diff --git a/.gitattributes b/.gitattributes
index c96f13b32a264bc8b9fefabbb24281b848e8f3c4..61adb05d4ebed425fe45ca70841f83bf2e345617 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2767,3 +2767,5 @@ dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/remote_holder_
 dataset/bedroom_supplies/storage/663158968e3f5900af1f6e7cecef24c7/663158968e3f5900af1f6e7cecef24c7.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/jewelry_box_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/mesh/jewelry_box_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/remote_holder_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/material.mtl b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c5a0d59937f82afe2805cc3726f26050d2dff427
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/material_0.png b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..79599b86bde503cfdf52903eade8b702ecd83ba7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc0fc7b97305b930158907b2d274388c88f85896727f192993748aa643a319b5
+size 9937099
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014.glb b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c252b29fa29abf7fce849736208647d2261324af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9d4c35a8eeaf3d4adcc211c97769ff7efe463a97029575f57a14703395c1736
+size 13237084
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014.mtl b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86fd3e21303583555aa4f750d1e2267067a2ac71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_014_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/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3633726c7e419ee5000211feea561cdb2e4b03d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014.obj
@@ -0,0 +1,109720 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_014_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014_collision.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61122cf76c2b2fa4cf3909852891906db9998ad0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mesh/remote_holder_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..79599b86bde503cfdf52903eade8b702ecd83ba7
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9937099
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..79599b86bde503cfdf52903eade8b702ecd83ba7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc0fc7b97305b930158907b2d274388c88f85896727f192993748aa643a319b5
+size 9937099
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014.obj
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index 0000000000000000000000000000000000000000..b5f530bba04ea116a1e7e8c4da3a8c3459a65406
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+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2633c8b913022c4086c1404080a4f25de7dcca4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision.obj
@@ -0,0 +1,17530 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_0.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d59639935cac106a63a7bbd737274eb632ac20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_0.obj
@@ -0,0 +1,1924 @@
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_1.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..573e1179286b0592d5d7d0c37cdd7c7ebb139f92
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_10.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bef70a2bedc82fb8a211a748cac8bba2707d2d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_10.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00791514 0.00935008 -0.01543889
+v 0.00791514 0.01062378 -0.01515101
+v 0.00791514 0.00935001 0.00284587
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+
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_11.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..512c1f40d8ac57e2421145fc6b5128f025d51a17
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_11.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00749087 -0.00943410 -0.01447551
+v 0.00749087 -0.00928889 -0.01451004
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_12.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b802f7f75f9573061bdf56f6674267c05cd14d52
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_12.obj
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+
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_13.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d42f69de47eb5fcb7f61f0dcffd745646860a266
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_13.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.00025950 0.02016661 0.03195271
+v -0.00289716 0.02016661 0.03257385
+v -0.00164159 0.01893442 0.03257385
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+v -0.01048697 0.02016661 0.03257385
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+v -0.00502462 0.02016670 0.00918107
+v -0.01176592 0.01971378 0.03257385
+v -0.01305999 0.02016664 0.02568927
+v -0.01043609 0.01742115 0.02306514
+v -0.01397864 0.01807228 0.03257385
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+v -0.01061349 0.01792587 0.01863778
+v -0.00610829 0.01742118 0.01435270
+v -0.01069463 0.01813899 0.01715470
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+v -0.00989975 0.01987886 0.01361117
+v -0.00965496 0.02016668 0.01332112
+v -0.01142624 0.02016667 0.01631191
+v -0.01005790 0.02016668 0.01394226
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+f 1 36 37
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+f 1 12 8
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+f 1 35 34
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+
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_14.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b7ebb98311020aa8df19c4450534aad5ae9d76b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_14.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.01582008 0.02016666 0.01863964
+v 0.01578073 0.02002530 0.01863964
+v 0.01561389 0.02016667 0.01720337
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+v 0.01550843 0.02016665 0.02050862
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+v 0.01489616 0.01955904 0.01720337
+v 0.01400373 0.01855203 0.02151015
+v 0.00981542 0.01742118 0.01240903
+v 0.01463174 0.01974689 0.01622013
+v 0.01492764 0.02016667 0.01596010
+v 0.01513698 0.02016665 0.02205662
+v 0.01465220 0.01948539 0.02294439
+v 0.01393919 0.01877429 0.02294439
+v 0.01308926 0.01839776 0.02398045
+v 0.01322462 0.01837171 0.02294439
+v 0.00743874 0.01742116 0.01814192
+v -0.00025950 0.01742118 0.01240903
+v 0.00902057 0.01895088 0.01240904
+v 0.01368893 0.02016668 0.01490372
+v 0.01472303 0.02016664 0.02338522
+v 0.01448378 0.01972966 0.02384434
+v 0.01367949 0.01910940 0.02439081
+v 0.00344560 0.01742113 0.02597740
+v 0.00503687 0.01742115 0.02299923
+v 0.00605365 0.01742115 0.02098398
+v 0.00647547 0.01742116 0.02014700
+v 0.01275243 0.01848941 0.02493729
+v -0.00025950 0.01742111 0.03170420
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+v -0.00025950 0.02016668 0.01240904
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+
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_15.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..929d587167dfa41a0b08d990af0742273965b98f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_15.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00749087 -0.01749533 -0.01138816
+v 0.00735468 -0.01749533 -0.01118339
+v 0.00749087 -0.01640167 -0.01224820
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+v 0.00001207 -0.01749549 0.03131787
+v 0.00749087 -0.01506575 -0.01282611
+v 0.00001207 -0.01541774 0.00292302
+v 0.00749087 -0.01469499 0.01753000
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+v 0.00651337 -0.01749544 0.02016925
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+v 0.00001207 -0.01640183 0.03198224
+v 0.00749087 -0.01500578 -0.01284886
+v 0.00001207 -0.01497901 0.00275466
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+v 0.00368191 -0.01749546 0.02568441
+v 0.00262241 -0.01749547 0.02734988
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+v 0.00749087 -0.01063192 -0.01420033
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+
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_16.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61941afc6c1a13355f018b8e9caa6229a56334e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_16.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v 0.02611497 0.00045594 -0.01869365
+v 0.02594038 0.00045594 -0.01959332
+v 0.02594038 0.00066852 -0.01959332
+v 0.02611318 0.00066852 -0.01869365
+v 0.02600629 0.00209125 -0.01733085
+v 0.02601520 0.00066851 -0.01731880
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+v 0.02551995 0.00045595 -0.02114907
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+v 0.02551995 0.00066853 -0.02114907
+v 0.02550035 0.00209127 -0.02114906
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_17.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..276112b4901514d4dfa0317aa1bf9b99b2a693ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_17.obj
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_18.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93a26c5871c6e2108819eac80dca81bd4b15d757
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_19.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23cf685418573cda42dcf7ebc2840f05d11a7e02
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_19.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_2.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5937b73e7e625c9069a031bd46bebd38d46354ab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_2.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_20.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47eb36af91aecc9a4cda1041c33ffe2fe5e96e67
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_20.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_21.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b38f92be07ef80dddeb774da1b318ec68637d5b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_21.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_22.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49551fd7daf1f436424c1eeb66a15b13c6c031c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_22.obj
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_23.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca081b365e36ebf0e2152aabf9b95b1619ad6605
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_23.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_24.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fb6de900dc02f14d126bb8574cf31167e080375
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_24.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_25.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41874453d688e335ab6de474bf59e07cd422d110
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_25.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_26.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaa0148342ae95dbf9c338e1de5904c439287c9e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_26.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_27.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85b135d9fabcf6b1c15f888ad60e4c6b36e5a138
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_27.obj
@@ -0,0 +1,754 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_28.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a09f9725eb9948b90c4abdc2d949655ae3da5db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_28.obj
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_29.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bf03280e66643bc1926e086add6430342903d87
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_29.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_3.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a2b5d8fb1546bf3cceaf48c72d10a2403375761
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_3.obj
@@ -0,0 +1,628 @@
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_30.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77d1a3021bcae07947089da86f7a9e742297efef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_30.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_31.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bcca569498d96c3179f81731a276b8c6563a4b6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_31.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_32.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8c2555fdb77e3cd3366303fabc219d8e83429de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_32.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_33.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..549e321ef98ba772a665238a73c7466740e36d95
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_33.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_34.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dd611606bb6c513222f8aa7df8210b9d05a2812
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_34.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.00001040 0.00866986 0.01381642
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_4.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57550ade3dc8cdd8c8b308af2aab2085364ed6e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_5.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..958651705de63e746c2bdb0ecc53c744638402cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_6.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c8e686117aec1090b0e41bfeebfee51b82f3047
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_7.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..462a5ed14b012049d8808060c86de0c1da803ebc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_8.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cca15df318d85bdb36b374fb85ad2413a703bdca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_8.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_9.obj b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..704f17ab651adc8421cee0f01f18a00b8de1ae9b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/mesh/remote_holder_014_collision_9.obj
@@ -0,0 +1,1114 @@
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/remote_holder_014.xml b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/remote_holder_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..40646965f423ecde320b5120a7ca0b525bcd921c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/mjcf/remote_holder_014.xml
@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_014_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_014_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_014_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_014_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_014_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_014_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/remote_holder_014_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/remote_holder_014_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/remote_holder_014_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/remote_holder_014_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/remote_holder_014_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/remote_holder_014_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/remote_holder_014_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/remote_holder_014_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/remote_holder_014_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/remote_holder_014_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/remote_holder_014_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/remote_holder_014_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/remote_holder_014_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_014">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/remote_holder_014.urdf b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/remote_holder_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f8e8ccefcfc81466a94c32797e17fb749b72a933
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/remote_holder_014.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_014">
+   <link name="remote_holder_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>69be822c6c705eeebe116ba4eb6ab43a</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>angled remote holder</name>
+         <color>purple</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>purple plastic desktop remote holder with side grips and tilted stand</description>
+         <min_height>0.0871</min_height>
+         <max_height>0.0871</max_height>
+         <real_height>0.0871</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518171613</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037402 -0.030044 -0.028351</min>
+            <max>0.034718 0.029956 0.058795</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Distinct support clip and side grips are merged into one color despite different roles.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/remote_holder_014.usd b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/remote_holder_014.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/remote_holder_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0f5104d88168a79de2947cd616b3518fffb87872d3ffa47c300335df2c15389
+size 4880432
diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/textures/material_0.png b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/video.mp4 b/dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/video.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
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+size 298561