diff --git a/.gitattributes b/.gitattributes
index aa6a8a211e1ae3160bcec3556d05e22dd6d4f51a..a8276dfef0473655d1810d851b6db3a1f4075988 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2720,7 +2720,5 @@ dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/mesh/storage_b
 dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/storage_bin_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/261d72bcaff456539c3fa5ca77a6fa58/glasses_case_031.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/261d72bcaff456539c3fa5ca77a6fa58/mesh/glasses_case_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/remote_holder_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/basket_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/26625bbe5eb1511cb67e3eae14e8d3ae/mesh/basket_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/remote_holder_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/material.mtl b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e96e94d76b9df068e18ccea2638316c48e63901e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_019_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/material_0.png b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019.glb b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bbab7e21c1988fb978354bb54b15a844d69dabda
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019.mtl b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d4a58e50bc53e42b0fc5ee8e28037ff0b36d1166
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019.mtl
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+newmtl remote_holder_019_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a7ce4a15237bfb63e03b06e7529f012aa5bab39
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_019_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019_collision.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4625d40eaf23f19229ff03601be80fc0994d69a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019_collision.obj
@@ -0,0 +1,19640 @@
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c6d30fd04bb4ec5814d583f6950e12b9bf3a93b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mesh/remote_holder_019_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12538882
diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c6d30fd04bb4ec5814d583f6950e12b9bf3a93b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d6a373c0f386637d3a8faa3f97fe010bb3cdfcf2760ed945f3862db3054e77a
+size 12538882
diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..075da6ae9493515986763b794c52f49d52e6c704
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44c9c05105519d21abd85c39a794a883522e92d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision.obj
@@ -0,0 +1,19640 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_0.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78e721a9642b2f212855aa7ae0e64b148f1e07ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_1.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d6d6e35e56ba9b7217450cd13362bb074695da8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_10.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..903ae72e2f99e6b08e67d30a527ec0aec89488c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_11.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6126c941522e34a089ebbf0e1b0b361733907060
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_12.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64aa7831cad5ef2a18d3b9d30816e34ef43fcf89
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_12.obj
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_13.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..863b45344e60862e48b18eacd2e3643721caa47b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_13.obj
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_14.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..968641af024dfa863ed7c499570aeca416cbf22a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_14.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_15.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e5122ca55762ccc773c29d6b177c016a338c5ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_15.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_16.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba092dcccd9968595ca60c81cbeb14f881fb9fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_16.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.07288746 0.00147774 -0.01421580
+v 0.07288746 0.00292228 -0.01419140
+v 0.07288746 0.00147771 -0.00572009
+v 0.06484613 0.00147774 -0.01338841
+v 0.06490701 0.00274021 -0.01337510
+v 0.07288746 0.00555525 -0.01414037
+v 0.07288746 0.01169747 -0.00220199
+v 0.04327601 0.01169743 0.00844537
+v 0.04327601 0.00147767 0.00473429
+v 0.06348948 0.00147774 -0.01303128
+v 0.06381705 0.00377259 -0.01300244
+v 0.06355616 0.00664965 -0.01263421
+v 0.06630134 0.00930863 -0.01292256
+v 0.07288746 0.01169751 -0.01379653
+v 0.07288746 0.00930863 -0.01395403
+v 0.07288746 0.00676369 -0.01409601
+v 0.04327601 0.01169747 -0.00252141
+v 0.04327601 0.00147770 -0.00390782
+v 0.06081387 0.00147773 -0.01212625
+v 0.06081387 0.00399066 -0.01196654
+v 0.06355616 0.00930863 -0.01225489
+v 0.06630134 0.01169751 -0.01263419
+v 0.06081387 0.00664964 -0.01164046
+v 0.04327601 0.01123430 -0.00261680
+v 0.04395143 0.01169747 -0.00284971
+v 0.04327601 0.00257511 -0.00383462
+v 0.04576320 0.00215196 -0.00513005
+v 0.04486457 0.00147771 -0.00470637
+v 0.05839626 0.00147773 -0.01109701
+v 0.05858758 0.00399066 -0.01101272
+v 0.06355616 0.01169750 -0.01185116
+v 0.06066024 0.00928962 -0.01113913
+v 0.05896153 0.00664964 -0.01084412
+v 0.05927170 0.00839128 -0.01070437
+v 0.04327601 0.01048903 -0.00276320
+v 0.04839243 0.01082116 -0.00518769
+v 0.04745031 0.01169748 -0.00454441
+v 0.04327601 0.00399063 -0.00373924
+v 0.04435727 0.00399064 -0.00427826
+v 0.04591973 0.00399064 -0.00505463
+v 0.04729088 0.00399064 -0.00572674
+v 0.04984474 0.00399065 -0.00695785
+v 0.04970269 0.00147772 -0.00706210
+v 0.04661255 0.00147771 -0.00556925
+v 0.05702801 0.00147773 -0.01048257
+v 0.05721933 0.00399066 -0.01039384
+v 0.06134146 0.01169750 -0.01098163
+v 0.05964275 0.01016394 -0.01054021
+v 0.05759328 0.00664964 -0.01022303
+v 0.05532930 0.00664963 -0.00918491
+v 0.05363060 0.00881443 -0.00804253
+v 0.05506841 0.00954370 -0.00857266
+v 0.05824262 0.00928962 -0.01006996
+v 0.04327601 0.00930859 -0.00297837
+v 0.04672561 0.00930860 -0.00466421
+v 0.04435727 0.00930859 -0.00350852
+v 0.04959834 0.01169748 -0.00557588
+v 0.04976067 0.01169748 -0.00565351
+v 0.05285951 0.01169749 -0.00711974
+v 0.05397845 0.01058708 -0.00787837
+v 0.04984474 0.00930860 -0.00616593
+v 0.04809675 0.00930860 -0.00532966
+v 0.04327601 0.00527510 -0.00358395
+v 0.04626180 0.00664962 -0.00488825
+v 0.04435727 0.00664961 -0.00394995
+v 0.04763294 0.00664962 -0.00555815
+v 0.04984474 0.00664962 -0.00661845
+v 0.05151446 0.00399065 -0.00774974
+v 0.05123617 0.00147772 -0.00779189
+v 0.05532930 0.00147773 -0.00970398
+v 0.05532930 0.00399065 -0.00952652
+v 0.05998481 0.01169750 -0.01038715
+v 0.05830639 0.01169750 -0.00962631
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+v 0.05559599 0.01169749 -0.00838856
+v 0.04327601 0.00664961 -0.00341315
+v 0.05288560 0.00399065 -0.00839302
+v 0.05270008 0.00147772 -0.00847953
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+f 74 81 75
+
diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_17.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d331afb2fb59476273b000fa5a7245cbc0a540e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_17.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.07800637 -0.01020749 -0.01683538
+v 0.07289035 -0.01020750 -0.01389182
+v 0.07800637 -0.00947365 -0.01692037
+v 0.07800637 -0.01020754 -0.00216974
+v 0.07289035 -0.00793168 -0.01403347
+v 0.07800637 -0.00664669 -0.01715447
+v 0.07800637 -0.00702415 -0.01712764
+v 0.07800637 -0.00930600 -0.01693528
+v 0.07289035 -0.01020754 -0.00315391
+v 0.07800637 0.00004823 -0.00495222
+v 0.07289035 0.00004823 -0.00574254
+v 0.07289035 -0.00672701 -0.01409310
+v 0.07800637 -0.00398838 -0.01731551
+v 0.07800637 -0.00452044 -0.01728569
+v 0.07800637 0.00004827 -0.01740049
+v 0.07289035 0.00004826 -0.01421834
+v 0.07289035 -0.00398839 -0.01416914
+v 0.07800637 -0.00132907 -0.01740348
+v 0.07800637 -0.00195349 -0.01738410
+v 0.07289035 -0.00132908 -0.01421834
+f 1 2 3
+f 1 3 8
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+f 1 14 13
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+f 1 19 18
+f 1 18 15
+f 1 15 10
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+f 2 6 7
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+f 2 8 3
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+f 2 20 17
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+f 2 12 5
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+f 5 14 6
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+f 10 16 11
+f 12 17 18
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+f 12 19 13
+f 15 18 16
+f 16 18 20
+f 17 20 18
+
diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_18.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f61d1052191320bdad26f7fca80ebda433aa2465
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_18.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.03521568 -0.03013861 0.04004640
+v -0.02970812 -0.03014141 0.04006655
+v -0.03521568 -0.03013861 0.04006655
+v -0.03521568 -0.03002641 0.03732637
+v -0.02422123 -0.03005166 0.03732637
+v -0.02970812 -0.03013862 0.04280672
+v -0.03245157 -0.03013862 0.04280672
+v -0.02696468 -0.03013300 0.04006655
+v -0.03521568 -0.03013581 0.04280672
+v -0.03521568 -0.03002361 0.03731227
+v -0.02148295 -0.02960012 0.03495088
+v -0.00882487 -0.02969830 0.04006655
+v -0.00882487 -0.02991707 0.04554690
+v -0.00882487 -0.03001804 0.04828708
+v -0.01873951 -0.02947953 0.03471514
+v -0.00882487 -0.02939258 0.03628067
+v -0.00882487 -0.02952160 0.03732637
+v -0.02696468 -0.03012740 0.04280672
+v -0.00882487 -0.03003487 0.05029990
+v -0.01050917 -0.03002926 0.05029990
+v -0.03521568 -0.02974880 0.04552675
+v -0.03521568 -0.02958329 0.03548279
+v -0.01873951 -0.02919626 0.03334505
+v -0.00882487 -0.02931406 0.03577495
+v -0.00882487 -0.01674706 0.05029995
+v -0.01325262 -0.02991708 0.05029990
+v -0.03519502 -0.02974600 0.04554690
+v -0.03521568 -0.02974319 0.04554690
+v -0.03521568 -0.02957488 0.03547272
+v -0.03521568 -0.02780523 0.03411272
+v -0.03521568 -0.02768182 0.03402003
+v -0.01873951 -0.02786692 0.03256734
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+v -0.00882487 -0.02752476 0.03369565
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+v -0.00882487 -0.00149045 0.03978255
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+v -0.03063294 -0.02886819 0.05029990
+v -0.03320589 -0.02861017 0.05029990
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+v -0.03521568 -0.02531481 0.03318187
+v -0.01873951 -0.02526152 0.03181984
+v -0.01599606 -0.02526152 0.03172917
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+v -0.01873951 -0.02260284 0.03163247
+v -0.00882487 -0.00279732 0.02977486
+v -0.01599606 -0.02260284 0.03151763
+v -0.03521568 -0.02500911 0.03312949
+v -0.03521568 -0.02260284 0.03284742
+v -0.03521568 -0.01994415 0.03257341
+v -0.03521568 -0.01992452 0.03257140
+v -0.03521568 -0.01726584 0.03231955
+v -0.03521568 -0.01460996 0.03209390
+v -0.03521568 -0.01194847 0.03189847
+v -0.00882487 -0.02144737 0.03166874
+v -0.00882487 -0.02260003 0.03184000
+v -0.03521568 -0.00664793 0.03158015
+v -0.03521568 -0.00396962 0.03148546
+v -0.03521568 -0.00149042 0.03144718
+v -0.03521568 -0.00930942 0.03172722
+f 1 2 3
+f 1 3 9
+f 1 9 21
+f 1 21 28
+f 1 28 41
+f 1 41 49
+f 1 49 48
+f 1 48 65
+f 1 65 64
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+f 51 60 66
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+f 52 66 63
+
diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_19.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91fe870b572a53c67dabd8d10f5b32547f4f0723
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_19.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00258198 -0.03011758 0.04554564
+v -0.00258198 -0.03005212 0.04828712
+v -0.00502145 -0.03010630 0.04828712
+v -0.00258198 -0.03007691 0.03732849
+v -0.00258198 -0.02967732 0.05029949
+v -0.00502145 -0.02993923 0.05029949
+v -0.00776402 -0.03006340 0.05029949
+v -0.00776402 -0.03005663 0.04828712
+v -0.00502145 -0.02999563 0.03732849
+v -0.00258198 -0.02998659 0.03456757
+v -0.00258198 -0.01913339 0.05029953
+v -0.00882487 -0.03003405 0.05029949
+v -0.00882487 -0.03001825 0.04828712
+v -0.00776402 -0.02987824 0.04006511
+v -0.00776402 -0.02973373 0.03732849
+v -0.00519622 -0.02965921 0.03440959
+v -0.00258198 -0.02961404 0.03189414
+v -0.00789785 -0.00705187 0.04029122
+v -0.00882487 -0.00705187 0.04098631
+v -0.00882487 -0.01675141 0.05029954
+v -0.00258198 -0.00705185 0.03627621
+v -0.00882487 -0.02991664 0.04554564
+v -0.00882487 -0.02969987 0.04006511
+v -0.00882487 -0.02952375 0.03732849
+v -0.00882487 -0.02939279 0.03628100
+v -0.00776402 -0.02942666 0.03536231
+v -0.00439814 -0.02945600 0.03264999
+v -0.00258198 -0.02917150 0.03056715
+v -0.00882487 -0.00705183 0.03036794
+v -0.00258198 -0.00705181 0.02547313
+v -0.00882487 -0.02931377 0.03577547
+v -0.00622591 -0.02917829 0.03337668
+v -0.00324684 -0.02903378 0.03082234
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_2.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba10ff13a77ea08e3c461f65abe1e91b0870962e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_20.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..977e6710859a7fc128e532dc757f2dbd2fdfcb1e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_20.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_21.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30aade81ef69db3ac91da21d5eac3472d5a6d862
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_21.obj
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_22.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea03b1eb799fd8a03b380531279cfbaf3830c2ab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_22.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_23.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08efa36222cb5a12e37dfe67c3b9aa9bed50ce98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_23.obj
@@ -0,0 +1,706 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_24.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00e1d5fff316452d8c2fae0f7047c98cde2ff7dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_24.obj
@@ -0,0 +1,802 @@
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_25.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cb2c052d82b5ce62ceab7459f88f572aaa67e1d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_25.obj
@@ -0,0 +1,1060 @@
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_26.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38b149613610b167693b1f8854a0d5536609f37b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_26.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00258198 -0.00705044 0.02547436
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+
diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_27.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76e43690423f36337659d6861bba79711ed612db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_27.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_28.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c4aff1cfde432a92dd2d06a7f15cad115aca2a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_28.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_29.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfae8312537c0db4f36cccfaed41ee82786f7747
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_29.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_3.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..918b9cfd7fda71445f1b30e4898ee48d52d31148
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_3.obj
@@ -0,0 +1,793 @@
+# https://github.com/mikedh/trimesh
+v 0.06646081 -0.03013635 -0.04549900
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_4.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6d106fe6bd5872dbe7581d6f595e5d3b7bfc085
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_5.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca43acaae0601e61d69872d715d723fd6aa7f8e7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_6.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3f2b3d454016506d7cffd0ec10dd1e4ddd63a78
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_7.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d8ce1423a1d702bb72d66d59bee3cba1fd4edb8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_8.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e19b05991dc0a80cce7e0f15ad6dca4d68db5de8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_8.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_9.obj b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a28bc350da97ced4b5f8e93d1dc37c9e44580698
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/mesh/remote_holder_019_collision_9.obj
@@ -0,0 +1,1123 @@
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diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/remote_holder_019.xml b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/remote_holder_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9824d86bfedb91a182f0e2a0587d65bb3751b5f4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/mjcf/remote_holder_019.xml
@@ -0,0 +1,74 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_019">
+  <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_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_019_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_019_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_019_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_019_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_019_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_019_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_019_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_019_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_019_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_019_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_019_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_019_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_019_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_019_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/remote_holder_019_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/remote_holder_019_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/remote_holder_019_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/remote_holder_019_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/remote_holder_019_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/remote_holder_019_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/remote_holder_019_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/remote_holder_019_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_019">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/remote_holder_019.urdf b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/remote_holder_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ec79b15a764fff067ba23afdebd6bdeac09b45de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/remote_holder_019.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_019">
+   <link name="remote_holder_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>27b2b24a366254b8bde5cbc902d3d070</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>wooden remote holder</name>
+         <color>brown,black</color>
+         <shape>irregular</shape>
+         <material>wood</material>
+         <description>curved wooden remote holder with angled cradle and rubberized base</description>
+         <min_height>0.1434</min_height>
+         <max_height>0.1434</max_height>
+         <real_height>0.1434</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518171853</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.070390 -0.029999 -0.054671</min>
+            <max>0.096342 0.030001 0.088690</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/remote_holder_019.usd b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/remote_holder_019.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/remote_holder_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f80fa97465f17e7862df744a66fbd228b29ecebcf6d7fef020ea329646ddffc
+size 4828759
diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/textures/material_0.png b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c6d30fd04bb4ec5814d583f6950e12b9bf3a93b
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+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/textures/material_0.png
@@ -0,0 +1,3 @@
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+size 12538882
diff --git a/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/video.mp4 b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b61f9f9e3ee93dbf638f170236458353ca5ac3ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/27b2b24a366254b8bde5cbc902d3d070/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5d3b4a43721fc31b8277f53a304028078b7c5521688c021e8ba1ecb0de50834
+size 315119