448
+v -0.00060818 0.01056106 0.07427532
+v -0.00060818 0.00951712 0.07427531
+v -0.00090628 0.00865753 0.07524447
+v -0.00104403 0.00794357 0.07530398
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+v -0.00231004 0.01394122 0.07821999
+v 0.00513591 0.01104810 -0.00690488
+v -0.00231004 0.01350145 0.07873008
+v -0.00161545 0.01104778 0.07797344
+v -0.00161472 0.00859470 0.07797343
+v -0.00175029 0.00794356 0.07797343
+v -0.00231004 0.00794356 0.07938467
+v -0.00231004 0.01104778 0.07973324
+v -0.00231004 0.00859470 0.07965672
+v -0.00193031 0.00794356 0.07845801
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+f 1 9 3
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+f 36 40 38
+f 36 38 41
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_12.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e6faa9d30eae820cc5b8c14585ad40c69614c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_12.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.00513591 0.02368572 -0.03599958
+v 0.00513591 0.02368109 -0.03803699
+v 0.00302442 0.02315740 -0.03803699
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+v 0.00499451 -0.02362225 -0.03599976
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+v 0.00146978 0.02222590 -0.04197707
+v -0.00007320 0.02180880 -0.04055861
+v -0.00022626 0.02190148 -0.03803700
+v 0.00076280 0.02233247 -0.03599959
+v 0.00099676 0.02243443 -0.03599959
+v 0.00302442 -0.02313564 -0.03599975
+v 0.00302442 -0.02314490 -0.03803717
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+v 0.00513591 -0.02363615 -0.03837584
+v 0.00513591 0.02086339 -0.04344495
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+v -0.00185160 0.02014043 -0.04226186
+v -0.00231004 0.02000602 -0.04215136
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+v -0.00185160 0.02099314 -0.03803700
+v -0.00022261 0.02190147 -0.03599959
+v 0.00097416 -0.02242194 -0.03599975
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+v 0.00111556 -0.02235704 -0.04055877
+v 0.00513591 -0.02347393 -0.04055878
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+v -0.00185160 0.02098386 -0.03599959
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+v -0.00231004 0.01595556 -0.04370907
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+v -0.00231004 0.02069189 -0.03599959
+v -0.00185160 -0.02100844 -0.03803716
+v -0.00185160 -0.02099455 -0.03599975
+v -0.00185160 -0.02085086 -0.04055877
+v 0.00513591 -0.02268144 -0.04243000
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+v -0.00231004 -0.02056816 -0.04055877
+v -0.00231004 -0.01978494 -0.04229973
+v -0.00231004 -0.01837608 -0.04305612
+v -0.00185160 -0.01839462 -0.04322411
+v 0.00236117 0.01116360 -0.04517607
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+v -0.00190626 0.00476813 -0.04517609
+v -0.00207827 0.00381344 -0.04517610
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+v -0.00231004 -0.02067940 -0.03877289
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+v 0.00024021 -0.00867627 -0.04517614
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_13.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31d3c8b2a04521ce715ae6633cb98c7273242d92
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_13.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00101523 -0.01396185 0.06376583
+v -0.00179576 -0.01396190 0.07613863
+v -0.00056896 -0.01484945 0.06941525
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+v 0.00101523 -0.01396169 0.01863752
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+v 0.00101523 -0.01485786 0.06174097
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+v 0.00036066 -0.01673671 -0.03599973
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+v -0.00231004 -0.01396171 0.02546158
+v -0.00231004 -0.01518284 0.07544503
+v -0.00009081 -0.01547838 0.06535437
+v 0.00101523 -0.01533193 0.05992867
+v 0.00101523 -0.01673687 0.00912857
+v -0.00231004 -0.01673671 -0.03599973
+v -0.00231004 -0.01558736 0.07382291
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+v -0.00231004 -0.01646159 0.06283729
+v -0.00231004 -0.01636216 0.06535437
+v -0.00184914 -0.01673703 0.05081128
+f 1 2 3
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+f 1 21 17
+f 1 17 10
+f 1 10 5
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+f 27 32 28
+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_14.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..232e9c170f3828cfbde0a7738d4bed9f2beda01a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_14.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.02457289 -0.01260106 -0.00585892
+v 0.02871436 -0.00003309 -0.00293468
+v 0.02866911 -0.00003308 -0.00585887
+v 0.03004534 -0.01260106 -0.00585892
+v 0.02477160 -0.01260109 0.00232019
+v 0.02483358 -0.01260110 0.00483975
+v 0.02502442 -0.01260113 0.01240381
+v 0.02580648 -0.01260124 0.04256295
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_15.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a11f594f16524d321fdd31ef9d3e82041784da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_16.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f24ee77a55408d7f1654b34f98ed975c6632d036
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_16.obj
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_17.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaa118692f0e51b7b04888f1415f8468097aac7f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_17.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00513591 -0.01395920 -0.00364208
+v -0.00231004 -0.01395930 0.02547205
+v 0.00513591 -0.01350676 -0.00527561
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+v 0.00513591 -0.00553889 -0.00716434
+v 0.00513591 -0.00612640 -0.00715583
+v 0.00513591 -0.00857937 -0.00707927
+v 0.00513591 -0.01103448 -0.00688359
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+v 0.00513591 -0.01348746 -0.00532665
+v -0.00231004 -0.01395950 0.07828077
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_18.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f556562f2aa816dc73dda7660736d7875390ffe2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_18.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00231046 -0.02069727 -0.03525666
+v -0.00618950 -0.01908701 -0.03525665
+v -0.00231046 -0.01490876 -0.03525663
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+v -0.00658401 -0.01930213 -0.00423531
+v -0.00618950 -0.00960738 -0.03525662
+v -0.00658401 -0.00533767 0.03706516
+v -0.00231046 -0.01119986 0.03705806
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+v -0.00231046 -0.02035310 -0.00020013
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_19.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1b6047e66c9f4129f5efb4ad0ba22efaf8d9e0a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_19.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00658401 0.00538146 0.03719471
+v -0.00231046 0.01120124 0.03719473
+v -0.00658401 0.01869366 0.03719476
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_2.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa609c01a56e75ec6b4ece4e2a9b368b62536c77
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_2.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00513591 0.00004151 -0.04689504
+v 0.01756442 0.00004151 -0.04689504
+v 0.00513591 0.00004148 -0.03882710
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_20.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4414650251860b3d3a45b5cafd95c99f9982e6a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_20.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00231005 -0.00001831 0.04052486
+v -0.00658401 -0.00001835 0.05085920
+v -0.00658401 0.00538266 0.03719472
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_21.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c53ad046e5c250cf71395779a380a9cd29d9b2b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_21.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_22.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e25ff52260a37c7bcfe64ac6f183685b0e7f081f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_22.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_23.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f86e5c4b8be37427be3eb01bb95cf652c7d98e61
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_23.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00513550 -0.01396178 0.04390511
+v 0.00445787 -0.01396180 0.04965318
+v 0.00513550 -0.01422232 0.04365433
+v 0.00513550 -0.01396161 -0.00364351
+v 0.00425901 -0.01474560 0.04903284
+v 0.00440019 -0.01499066 0.04770635
+v 0.00465672 -0.01535144 0.04518538
+v 0.00513550 -0.01509169 0.04210346
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+v 0.00513550 -0.01402002 -0.00343892
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+v 0.00101564 -0.01652660 0.00983244
+v 0.00101564 -0.01396169 0.01863604
+v 0.00351402 -0.01673702 0.04770635
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+v 0.00513550 -0.01558479 0.04007745
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+v 0.00101564 -0.01396185 0.06376928
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+v 0.00412712 -0.01673697 0.03509491
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_24.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbd1b1ac369a0059873c37afadbc8190b8c6de2b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_24.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00231005 -0.01990340 0.03706511
+v -0.00658401 -0.01870049 0.03706511
+v -0.00231005 -0.01121243 0.03706514
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+v -0.00658401 -0.00533799 0.03706516
+v -0.00231005 -0.01981584 0.04519327
+v -0.00658401 -0.01862459 0.04279403
+v -0.00231088 -0.01119686 0.03706514
+v -0.00231005 -0.00002026 0.04052237
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+v -0.00231005 -0.01558627 0.07383313
+v -0.00247782 -0.01550647 0.07544837
+v -0.00658401 -0.01755222 0.07797041
+v -0.00658401 -0.01763980 0.07677079
+v -0.00658401 -0.01769430 0.07544837
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_25.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e269cf4dc36b4f8f4a6f186d592d70ca5d5548e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_25.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00513591 0.01394222 0.04368176
+v 0.00513591 0.01459049 0.04266110
+v 0.00453281 0.01394220 0.04936078
+v 0.00513591 0.01394239 -0.00351696
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+v 0.00513591 0.01413226 -0.00272530
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+v 0.00289906 0.01681155 0.01001326
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+v 0.00513591 0.01647950 0.02249665
+v 0.00364362 0.01681152 0.01984033
+v 0.00364718 0.01681152 0.01997118
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_26.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d990202d15c11588deeb10ee40bc243b6a127f05
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_26.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
+v 0.01756595 -0.02294298 -0.00586435
+v 0.01765781 -0.02291605 -0.00586435
+v 0.01756595 -0.01803655 -0.00586434
+v 0.01756595 -0.02292727 -0.00786864
+v 0.01895448 -0.02244247 -0.00586435
+v 0.01756595 -0.02290705 -0.01039288
+v 0.01756595 -0.02286663 -0.01543556
+v 0.01765781 -0.02283970 -0.01533970
+v 0.02866805 -0.00001337 -0.00586427
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+v 0.02853486 -0.00001336 -0.00905951
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+v 0.02845526 -0.00001335 -0.01157795
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+v 0.02774645 -0.00001326 -0.03553938
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+v 0.01936476 -0.02229209 -0.00586435
+v 0.01756595 -0.02281723 -0.02048114
+v 0.01924841 -0.02224715 -0.01533970
+v 0.01934180 -0.02228310 -0.00777278
+v 0.01765781 -0.02279031 -0.02038528
+v 0.03320411 -0.00001337 -0.00586427
+v 0.03237436 -0.00001326 -0.03553938
+v 0.01756595 -0.01764141 -0.03553944
+v 0.02058336 -0.02172423 -0.00586435
+v 0.01756595 -0.02279254 -0.02290372
+v 0.01921473 -0.02223143 -0.01786104
+v 0.02056040 -0.02171300 -0.00777278
+v 0.01765781 -0.02276337 -0.02290372
+v 0.03320258 -0.00122090 -0.00586427
+v 0.03316278 -0.00122089 -0.00777270
+v 0.03316278 -0.00001336 -0.00777270
+v 0.03237743 -0.00119610 -0.03553938
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_27.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc79cb6caf45a886939691383927e73c1839dba7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_27.obj
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_28.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89a0c25872e7e193fe714d3c48344714dd76c7e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_28.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_29.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08d0118554bc167b735e74fd9c6a9c34539e409c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_29.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_3.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0b53c839e2e3f914bc93f9e19ff845cc72d6e96
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_30.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b75ec52de7c80d037fd62216658c20390ac2848
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_30.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_31.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..561c7daa9fde3bc9bf22fdbc2c051becbdb8c72c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_31.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_32.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6efd8c3da4d21cede7addd0ddab4774833c0cbe1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_32.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_33.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc07fd0204f8dd2bb728c78ff767a65eda242ab3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_33.obj
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_34.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf99071f68ae082bd9f58abe392b9abb232188b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_34.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00513591 -0.01764887 -0.04387185
+v 0.00790361 -0.01337214 -0.04689509
+v 0.01033311 -0.01389331 -0.04689509
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+v 0.00855448 -0.01103297 -0.03513927
+v 0.00835131 -0.00858122 -0.03513926
+v 0.00835253 -0.00612773 -0.03513925
+v 0.00837078 0.00003975 -0.03513923
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+v 0.00513591 0.00003979 -0.04689504
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+v 0.01647559 -0.01321111 -0.04689509
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+v 0.01756442 -0.01280249 -0.04689509
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+v 0.01404853 0.00003975 -0.03513923
+v 0.01428454 -0.00894656 -0.03513926
+v 0.01427359 -0.01103297 -0.03513927
+v 0.01425534 -0.01130654 -0.03513927
+v 0.01411544 -0.01253069 -0.03513928
+v 0.01756442 0.00003979 -0.04689504
+f 1 2 3
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+f 1 13 6
+f 1 6 21
+f 1 21 22
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_35.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb2d7981849ecfb941e9a7288e03cccc35bae23d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_35.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00108746 0.01394215 0.06331236
+v 0.00108746 0.01411405 0.06289865
+v -0.00037997 0.01515722 0.06788550
+v -0.00056556 0.01486762 0.06942851
+v 0.00064610 0.01394214 0.06535853
+v 0.00108746 0.01394231 0.01846431
+v 0.00108746 0.01529825 0.05986854
+v -0.00007997 0.01549036 0.06535854
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+v -0.00231004 0.01477616 -0.03599962
+v 0.00012658 0.01660161 -0.03599961
+v 0.00030784 0.01681172 -0.03599961
+v 0.00108746 0.01652617 0.00986593
+v 0.00108746 0.01540667 0.05952192
+v -0.00231004 0.01559425 0.07382275
+v 0.00108746 0.01583503 0.05707322
+v 0.00108746 0.01681140 0.05064400
+v -0.00231004 0.01394209 0.07822816
+v -0.00231004 0.01681172 -0.03599961
+v 0.00108746 0.01681156 0.00893789
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+v -0.00231004 0.01681140 0.05049864
+v -0.00231004 0.01648300 0.06331237
+v -0.00170372 0.01681140 0.05076699
+v -0.00184307 0.01681140 0.05075581
+v -0.00222989 0.01681140 0.05054337
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_4.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cce434116a8734cfa66255b99b4f150b019589da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_4.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02866896 -0.00003308 -0.00586427
+v 0.02550281 0.01126076 -0.00586423
+v 0.03320352 -0.00003308 -0.00586427
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+v 0.03073807 0.01126076 -0.00586423
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+v 0.02680872 0.01126058 0.04255121
+v 0.03320352 0.00123383 -0.00586427
+v 0.03352933 -0.00003312 0.00534131
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+v 0.03034889 -0.00003328 0.04770886
+v 0.02688281 0.01126057 0.04518401
+v 0.03352933 0.00047430 0.00534131
+v 0.03315085 0.00183191 -0.00586426
+v 0.03351504 0.00251616 0.00836257
+v 0.03448444 0.00123366 0.04014496
+v 0.03448712 -0.00003325 0.04014496
+v 0.03169230 0.00897126 -0.00586424
+v 0.03317763 0.00884947 0.04518400
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+v 0.03357664 0.00757592 0.04674857
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+v 0.03298482 0.00368805 -0.00586426
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+v 0.03455585 -0.00003326 0.04266446
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+v 0.03359092 0.00762235 0.04518400
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+v 0.03365965 -0.00003328 0.04909000
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_5.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e8098145866939dd8d3ef2ec7ab0805b4d43382
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_5.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01254044 -0.02124705 0.04916153
+v 0.00546424 -0.02084986 0.04922625
+v 0.01254044 -0.02243496 0.04916153
+v 0.01254044 -0.02002081 0.04841198
+v 0.00711605 -0.01956097 0.04902673
+v 0.00513591 -0.01930307 0.04913997
+v 0.00513591 -0.02084621 0.04921546
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+v 0.01034068 -0.02243557 0.04916153
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+v 0.00513591 -0.01868509 0.04771094
+v 0.00513591 -0.02220747 0.04906447
+v 0.00546424 -0.02223606 0.04908604
+v 0.00790318 -0.02324880 0.04771092
+v 0.01034068 -0.02342702 0.04771092
+v 0.01254044 -0.02343067 0.04771092
+v 0.01254044 -0.01950379 0.04715011
+v 0.00513591 -0.01833777 0.04561323
+v 0.00513591 -0.02278410 0.04768397
+v 0.00546424 -0.02286439 0.04771093
+v 0.00790318 -0.02382237 0.04518719
+v 0.01034068 -0.02406081 0.04518719
+v 0.01254044 -0.02406385 0.04518719
+v 0.01254044 -0.01940099 0.04538135
+v 0.00513591 -0.01826964 0.04518721
+v 0.00513591 -0.02323845 0.04518719
+v 0.00546424 -0.02333820 0.04518719
+v 0.00546424 -0.02360747 -0.00524960
+v 0.00546424 -0.02361051 -0.00586436
+v 0.00730957 -0.02390004 -0.00586436
+v 0.00790318 -0.02399249 -0.00586436
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+v 0.01034068 -0.02412205 -0.00586436
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+v 0.00513591 -0.01807854 0.01536625
+v 0.00513591 -0.01792590 0.02500818
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+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_6.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c658384b437166c14ca6127021a7e02965f03497
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_6.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.03150418 -0.01260125 0.04518465
+v 0.03132970 -0.01260125 0.04713086
+v 0.03129628 -0.01265624 0.04720094
+v 0.03139281 -0.01282230 0.04518465
+v 0.03135754 -0.01276058 0.04266697
+v 0.03126473 -0.01260121 0.03625687
+v 0.03131299 -0.01260125 0.04722790
+v 0.02942515 -0.01571058 0.04518464
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_7.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b1782b3ec3ae6bb6d8d337253d50172ee4fc18
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_8.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f14a4a525052c659783b52b1e04f6e7f9efdf519
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_9.obj b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dd260e548153f970c1e98f5d2a2c97b358bd1bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/mesh/remote_holder_016_collision_9.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00231004 -0.00151069 -0.04517702
+v -0.00231004 -0.00121814 -0.04524829
+v -0.00178454 -0.00121812 -0.05162058
+v -0.00208264 -0.00380779 -0.04517702
+v -0.00231004 0.00205580 -0.04517700
+v -0.00231004 -0.00059236 -0.04524829
+v -0.00167449 -0.00225856 -0.05162059
+v -0.00231004 0.00123159 -0.04524450
+v -0.00231004 0.00192352 -0.04520034
+v -0.00177069 0.00123161 -0.05162058
+v -0.00115700 -0.00461417 -0.05162060
+v -0.00066867 -0.00588101 -0.05162060
+v -0.00192521 -0.00418428 -0.04517703
+v -0.00207827 0.00381614 -0.04517700
+v -0.00190626 0.00477009 -0.04517699
+v -0.00131808 0.00370423 -0.05162057
+v 0.00090565 -0.00841468 -0.05162061
+v 0.00024021 -0.00867926 -0.04517704
+v -0.00110598 -0.00612524 -0.04517703
+v -0.00129330 -0.00568769 -0.04517703
+v 0.00001135 0.00849683 -0.04517698
+v 0.00096979 0.00831878 -0.05162055
+v -0.00012932 0.00614124 -0.05162056
+v 0.00141293 -0.00906337 -0.05162061
+v 0.00088306 -0.00964339 -0.04517705
+v 0.00135025 0.01028007 -0.04517697
+v 0.00327733 0.01070746 -0.05162054
+v 0.00252589 -0.01023608 -0.05162062
+v 0.00181307 -0.01071180 -0.04517705
+v 0.00236117 0.01116533 -0.04517697
+v 0.00302442 0.01173770 -0.04517697
+v 0.00509801 0.01300454 -0.04517696
+v 0.00512206 0.01176825 -0.05162054
+v 0.00314833 -0.01082117 -0.05162062
+v 0.00272559 -0.01145715 -0.04517705
+v 0.00513591 0.01301980 -0.04517696
+v 0.00513591 0.01177588 -0.05162054
+v 0.00513591 -0.01233731 -0.05162063
+v 0.00513591 -0.01296820 -0.04517706
+f 1 2 3
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+f 1 30 26
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+f 27 32 33
+f 28 34 29
+f 29 34 35
+f 32 36 37
+f 32 37 33
+f 34 38 35
+f 35 38 39
+f 36 39 38
+f 36 38 37
+
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/remote_holder_016.xml b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/remote_holder_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4e49fc86b821ee93f3a4438e47035b1f78cf66c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/mjcf/remote_holder_016.xml
@@ -0,0 +1,86 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_016">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/remote_holder_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_016_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_016_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_016_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_016_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_016_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_016_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_016_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_016_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_016_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_016_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_016_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_016_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/remote_holder_016_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/remote_holder_016_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/remote_holder_016_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/remote_holder_016_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/remote_holder_016_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/remote_holder_016_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/remote_holder_016_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/remote_holder_016_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/remote_holder_016_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/remote_holder_016_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/remote_holder_016_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/remote_holder_016_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/remote_holder_016_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/remote_holder_016_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_016">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" 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/5c75ec256ef552acb591849089f4724e/remote_holder_016.urdf b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/remote_holder_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..71edd099b226a442f915c0e9da34e6211cf3905c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/remote_holder_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_016">
+   <link name="remote_holder_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>5c75ec256ef552acb591849089f4724e</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>gray remote holder</name>
+         <color>gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>upright gray plastic stand holding a slim remote control</description>
+         <min_height>0.1533</min_height>
+         <max_height>0.1533</max_height>
+         <real_height>0.1533</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518171711</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.015868 -0.029993 -0.062804</min>
+            <max>0.034981 0.030007 0.090489</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/remote_holder_016.usd b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/remote_holder_016.usd
new file mode 100644
index 0000000000000000000000000000000000000000..720c8a309cf05dfe917ffa5c6cb882d1b1a9e0f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/remote_holder_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:258068d3690cda9d58100a7e026d6e202851e49fa900998cddef7f21cff6a8d0
+size 4675764
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/textures/material_0.png b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bb4589a25c6061eafd61573e7d89cca3a26b3dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:874a3294cfd76cae62a9784638689756177761e01fff4dc8e7db6e75d49d3e84
+size 8787601
diff --git a/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/video.mp4 b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95545bf44b1372ab70bfdd5d21a66ebc44c68534
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:723846976191c90251e6010596c7ccca66eacd0c715f17cbced77060a4c995dd
+size 163130