diff --git a/.gitattributes b/.gitattributes
index 257fa171bef6614fa112f1e0a9fe63c266ebaed9..11e8646f9772f26fb06e5ea2aa8a5cc5be8bc328 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2823,3 +2823,5 @@ dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/jewelry_box_01
 dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/storage_bin_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/remote_holder_033.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/material.mtl b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dcb1d1aca324eadee8b967ecd817b5756d4cf4b3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_033_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd remote_holder_033_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/material_0.png b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1cf29563207b747b610fe8d4123b199281e2370
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/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/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033.glb b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033.glb
new file mode 100644
index 0000000000000000000000000000000000000000..895c0c66864368f57b0679a67b59bb2ec939c923
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4fa62e962897f3c5e9289101c5ab619c5828709ec7faf334386d1534b4507ee
+size 12001860
diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033.mtl b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3953a0d68438b8c9e90d1f4a4843f251aaba7179
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_033_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033.obj b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed61fa7b45c3e1b3174d9c7a50cfc93e393fe962
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033.obj
@@ -0,0 +1,115670 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_033_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033_collision.obj b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45aa3e54d22047b39bd42356be25e88370b71f7d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033_collision.obj
@@ -0,0 +1,13780 @@
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diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1cf29563207b747b610fe8d4123b199281e2370
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mesh/remote_holder_033_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8579607
diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1cf29563207b747b610fe8d4123b199281e2370
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8579607
diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033.obj b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c353209d637c7989f9d78ba1a36eee200d006e98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_033_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision.obj b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3728d94a8a53ccf1c5d47be092a7280b0bf33d4f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision.obj
@@ -0,0 +1,13780 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_0.obj b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21970790e4ea57c2bac949460d85689c9972a463
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_1.obj b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e1204acfbf6e5a55cabb4f6f92e6207bb32dbb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_1.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_2.obj b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75f21de158b8849440edd107b43c87e51ab38b0e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_2.obj
@@ -0,0 +1,2065 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_3.obj b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fb27e43451c9c63da565e47091c9c04a287e605
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_4.obj b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87d86f27ec5a385c5ada43157282588a21f6ed5a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_5.obj b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7076cb07aec26af137d40642bc75eec41ed8184a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_6.obj b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34eddb77f8d31e7b480a4c973164ddc0f476cebe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_7.obj b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6844f403c9f8f6c54cad3ecd8b769bd58c058bf9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/mesh/remote_holder_033_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/remote_holder_033.xml b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/remote_holder_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cbd90d8cdbdb1553cf1956de2cd0115692fc7776
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/mjcf/remote_holder_033.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_033">
+  <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_033.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_033_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_033_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_033_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_033_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_033_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_033_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_033_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_033">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/remote_holder_033.urdf b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/remote_holder_033.urdf
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/remote_holder_033.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_033">
+   <link name="remote_holder_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_033.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_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>bb13abdf9f7a55a1b33c98e1882de433</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>black remote holder</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>upright black rounded holder with recessed front cradle and vented side panels</description>
+         <min_height>0.1339</min_height>
+         <max_height>0.1339</max_height>
+         <real_height>0.1339</real_height>
+         <min_mass>0.7</min_mass>
+         <max_mass>1.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611134802</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.033871 -0.040013 -0.056748</min>
+            <max>0.072002 0.039987 0.077191</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/remote_holder_033.usd b/dataset/bedroom_supplies/storage/bb13abdf9f7a55a1b33c98e1882de433/remote_holder_033.usd
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