diff --git a/.gitattributes b/.gitattributes
index 58c6599854aa0be2dd821aed1dadc8a3701935fb..76a4beee88370899d54100550ea98ca6901abda2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2752,3 +2752,5 @@ dataset/bedroom_supplies/storage/4c087b34c5d25bf1a02d106cd5040490/mesh/wicker_ba
 dataset/bedroom_supplies/storage/4e2839feedd050caaeaa45fc947092bb/4e2839feedd050caaeaa45fc947092bb.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/4e2839feedd050caaeaa45fc947092bb/mesh/wicker_basket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/4e2839feedd050caaeaa45fc947092bb/mesh/wicker_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/remote_holder_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/material.mtl b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2d1409fe859dfca65d8e371350d8869d54dc2e3a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_028_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_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/material_0.png b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d6c7ccfe4110702dc21624b26a00201bdb2120f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3612c8999772c35a6825f2f6f4ceae3f2b51743e075a3005a4aa53c09137495c
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diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028.glb b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d793c26eccd7fbfaa489736558ec105f2223dc52
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11265992
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028.mtl b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8f46444f5d585b0f465c780ea18a901059cb7a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_028_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/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03c2e9c887d71879f54fe911ce5d976552e6cb45
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028.obj
@@ -0,0 +1,110784 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_028_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028_collision.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f12adde1c255d5c5219db87a52eb76dc4bfd50f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028_collision.obj
@@ -0,0 +1,4475 @@
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diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mesh/remote_holder_028_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028.obj
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diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7464c73f2d6328e9365dafbd82d4f75dc4788f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision.obj
@@ -0,0 +1,4475 @@
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diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_0.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..980bcd8ea847a1d22ac37dbaa0fe7a0951d33c10
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_1.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..198e9505032c4141631ca68936e87d3feaa39824
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_1.obj
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+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_10.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4545c7fcfd0fca158a51d0ac04bb449f424be8d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_10.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.04243253 -0.00567540 0.10583585
+v 0.04243936 -0.02078946 0.10583579
+v 0.04115625 -0.02754367 0.10271044
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+v 0.04205033 -0.00567540 0.10655438
+v 0.04243253 -0.02719901 0.10583577
+v 0.04107435 -0.00567541 0.10838453
+v 0.04107435 -0.01438419 0.10838321
+v 0.04107435 -0.02399424 0.10837926
+v 0.04107435 -0.02719902 0.10837535
+v 0.04242571 -0.02754368 0.10583577
+v 0.03854225 -0.02754366 0.10144651
+v 0.03819417 -0.00567538 0.10138151
+v 0.04228238 -0.02754368 0.10610522
+v 0.03819417 -0.00567541 0.10927878
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+v 0.04106752 -0.02754369 0.10837144
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+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_11.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca43440374e85220869d4983247d2b35b09fe04c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_11.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.02728027 -0.03141107 0.09598205
+v -0.02728027 -0.02754364 0.09598207
+v -0.02726662 -0.03141600 0.09598205
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+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_12.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a61cf3aa85e74069438f9bd563741e45445e862
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_12.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.02728471 0.03047658 0.09925699
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+v -0.02235109 0.03959625 0.10132334
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+f 25 30 31
+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 27 34 35
+f 28 36 37
+f 30 38 39
+f 30 39 31
+f 31 39 32
+f 32 40 41
+f 32 41 33
+f 32 39 40
+f 34 42 35
+f 34 41 43
+f 34 43 42
+f 35 42 44
+f 36 44 37
+f 37 44 47
+f 37 47 45
+f 38 46 39
+f 39 45 47
+f 39 47 43
+f 39 43 40
+f 39 46 45
+f 40 43 41
+f 42 43 47
+f 42 47 44
+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_13.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2151247a78913b59c6676a1e9c56b1ab0cc539c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_13.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00611396 0.03150419 0.03092441
+v 0.00608781 0.03150418 0.03321473
+v 0.00059566 0.02970315 0.03092440
+v -0.02727373 0.03150419 0.03092441
+v 0.00589820 0.03150417 0.03630665
+v -0.02727373 0.02970315 0.03092440
+v 0.00047470 0.02970314 0.03268667
+v -0.02727700 0.02970313 0.03595673
+v -0.02727700 0.03047707 0.03675198
+v -0.02728027 0.03150396 0.09267380
+v 0.00008894 0.02970313 0.03675198
+v 0.00042239 0.02970314 0.03343738
+v -0.00058450 0.03150401 0.07895737
+v -0.00629895 0.02970297 0.07951721
+v -0.02728027 0.02970292 0.09187854
+v -0.02728027 0.03150395 0.09591205
+v -0.00360845 0.03150395 0.09557486
+v -0.00907772 0.02970291 0.09591204
+v -0.00678932 0.02970296 0.08255188
+v -0.02728027 0.02970291 0.09591204
+v -0.00381441 0.03150395 0.09591205
+f 1 2 3
+f 1 3 6
+f 1 6 4
+f 1 4 10
+f 1 10 16
+f 1 16 21
+f 1 21 17
+f 1 17 13
+f 1 13 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 12
+f 3 12 11
+f 3 11 14
+f 3 14 19
+f 3 19 18
+f 3 18 20
+f 3 20 15
+f 3 15 8
+f 3 8 6
+f 4 6 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 7
+f 5 13 14
+f 5 14 11
+f 8 15 10
+f 8 10 9
+f 10 15 20
+f 10 20 16
+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 16 20 18
+f 16 18 21
+f 17 21 18
+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_14.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c16fcc69d11b18a4663eb9fc434cf98846f67b64
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_14.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.01895593 0.01445334 -0.07608584
+v 0.01895593 -0.00476905 -0.07608591
+v 0.01895593 0.01567894 -0.07609784
+v 0.01848076 0.02406889 -0.07181237
+v 0.01895593 -0.00567151 -0.07609792
+v 0.01848076 0.02406598 -0.07181237
+v 0.01895593 0.01765853 -0.07612184
+v 0.01803728 0.02406597 -0.06842724
+v 0.01895593 0.01902678 -0.07621787
+v 0.01895593 0.02086372 -0.07636190
+v 0.01895593 0.02406600 -0.07751428
+v 0.01895593 0.02406897 -0.09170303
+v 0.00268266 0.02406852 0.03016177
+v 0.01895593 -0.00567145 -0.09170314
+v 0.00706776 -0.00156419 0.01042706
+v 0.00677361 -0.00567183 0.01042705
+v 0.00428465 0.02406565 0.02029446
+v 0.00497250 0.02289827 0.02029445
+v 0.00481864 0.02262170 0.02215508
+v 0.00690484 0.02086340 0.01042715
+v 0.00709038 0.01765821 0.01042713
+v 0.00707681 0.00164100 0.01042708
+v 0.00951146 0.01445340 -0.09171508
+v -0.01916135 0.02406897 -0.09170303
+v -0.02727083 0.02406852 0.03091802
+v 0.00248355 0.02406561 0.03091802
+v 0.00248807 0.02406561 0.03090602
+v 0.00250165 0.02403650 0.03091802
+v 0.00366467 0.02086333 0.03016176
+v -0.01597548 -0.00567145 -0.09170314
+v 0.00387736 0.00164093 0.03016169
+v 0.00545672 -0.00156422 0.02029436
+v 0.00519877 -0.00567186 0.02029435
+v 0.00534359 0.02086337 0.02029445
+v 0.00547482 0.01765818 0.02029443
+v 0.00386379 0.01445295 0.03016173
+v -0.01916135 0.01445340 -0.09170307
+v -0.02234721 0.02406897 -0.09169103
+v -0.02727535 0.02086353 -0.02576496
+v -0.02727083 -0.00567190 0.03091791
+v -0.02727083 0.02406893 -0.08167968
+v 0.00347008 0.02086333 0.03091801
+v 0.00354248 0.02013263 0.03091800
+v 0.00368277 0.01765814 0.03091799
+v 0.00384568 0.01765814 0.03016174
+v -0.02234721 -0.00567145 -0.09169114
+v 0.00371897 0.00164093 0.03091794
+v 0.00370087 0.00091023 0.03091793
+v 0.00363752 -0.00156426 0.03091792
+v 0.00379138 -0.00156426 0.03016167
+v 0.00511279 -0.00567187 0.02081053
+v 0.00370540 0.01445295 0.03091798
+v -0.02553761 0.02406896 -0.09087476
+v -0.02727083 0.02086374 -0.08167969
+v -0.02727083 -0.00567153 -0.06944769
+v 0.00301754 -0.00567190 0.03091791
+v -0.02726630 0.02406894 -0.08496877
+v -0.02553761 -0.00567146 -0.09087487
+v 0.00315783 -0.00567190 0.03037773
+v 0.00321213 -0.00567190 0.03016166
+v 0.00484579 -0.00567187 0.02233504
+v -0.02717579 0.02406896 -0.08998646
+v -0.02726630 -0.00567148 -0.08496888
+v -0.02724367 0.02406895 -0.08825788
+v -0.02717579 -0.00567146 -0.08998657
+v -0.02724367 -0.00156383 -0.08825798
+v -0.02723915 -0.00567147 -0.08825799
+f 1 2 5
+f 1 5 14
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+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
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+f 4 24 38
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+f 4 57 41
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+f 5 6 8
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+f 23 37 24
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+f 29 43 44
+f 29 44 45
+f 29 45 34
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+f 31 48 49
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+f 32 51 33
+f 34 45 35
+f 35 45 36
+f 36 45 52
+f 38 46 58
+f 38 58 53
+f 39 41 54
+f 39 54 55
+f 39 55 40
+f 41 57 63
+f 41 63 54
+f 44 52 45
+f 49 56 59
+f 49 59 60
+f 49 60 61
+f 49 61 50
+f 50 61 51
+f 53 58 65
+f 53 65 62
+f 54 63 55
+f 57 64 66
+f 57 66 63
+f 62 65 66
+f 62 66 64
+f 63 66 67
+f 65 67 66
+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_15.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6124238839b69a70eba89c333600b2aa16f8635c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_15.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00632593 -0.00567145 -0.09171231
+v 0.00722129 -0.00567145 -0.09171231
+v 0.00632593 -0.03044117 -0.09170782
+v -0.01916395 -0.03044117 -0.09170324
+v -0.00960408 -0.00567145 -0.09170773
+v 0.00636324 -0.03044117 -0.09170782
+v 0.02036262 -0.00567145 -0.09170773
+v 0.02036262 -0.02849422 -0.09170781
+v -0.02234902 -0.03044117 -0.09169407
+v -0.02145365 -0.00567145 -0.09169856
+v -0.01916395 -0.03040238 -0.09170324
+v -0.01597421 -0.00567145 -0.09170315
+v 0.02036262 -0.03044117 -0.09170324
+v 0.02036262 -0.00567150 -0.07799270
+v -0.02549678 -0.03044118 -0.09088272
+v -0.02553408 -0.03040239 -0.09087355
+v -0.02463872 -0.00567146 -0.09110724
+v -0.02234902 -0.00567145 -0.09169398
+v 0.02036262 -0.03044133 -0.04801868
+v 0.01404378 -0.00567163 -0.04488320
+v -0.02553875 -0.03044118 -0.09086897
+v -0.02717558 -0.03040239 -0.08998427
+v -0.02671391 -0.00567146 -0.09023630
+v -0.02553408 -0.00567146 -0.09087346
+v 0.01405777 -0.01118033 -0.04488322
+v 0.01392253 -0.03044135 -0.04488329
+v 0.01405310 -0.00797500 -0.04488321
+v -0.02727351 -0.00567163 -0.04488320
+v -0.02717092 -0.03044118 -0.08998427
+v -0.02717558 -0.00567146 -0.08998418
+v -0.02724087 -0.03044119 -0.08829281
+v -0.02342625 -0.03044135 -0.04488329
+v -0.02727351 -0.00567162 -0.04550203
+v -0.02727818 -0.03040256 -0.04488329
+v -0.02724087 -0.00567147 -0.08826522
+v -0.02726419 -0.03044120 -0.08501533
+v -0.02725952 -0.00567147 -0.08590451
+v -0.02727351 -0.03043408 -0.04488329
+v -0.02727351 -0.03044134 -0.04550212
+v -0.02726885 -0.00567149 -0.08168733
+v -0.02726885 -0.00797486 -0.08168734
+v -0.02726885 -0.03044122 -0.07843743
+v -0.02727351 -0.03044133 -0.04883003
+v -0.02726419 -0.00567148 -0.08497857
+f 1 2 6
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+f 1 20 14
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+f 2 8 6
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+f 3 39 43
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+f 3 21 15
+f 3 15 9
+f 3 9 4
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+f 5 11 12
+f 6 8 13
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+f 9 15 16
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+f 9 17 18
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+f 10 12 11
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+f 20 28 34
+f 20 34 38
+f 20 38 32
+f 20 32 26
+f 20 26 25
+f 20 25 27
+f 21 29 22
+f 22 30 23
+f 22 29 31
+f 22 31 30
+f 28 33 34
+f 30 31 35
+f 31 36 37
+f 31 37 35
+f 32 38 39
+f 33 40 34
+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 34 43 39
+f 34 39 38
+f 36 44 37
+f 36 42 41
+f 36 41 40
+f 36 40 44
+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_16.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e7ed89680edda32206f642f3610fba20a229062
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_16.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.03819344 0.02482435 -0.05027588
+v 0.03996426 0.02482435 -0.05035855
+v 0.03678059 0.02482435 -0.05032937
+v 0.03633620 0.01445405 -0.05035859
+v 0.03819344 0.01445405 -0.05029051
+v 0.03995416 0.01445406 -0.05036589
+v 0.03995752 0.01766007 -0.05036345
+v 0.04026613 0.02482436 -0.05076707
+v 0.03610167 0.02482435 -0.05035612
+v 0.03474269 0.01445406 -0.05124856
+v 0.03642374 0.01200627 -0.05038535
+v 0.03462149 0.02482436 -0.05106615
+v 0.03819344 0.01162416 -0.05036347
+v 0.03989693 0.01206000 -0.05039022
+v 0.04120877 0.01445406 -0.05208017
+v 0.04121999 0.02482436 -0.05208013
+v 0.03305267 0.01125103 -0.05295070
+v 0.03521962 0.01106297 -0.05114158
+v 0.03260827 0.02482436 -0.05256646
+v 0.03571339 -0.00567159 -0.05413496
+v 0.03676488 -0.00567159 -0.05384560
+v 0.03819344 0.01002116 -0.05046559
+v 0.03819344 -0.00567159 -0.05376049
+v 0.04040865 -0.00567159 -0.05437812
+v 0.04083508 -0.00567159 -0.05481338
+v 0.04087324 0.01109581 -0.05176651
+v 0.04136027 0.02482436 -0.05285582
+v 0.04106738 -0.00567159 -0.05539697
+v 0.04167897 -0.00567158 -0.05773375
+v 0.04301999 -0.00062074 -0.06344316
+v 0.03171613 0.02482437 -0.05537011
+v 0.03314917 -0.00567158 -0.05619454
+v 0.03318284 0.00903907 -0.05324494
+v 0.03467985 -0.00567159 -0.05471855
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+v 0.04302111 -0.00325957 -0.06733862
+v 0.04302111 -0.00325958 -0.06620062
+v 0.04293583 -0.00275509 -0.06400731
+v 0.04306039 -0.00163866 -0.06515746
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+v 0.03984980 -0.00567151 -0.07508332
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+v 0.04301887 0.00043602 -0.07025168
+v 0.04009107 -0.00156399 -0.07511493
+v 0.03953670 -0.00567151 -0.07511494
+v 0.03990815 -0.00505359 -0.07511494
+v 0.03160167 0.02482444 -0.07395738
+v 0.03159606 0.02482147 -0.07511483
+v 0.03159830 0.02482445 -0.07510753
+f 1 2 8
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+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_17.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b305230f014ba88e16d2ec97dd6250bcf93efcc8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_17.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.01405438 -0.01118033 -0.04487580
+v 0.01392084 -0.03044135 -0.04487587
+v 0.01405033 -0.00797500 -0.04487579
+v 0.01390061 -0.01118033 -0.04220466
+v -0.02342794 -0.03044135 -0.04487587
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+v 0.01367806 -0.03044135 -0.04233087
+v 0.01404628 -0.00567163 -0.04487578
+v 0.01389656 -0.00797500 -0.04220465
+v 0.01366187 -0.00567165 -0.03891765
+v 0.01365782 -0.00797502 -0.03891766
+v -0.02727612 -0.03043408 -0.04487587
+v -0.02727612 -0.03044135 -0.04224182
+v 0.00709043 -0.01758874 0.01042427
+v 0.01059870 -0.03044143 -0.02246053
+v 0.00690834 -0.02078922 0.01042425
+v 0.00482846 -0.02256649 0.02219212
+v -0.02727208 -0.00567163 -0.04487578
+v 0.01389252 -0.00567163 -0.04220464
+v 0.01382777 -0.00567164 -0.04127716
+v 0.00677480 -0.00567183 0.01042431
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+v 0.00386540 -0.01758881 0.03016847
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+v 0.00368331 -0.02078929 0.03016845
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+v -0.02727612 -0.01118033 -0.04220466
+v -0.02727208 -0.00567170 -0.02575485
+v 0.00520073 -0.00567186 0.02029270
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+v -0.02727208 -0.01685901 0.03091046
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+f 14 26 16
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+f 17 28 27
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+f 18 23 31
+f 18 31 39
+f 18 39 32
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+f 22 34 25
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+f 44 47 46
+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_18.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b61c8ce5dd6bf2df9fc4e93ddad2a2891b7bdc6d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_18.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.01895593 0.03150433 -0.04551087
+v 0.01895593 0.02781206 -0.05213705
+v 0.01895593 0.03150873 -0.05085261
+v 0.01890615 0.03150871 -0.04549886
+v 0.00903116 0.03150848 0.01650135
+v 0.01895593 0.02678085 -0.05536610
+v 0.00268167 0.02406921 0.03016178
+v 0.01895593 0.03150888 -0.09170193
+v 0.00614380 0.03150843 0.03091805
+v 0.01803722 0.02406957 -0.06842638
+v 0.01848073 0.02406958 -0.07181147
+v 0.01895593 0.02406960 -0.07751333
+v 0.00428828 0.02406925 0.02029456
+v 0.00248706 0.02406921 0.03090602
+v 0.01895593 0.02406966 -0.09170196
+v 0.00632482 0.03047692 -0.09171395
+v -0.01916368 0.03150888 -0.09170193
+v -0.02727365 0.03150843 0.03091805
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+v -0.02234974 0.03150888 -0.09168993
+v -0.02727818 0.03047652 0.01700550
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+v -0.02727365 0.03150878 -0.06523330
+v -0.02234974 0.02406966 -0.09168996
+v -0.02553580 0.03047691 -0.09087367
+v -0.02563084 0.03150887 -0.09080164
+v -0.02727365 0.03047683 -0.06852239
+v -0.02727365 0.02406957 -0.06852241
+v -0.02726913 0.03150884 -0.08062232
+v -0.02553580 0.02406965 -0.09087369
+v -0.02717861 0.03047691 -0.08998538
+v -0.02620560 0.03150887 -0.09050154
+v -0.02726913 0.03047688 -0.08167867
+v -0.02726913 0.02406962 -0.08167869
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+v -0.02717861 0.02406965 -0.08998540
+v -0.02724650 0.03047690 -0.08825681
+v -0.02716956 0.03150887 -0.08997337
+v -0.02726460 0.02406963 -0.08496776
+v -0.02725102 0.03150886 -0.08720046
+v -0.02724197 0.02406964 -0.08825683
+v -0.02724650 0.02727327 -0.08825682
+v -0.02723292 0.03150886 -0.08834084
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+f 38 41 44
+f 38 44 39
+f 40 43 42
+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_19.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52fd31d0b883c57d05a3c353d48317f896e1c590
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_19.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01895593 -0.00567145 -0.09171036
+v 0.02226257 -0.00567145 -0.09171200
+v 0.01895593 -0.00567151 -0.07609983
+v 0.01895593 0.01766023 -0.09171354
+v 0.02226257 0.01445421 -0.09171517
+v 0.02544905 0.01445421 -0.09171680
+v 0.02863554 -0.00476696 -0.09171524
+v 0.02863554 -0.00567145 -0.09171362
+v 0.03246671 -0.00567151 -0.07511656
+v 0.01895593 -0.00532822 -0.07609821
+v 0.01895593 0.01777964 -0.09171353
+v 0.02469807 0.02482451 -0.09171676
+v 0.02863554 0.01125118 -0.09171681
+v 0.03819268 -0.00567145 -0.09171524
+v 0.03953520 -0.00567151 -0.07511656
+v 0.03159557 0.02482147 -0.07511645
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+v 0.02863554 0.02482451 -0.09171676
+v 0.03819268 0.01445421 -0.09171680
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+v 0.04249755 -0.00567147 -0.08734169
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+f 1 51 41
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+f 1 39 23
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+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_2.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8304bf85667541e854f438f334e69bd738855cc7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_2.obj
@@ -0,0 +1,658 @@
+# https://github.com/mikedh/trimesh
+v 0.04250740 0.03150900 -0.08824835
+v 0.04114794 0.03150901 -0.09078291
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diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_20.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4751664e3f3db65fa30a5af4bf6c282d84c3f087
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_20.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.03127260 -0.02544032 -0.07511223
+v 0.04068003 -0.02544032 -0.07511223
+v 0.03127260 -0.02544032 -0.07510737
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diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_3.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81fc1297509639270f0937d6238521e3532e0654
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_3.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v -0.01916163 0.03960239 0.10132411
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+v -0.02234887 0.03932317 0.10254767
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+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_4.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..531c35d09ee4ac4c2c21053e9bf17d067eb207a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_4.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.04255569 -0.00567147 -0.08826750
+v 0.04234930 -0.00567148 -0.08497847
+v 0.04228629 -0.02544029 -0.08349489
+v 0.04255787 -0.02079028 -0.08826756
+v 0.04120651 -0.01758577 -0.09081395
+v 0.04120434 -0.00567146 -0.09081391
+v 0.04207990 -0.00567149 -0.08168942
+v 0.04213856 -0.02544030 -0.08168949
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+v 0.04255352 -0.02399478 -0.08826757
+v 0.04181049 -0.02544027 -0.08966509
+v 0.04120651 -0.02079027 -0.09081397
+v 0.04120434 -0.01438321 -0.09081556
+v 0.03819312 -0.00567145 -0.09171417
+v 0.04067857 -0.02544032 -0.07511629
+v 0.04115871 -0.02544032 -0.07691518
+v 0.04194085 -0.02544031 -0.08020585
+v 0.03985950 -0.00567151 -0.07511622
+v 0.04119999 -0.02544027 -0.09081236
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+v 0.03819312 -0.02079026 -0.09171423
+v 0.02863587 -0.00567145 -0.09171417
+v 0.03127340 -0.02544032 -0.07511629
+v 0.03954013 -0.00567151 -0.07511622
+v 0.02863587 -0.02544026 -0.09171262
+v 0.02863587 -0.00797420 -0.09171418
+v 0.02315875 -0.00567145 -0.09171255
+v 0.03246833 -0.00567732 -0.07511622
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+v 0.02036262 -0.01888033 -0.09170935
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+f 36 38 37
+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_5.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33de60d0d4e92f0d7a1a21bc5c279c25e65bf932
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_5.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.02868563 0.04035504 0.09591261
+v 0.02863205 0.04035371 0.09596770
+v 0.03187346 0.04035371 0.09591261
+v -0.00321505 0.04035504 0.09591261
+v -0.00321505 0.04035504 0.09596717
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+v 0.03505684 0.04035238 0.09591261
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+v 0.03813752 0.03154869 0.09591258
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+v 0.04231653 0.03688465 0.09925702
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+v 0.04233439 0.03487267 0.10132332
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+v 0.04168700 0.03368041 0.09591258
+v 0.04036097 0.03184409 0.09591258
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+f 36 40 39
+f 36 39 38
+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_6.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bd993355dfe97c82900b36f12dba23c1bb2c46b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_6.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.04255334 -0.02544029 -0.08826465
+v 0.04254899 -0.02719961 -0.08826466
+v 0.04181046 -0.02544028 -0.08966395
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+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_7.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0352461703958b3650030c2e40795e825d1f412
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_7.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00629641 -0.03141576 0.03092418
+v 0.00080369 -0.02984910 0.03092419
+v 0.00627011 -0.03141577 0.03345899
+v -0.02727458 -0.03141576 0.03092418
+v 0.00018572 -0.02984912 0.03658611
+v 0.00491583 -0.03141583 0.04990974
+v 0.00595126 -0.03141580 0.04004439
+v 0.00618465 -0.03141578 0.03675169
+v -0.02727458 -0.02984910 0.03092419
+v -0.02727787 -0.03141578 0.03571356
+v -0.02727787 -0.03040415 0.03345900
+v -0.00619451 -0.02984928 0.07933387
+v -0.00670401 -0.02984929 0.08258835
+v -0.00839028 -0.02984933 0.09267662
+v -0.00901812 -0.02984934 0.09597569
+v -0.00402175 -0.03141600 0.09598205
+v -0.02727787 -0.02984911 0.03345900
+v -0.02728115 -0.03141598 0.08938391
+v -0.02728444 -0.03040438 0.09598206
+v -0.00926793 -0.02984934 0.09598206
+v -0.02726801 -0.03141600 0.09598205
+v -0.02728115 -0.02984932 0.08938392
+v -0.02728115 -0.03141600 0.09596294
+v -0.02728115 -0.03141124 0.09598205
+v -0.02728115 -0.03038981 0.09598206
+v -0.02728115 -0.02984934 0.09597569
+v -0.00966238 -0.02984934 0.09598206
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 6
+f 1 6 16
+f 1 16 21
+f 1 21 23
+f 1 23 18
+f 1 18 10
+f 1 10 4
+f 1 4 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 17
+f 2 17 22
+f 2 22 26
+f 2 26 27
+f 2 27 20
+f 2 20 15
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 5
+f 4 10 11
+f 4 11 17
+f 4 17 9
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 10 18 19
+f 10 19 11
+f 11 19 17
+f 15 20 16
+f 16 20 27
+f 16 27 25
+f 16 25 19
+f 16 19 24
+f 16 24 21
+f 17 19 22
+f 18 23 19
+f 19 23 24
+f 19 25 26
+f 19 26 22
+f 21 24 23
+f 25 27 26
+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_8.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ada6c2ac3ec3b072e94163c08b2248130b2d9dae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_8.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.04255817 0.02482450 -0.08826439
+v 0.04120432 0.02482451 -0.09081091
+v 0.04255124 0.02727355 -0.08826438
+v 0.04232252 0.03150810 -0.05866052
+v 0.04230866 0.03047692 -0.05866053
+v 0.04225783 0.03047690 -0.05537222
+v 0.04184197 0.02727343 -0.05537223
+v 0.04135911 0.02482437 -0.05285738
+v 0.03819397 0.03047704 -0.09171100
+v 0.04119739 0.02727356 -0.09081090
+v 0.03819397 0.02482452 -0.09171553
+v 0.04253276 0.03047702 -0.08826437
+v 0.04227169 0.03150808 -0.05537221
+v 0.04250734 0.03150820 -0.08826436
+v 0.04178652 0.03150807 -0.05207938
+v 0.04122049 0.02482437 -0.05207941
+v 0.03716819 0.03150822 -0.09171099
+v 0.03819397 0.03150822 -0.09169741
+v 0.04117660 0.03047703 -0.09080637
+v 0.03500573 0.03150822 -0.09171550
+v 0.02469708 0.02482452 -0.09171553
+v 0.04114887 0.03150821 -0.09079279
+v 0.04038185 0.03150805 -0.04642999
+v 0.04026402 0.02482437 -0.05076770
+v 0.04021781 0.03150821 -0.09108226
+v 0.02226200 0.03150822 -0.09171550
+v 0.02226200 0.03047704 -0.09171551
+v 0.01895593 0.02482452 -0.09171102
+v 0.03995906 0.03150805 -0.04606815
+v 0.03996368 0.02482436 -0.05036062
+v 0.01895593 0.03150822 -0.09171099
+v 0.01895593 0.02482446 -0.07739080
+v 0.03819397 0.03150805 -0.04552537
+v 0.03819397 0.02482436 -0.05027468
+v 0.01895593 0.03150807 -0.05085813
+v 0.01895593 0.02485388 -0.07181832
+v 0.03260531 0.02482437 -0.05256790
+v 0.02226200 0.03150805 -0.04551632
+v 0.01895593 0.03150478 -0.04551180
+v 0.03610082 0.02482436 -0.05035610
+v 0.01906451 0.03150805 -0.04551632
+v 0.01895593 0.02678074 -0.05537223
+v 0.03461991 0.02482437 -0.05106623
+v 0.01895593 0.02781257 -0.05214724
+f 1 2 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 16
+f 1 16 24
+f 1 24 30
+f 1 30 34
+f 1 34 40
+f 1 40 43
+f 1 43 37
+f 1 37 32
+f 1 32 28
+f 1 28 21
+f 1 21 11
+f 1 11 2
+f 2 9 10
+f 2 11 9
+f 3 10 12
+f 3 12 4
+f 4 13 6
+f 4 6 5
+f 4 12 14
+f 4 14 22
+f 4 22 25
+f 4 25 18
+f 4 18 17
+f 4 17 20
+f 4 20 26
+f 4 26 31
+f 4 31 35
+f 4 35 41
+f 4 41 38
+f 4 38 33
+f 4 33 29
+f 4 29 23
+f 4 23 15
+f 4 15 13
+f 6 13 15
+f 6 15 8
+f 6 8 7
+f 8 15 16
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 9 11 20
+f 9 20 17
+f 10 19 12
+f 11 21 27
+f 11 27 26
+f 11 26 20
+f 12 19 14
+f 14 19 22
+f 15 23 16
+f 16 23 24
+f 18 25 19
+f 19 25 22
+f 21 28 27
+f 23 29 30
+f 23 30 24
+f 26 27 28
+f 26 28 31
+f 28 32 36
+f 28 36 42
+f 28 42 44
+f 28 44 39
+f 28 39 35
+f 28 35 31
+f 29 33 30
+f 30 33 34
+f 32 37 36
+f 33 38 39
+f 33 39 34
+f 34 39 40
+f 35 39 41
+f 36 37 42
+f 37 43 42
+f 38 41 39
+f 39 44 40
+f 40 44 43
+f 42 43 44
+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_9.obj b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45bed8bb6cf36570737fe1b370a9aba79d5a3d9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/mesh/remote_holder_028_collision_9.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.02727507 -0.02984894 0.03093055
+v 0.00080017 -0.02984894 0.03093055
+v -0.02727810 -0.02984896 0.03403825
+v -0.02727507 -0.02966823 0.03093055
+v -0.02727203 0.02086011 0.03092437
+v -0.02726900 -0.00566902 0.03092427
+v 0.00348629 -0.02078439 0.03093058
+v 0.00018404 -0.02984896 0.03659191
+v 0.00301888 -0.00566902 0.03092427
+v -0.02727507 0.02970313 0.03596168
+v -0.02727203 0.02970315 0.03092440
+v -0.02728114 -0.02984918 0.09596932
+v -0.02728114 0.02970291 0.09590586
+v 0.00363501 -0.00155937 0.03092428
+v 0.00369875 -0.01758410 0.03093060
+v -0.00465705 -0.02078459 0.08550634
+v -0.00476328 -0.02251589 0.08481858
+v -0.00619587 -0.02984912 0.07932913
+v 0.00059682 0.02970315 0.03092440
+v -0.00966203 -0.02984918 0.09598206
+v -0.02728114 -0.02719685 0.09598207
+v -0.02728114 -0.02717937 0.09598207
+v -0.02726596 -0.00567509 0.09598215
+v -0.00907928 0.02970291 0.09590586
+v 0.00372000 0.00163509 0.03092430
+v -0.00457813 -0.01758431 0.08602219
+v -0.00483916 -0.01758431 0.08766520
+v -0.00493325 -0.02078460 0.08715572
+v -0.00901857 -0.02984918 0.09596932
+v -0.00839333 -0.02984917 0.09267058
+v -0.00670578 -0.02984913 0.08258329
+v 0.00249986 0.02403707 0.03092438
+v 0.00047541 0.02970314 0.03268841
+v -0.00927049 -0.02984918 0.09598206
+v -0.00768614 -0.00567509 0.09598215
+v -0.00805643 0.02525515 0.09590584
+v -0.00496056 0.02085990 0.08701578
+v -0.00479666 0.02252709 0.08462769
+v -0.00678773 0.02970296 0.08255168
+v 0.00370482 0.01444788 0.03092434
+v -0.00483308 0.01444767 0.08770352
+v -0.00483612 -0.01438403 0.08767158
+v -0.00767400 -0.01760183 0.09598211
+v -0.00768310 -0.02080212 0.09598209
+v -0.00781968 -0.02380420 0.09598208
+v -0.00905499 -0.02982587 0.09598206
+v 0.00347112 0.02086011 0.03092437
+v 0.00042078 0.02970314 0.03343986
+v 0.00008691 0.02970312 0.03675771
+v -0.00767703 -0.01438406 0.09598212
+v -0.00767096 0.01770622 0.09590582
+v -0.00768007 0.02085987 0.09590583
+v -0.00783182 0.02383864 0.09590584
+v -0.00783486 0.02386778 0.09590584
+v -0.00483612 0.01765378 0.08768442
+v -0.00468436 0.02085991 0.08537277
+v -0.00429283 0.02085992 0.08280001
+v -0.00630210 0.02970297 0.07951403
+v 0.00368965 0.01692533 0.03092435
+v -0.00766793 0.01450593 0.09590580
+v -0.00767400 -0.01758434 0.09598211
+v 0.00354396 0.02013145 0.03092436
+v 0.00368358 0.01765399 0.03092435
+f 1 2 8
+f 1 8 18
+f 1 18 31
+f 1 31 30
+f 1 30 29
+f 1 29 34
+f 1 34 20
+f 1 20 12
+f 1 12 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 6
+f 1 6 9
+f 1 9 2
+f 2 7 8
+f 2 9 7
+f 3 10 11
+f 3 11 4
+f 3 12 13
+f 3 13 10
+f 5 11 19
+f 5 19 32
+f 5 32 47
+f 5 47 62
+f 5 62 63
+f 5 63 59
+f 5 59 40
+f 5 40 25
+f 5 25 14
+f 5 14 9
+f 5 9 6
+f 7 9 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 10 13 24
+f 10 24 39
+f 10 39 58
+f 10 58 49
+f 10 49 48
+f 10 48 33
+f 10 33 19
+f 10 19 11
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 35
+f 13 35 24
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 19 33 32
+f 20 34 46
+f 20 46 45
+f 20 45 44
+f 20 44 43
+f 20 43 61
+f 20 61 50
+f 20 50 35
+f 20 35 23
+f 20 23 22
+f 20 22 21
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 35 36
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 28 45 29
+f 29 45 46
+f 29 46 34
+f 32 33 48
+f 32 48 49
+f 32 49 47
+f 35 50 51
+f 35 51 52
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 36 54 37
+f 37 55 56
+f 37 56 38
+f 37 54 53
+f 37 53 55
+f 38 56 57
+f 38 57 47
+f 38 47 49
+f 38 49 58
+f 38 58 39
+f 40 59 55
+f 40 55 41
+f 41 55 52
+f 41 52 51
+f 41 51 60
+f 41 60 61
+f 41 61 43
+f 41 43 42
+f 47 57 62
+f 50 61 60
+f 50 60 51
+f 52 55 53
+f 55 57 56
+f 55 59 63
+f 55 63 62
+f 55 62 57
+
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/remote_holder_028.xml b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/remote_holder_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d0a833dd2bf2ce240ef51d99452ddd5b9f8448e7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/mjcf/remote_holder_028.xml
@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_028">
+  <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_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_028_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_028_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_028_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_028_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_028_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_028_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_028_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_028_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_028_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_028_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_028_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_028_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_028_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_028_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_028_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_028_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_028_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_028_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_028">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/remote_holder_028.urdf b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/remote_holder_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2eb28c93353c4690c8b90c6d3e7b2637595720f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/remote_holder_028.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_028">
+   <link name="remote_holder_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_028.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_028_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>4e7f9c39f93856caac5f2472db1ba49d</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>gray remote holder</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular gray wall-style holder containing a slim remote control</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611134551</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.026712 -0.040186 -0.091100</min>
+            <max>0.043284 0.040262 0.108900</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/remote_holder_028.usd b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/remote_holder_028.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0485058c41d97b1cd754156556ee841e8cfcd511
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/remote_holder_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4701121570c83e75d7590a4ddfc1acd8d237cb51ff05ada7c6a22b517a7d629d
+size 4470322
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/textures/material_0.png b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d6c7ccfe4110702dc21624b26a00201bdb2120f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3612c8999772c35a6825f2f6f4ceae3f2b51743e075a3005a4aa53c09137495c
+size 8633048
diff --git a/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/video.mp4 b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1d5c16f6717d5901d7ad4bb1336f69204f68807
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:514b10596950f44f73a6827b6233034669e68d64812743b717c0cd2535d46342
+size 158754