diff --git a/.gitattributes b/.gitattributes
index 7b0ff980b69cdeb209398c31c92fb7c4e44de292..cf01d4bb2c15d7ca3e4df9e52bbd53b05436c786 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2815,3 +2815,5 @@ dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/basket.gl
 dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/mesh/basket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/b256b4860fa250c79cd26d7af5f0319b/mesh/remote_holder_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/b256b4860fa250c79cd26d7af5f0319b/remote_holder_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/remote_holder_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/remote_holder_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/material.mtl b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d464526601e6cd9887f8343f2b2ce8003fbbcd89
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/material_0.png b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..abcb17189a4b166c086eec42b89bad620e219da5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/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/b612dd9c5c135e3cbea3120adfcb64dc/mesh/remote_holder_002.glb b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/remote_holder_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e770d80793a1c3b7ba7e61d6676ccad64e75fa54
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/remote_holder_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10093728
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/remote_holder_002.mtl b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/remote_holder_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c36d375cf1d21501553d583de952a3e3e15830e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/remote_holder_002.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_002_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
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/remote_holder_002.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/remote_holder_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9af465d469aedadd96a87b9afde33fb82245b35c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/remote_holder_002.obj
@@ -0,0 +1,107094 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_002_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/remote_holder_002_collision.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/remote_holder_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa43631650c0c834edb21ab08d75231ee44a0fa3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mesh/remote_holder_002_collision.obj
@@ -0,0 +1,9877 @@
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..863c61e6f4f3c1a5893dcf59554075fa8d99c3e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision.obj
@@ -0,0 +1,9877 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_0.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad458b05bae54635ed9e6e74b473557b1af7d30
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_1.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3909ad916c5fd1b5cd67efa8b1b104711dbab529
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_1.obj
@@ -0,0 +1,2068 @@
+# https://github.com/mikedh/trimesh
+v 0.00491689 0.03444642 0.02872896
+v 0.00778938 0.03445320 0.02582213
+v 0.00139654 0.03445996 0.02582213
+v 0.00139654 0.03444642 0.02872896
+v 0.00778938 0.03438556 0.02872896
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_10.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5582a50e322b4d63210ccb481722b6415b4be79
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_10.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_11.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e784aaad6a634f4ef189e742bc84ebee891f382
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_11.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_12.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6379e8afd0e01e70725d142bc1300d8513988845
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_12.obj
@@ -0,0 +1,589 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_13.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b566fd7938fd7da11ae2bbe38726177bf40cd450
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_13.obj
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+
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_14.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b0a6a2768c2a65d2b51ca34cc66be0138b50f9a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_14.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.01614457 0.01959546 0.04578803
+v -0.01614457 0.01675200 0.02873056
+v -0.01712147 0.01659925 0.02873056
+v -0.01737344 0.01652091 0.02873056
+v -0.02266898 0.01594119 0.04325629
+v -0.02290600 0.01605085 0.04519850
+v -0.02298500 0.01606652 0.04578802
+v -0.01614457 -0.02041755 0.04578789
+v -0.01614457 -0.01671229 0.02873044
+v -0.01897812 0.01517749 0.02873056
+v -0.01900480 0.01528715 0.02905788
+v -0.01926424 0.01576891 0.03101680
+v -0.01954183 0.01599998 0.03316944
+v -0.02497404 0.01409642 0.04578801
+v -0.02470179 0.01439800 0.04578801
+v -0.02329569 -0.01590551 0.04578790
+v -0.02267752 -0.01594075 0.04322611
+v -0.01737557 -0.01651645 0.02873044
+v -0.01972867 0.01375181 0.02873055
+v -0.02590076 0.01279607 0.04578801
+v -0.02541818 0.01355591 0.04578801
+v -0.02472314 -0.01440933 0.04578791
+v -0.02546088 -0.01353982 0.04578791
+v -0.01926424 -0.01576053 0.03100499
+v -0.01954931 -0.01599946 0.03315763
+v -0.01881156 -0.01540803 0.02873044
+v -0.01979380 0.01360689 0.02873055
+v -0.02559007 0.01171116 0.04408459
+v -0.02636625 0.01089256 0.04578800
+v -0.01979060 -0.01359851 0.02873045
+v -0.01897918 -0.01516911 0.02873044
+v -0.01900587 -0.01527878 0.02905776
+v -0.02605877 -0.01219248 0.04578792
+v -0.02040983 0.01111587 0.02873054
+v -0.02578652 0.00959614 0.04355186
+v -0.02675915 0.00793936 0.04578799
+v -0.02560075 -0.01172246 0.04405779
+v -0.02034898 -0.01140908 0.02873046
+v -0.02637906 -0.01089605 0.04578792
+v -0.02070771 0.00793942 0.02873053
+v -0.02696414 0.00476684 0.04578798
+v -0.02040022 -0.01111141 0.02873046
+v -0.02646127 -0.01028113 0.04578792
+v -0.02578865 -0.00960745 0.04354343
+v -0.02084223 0.00476690 0.02873052
+v -0.02705062 0.00159039 0.04578797
+v -0.02675808 -0.00793502 0.04578793
+v -0.02066287 -0.00831097 0.02873047
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+v -0.02704634 -0.00100246 0.04578796
+v -0.02069596 -0.00792713 0.02873047
+v -0.02679545 -0.00735144 0.04578793
+v -0.02089134 -0.00190325 0.02873049
+v -0.02704528 -0.00158214 0.04578795
+v -0.02695560 -0.00475858 0.04578794
+v -0.02082408 -0.00504836 0.02873048
+v -0.02083476 -0.00475852 0.02873048
+v -0.02697268 -0.00417499 0.04578794
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+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
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+f 1 14 21
+f 1 21 20
+f 1 20 29
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+f 1 36 41
+f 1 41 46
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+f 1 43 39
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+
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_15.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17734a7b23275486e738aadb611195f5cb282c73
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_15.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.00819448 0.03448692 0.04519857
+v -0.00180240 0.03446634 0.03228608
+v -0.00147822 0.03444572 0.02873063
+v -0.00180240 0.03444343 0.02905795
+v -0.00819448 0.03443651 0.04196878
+v -0.00878098 0.03447317 0.04578809
+v -0.00819448 0.03448463 0.04578809
+v -0.00238890 0.03446629 0.04578809
+v -0.00180240 0.03446629 0.04519857
+v 0.00458721 0.03445488 0.03228608
+v 0.00491140 0.03445260 0.02873063
+v 0.00138993 0.03445718 0.02873063
+v -0.00180240 0.03441592 0.02873063
+v -0.00819448 0.03409723 0.03874066
+v -0.01139177 0.03412242 0.04578809
+v -0.00499968 0.03413164 0.03228608
+v -0.00180240 0.03445941 0.04578809
+v 0.00778202 0.03439070 0.02873063
+v 0.00138993 0.03441588 0.04196878
+v -0.00504670 0.03318257 0.02873062
+v -0.00519270 0.03310692 0.02873062
+v -0.00753375 0.03277450 0.03228607
+v -0.01147838 0.03403072 0.04528040
+v -0.01139177 0.03405594 0.04519857
+v -0.01147838 0.03408804 0.04578809
+v 0.00080838 0.03416369 0.04578809
+v 0.00778202 0.03438153 0.02905795
+v 0.00810620 0.03433797 0.02873063
+v 0.00138993 0.03410408 0.04519857
+v -0.00669978 0.03155263 0.02873062
+v -0.00696705 0.03226329 0.02987291
+v -0.01066916 0.03273780 0.03874065
+v -0.01147838 0.03302664 0.04158133
+v -0.01147838 0.01106711 0.04578800
+v 0.00143448 0.03393215 0.04578808
+v 0.00778202 0.03398951 0.03228607
+v 0.01112531 0.03307941 0.02873062
+v -0.01147838 0.01650031 0.02873056
+v -0.01012226 0.03222201 0.03643103
+v -0.01147838 0.03090154 0.03874064
+v 0.00053370 0.01106711 0.04578800
+v -0.01147838 0.01106717 0.02873054
+v 0.00355775 0.03280884 0.04578808
+v 0.00396112 0.03274694 0.04519856
+v 0.01136783 0.03294186 0.02873062
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+v 0.01319661 0.02991810 0.02873061
+v 0.01275612 0.01747231 0.03106022
+v 0.01345893 0.02723133 0.02873060
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+
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_16.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b9e8532c8351073d0b802caf1f2732a09e20a27
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_16.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00699832 0.01106716 0.03310403
+v 0.00665231 0.00387803 0.04456528
+v 0.00978514 0.00382796 0.03799895
+v 0.01116218 0.00501781 0.03310401
+v -0.01147838 0.01106716 0.03310403
+v 0.00073967 0.01106711 0.04540473
+v 0.00475624 0.00501358 0.04578965
+v 0.00621511 0.00236255 0.04578964
+v 0.01230543 0.00159026 0.03331758
+v 0.00053159 0.01106711 0.04578967
+v 0.01236856 0.00185953 0.03310400
+v -0.01147838 -0.01025796 0.03310395
+v -0.01147838 0.01106711 0.04578967
+v 0.00628993 0.00159021 0.04578964
+v 0.01230543 -0.00158263 0.03331756
+v 0.01240597 -0.00158263 0.03310398
+v 0.01240363 0.00159026 0.03310400
+v -0.01147838 -0.01025801 0.04578959
+v 0.00684168 -0.01025796 0.03310395
+v 0.00628993 -0.00158268 0.04578962
+v 0.00978982 -0.00384541 0.03800265
+v 0.00664763 -0.00388718 0.04456402
+v 0.01119258 -0.00503731 0.03310397
+v 0.00046847 -0.01025801 0.04578959
+v 0.00403850 -0.01025798 0.03892896
+v 0.00477261 -0.00502484 0.04578961
+v 0.00086592 -0.01025801 0.04542700
+f 1 2 3
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+f 1 19 12
+f 1 12 5
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+
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_17.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c77339a36e5f6a864d5d1fb750830b537ec109e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_17.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.02634290 -0.01103364 0.04578959
+v -0.02605884 -0.01219462 0.04578959
+v -0.02888811 -0.01228160 0.05349674
+v -0.02696406 -0.01103364 0.04746923
+v 0.00047273 -0.01103364 0.04578959
+v -0.02546041 -0.01354280 0.04578958
+v -0.02599066 -0.01309784 0.04621087
+v -0.02926687 -0.01321550 0.05564757
+v -0.03213780 -0.01255167 0.06304061
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+v -0.02945624 -0.01103367 0.05444652
+v -0.02900553 -0.01103367 0.05316784
+v -0.02848664 -0.01117891 0.05178015
+v -0.02729736 -0.01111241 0.04842824
+v -0.02733145 -0.01103365 0.04849107
+v -0.00247775 -0.01103366 0.05202221
+v 0.00322247 -0.01564998 0.05054580
+v 0.00448371 -0.01510476 0.04578957
+v -0.02472184 -0.01441124 0.04578958
+v -0.02638835 -0.01366862 0.04842823
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+v -0.03174390 -0.01388247 0.06466667
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+v -0.03197494 -0.01103370 0.06173792
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+v -0.02856996 -0.01103366 0.05194460
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+v 0.00338154 -0.01746357 0.05087655
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+v 0.00574496 -0.01735512 0.04578957
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+v -0.00351174 -0.02063868 0.06466664
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+v -0.00011812 -0.02148356 0.05732719
+v 0.00101435 -0.02148355 0.05496016
+v 0.00198395 -0.02148354 0.05292944
+v 0.00408981 -0.02148353 0.04849287
+v 0.00535863 -0.02144056 0.04578955
+v -0.00364052 -0.02148359 0.06466664
+v 0.00535105 -0.02148352 0.04578955
+f 1 2 3
+f 1 3 4
+f 1 4 16
+f 1 16 32
+f 1 32 13
+f 1 13 12
+f 1 12 31
+f 1 31 29
+f 1 29 28
+f 1 28 27
+f 1 27 46
+f 1 46 33
+f 1 33 17
+f 1 17 5
+f 1 5 19
+f 1 19 37
+f 1 37 36
+f 1 36 53
+f 1 53 71
+f 1 71 73
+f 1 73 61
+f 1 61 40
+f 1 40 20
+f 1 20 6
+f 1 6 2
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+f 3 12 13
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+f 3 14 15
+f 3 15 4
+f 3 7 8
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+f 6 20 21
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+f 40 59 60
+f 40 60 42
+f 40 42 41
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+f 40 62 57
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+f 48 65 66
+f 48 66 49
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+f 50 68 51
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+
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_18.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f04847ba3579babd19b09f39024ec3073a24179
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_18.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.01147838 0.02036125 0.03606007
+v -0.01147838 0.01649900 0.02872889
+v -0.01458816 0.01699711 0.02872889
+v -0.01614351 0.01675201 0.02872889
+v -0.01614351 0.01671248 0.03046194
+v -0.01614351 0.01643573 0.03606006
+v -0.01147838 -0.02002451 0.03605993
+v -0.01147838 -0.01649430 0.02872877
+v -0.01614351 -0.01671172 0.02872877
+v -0.01614351 -0.01659710 0.03605994
+v -0.01614351 -0.01671568 0.02905672
+v -0.01614351 -0.01671568 0.02887373
+v -0.01458816 -0.01699635 0.02872877
+v -0.01177520 -0.01656941 0.02872877
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 7
+f 1 7 8
+f 1 8 2
+f 2 8 14
+f 2 14 13
+f 2 13 9
+f 2 9 4
+f 2 4 3
+f 4 9 12
+f 4 12 11
+f 4 11 10
+f 4 10 6
+f 4 6 5
+f 7 10 11
+f 7 11 12
+f 7 12 9
+f 7 9 13
+f 7 13 14
+f 7 14 8
+
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_19.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca06f2913b127ea82349aaab2608d4159696e58d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_19.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01147838 0.03408885 0.04578976
+v -0.01147838 0.03402880 0.04528117
+v -0.01200718 0.03386201 0.04578975
+v -0.01147838 -0.03407086 0.04578950
+v -0.01147838 0.03400879 0.04519831
+v -0.01398219 0.03274781 0.04578975
+v -0.01398401 -0.03274984 0.04578951
+v -0.01147838 -0.03400414 0.04519807
+v -0.01147838 0.03302137 0.04158208
+v -0.01157656 0.03306140 0.04192590
+v -0.01381003 0.03268776 0.04519831
+v -0.01516308 0.03017247 0.04578974
+v -0.01438541 -0.03200259 0.04578951
+v -0.01381231 -0.03268979 0.04519807
+v -0.01147838 -0.03302336 0.04158565
+v -0.01327940 0.03217403 0.04297353
+v -0.01147838 0.03089973 0.03874204
+v -0.01544301 0.02785733 0.04578973
+v -0.01614351 0.01643515 0.03606006
+v -0.01328260 -0.03216938 0.04297233
+v -0.01516308 -0.03016116 0.04578952
+v -0.01147838 -0.03174236 0.03953420
+v -0.01147838 0.03017250 0.03806584
+v -0.01554666 0.02699666 0.04578973
+v -0.01614351 0.01959090 0.04578970
+v -0.01147838 0.02944526 0.03788013
+v -0.01147838 0.02703672 0.03726964
+v -0.01147838 0.02035820 0.03606007
+v -0.01614351 -0.01659722 0.03605994
+v -0.01147838 -0.03054809 0.03831039
+v -0.01528911 -0.02910700 0.04578952
+v -0.01614351 -0.02041357 0.04578956
+v -0.01147838 -0.02001989 0.03605993
+v -0.01147838 -0.02702535 0.03728467
+v -0.01147838 -0.03016113 0.03808182
+v -0.01554210 -0.02698535 0.04578953
+f 1 2 3
+f 1 3 6
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+f 1 12 18
+f 1 18 24
+f 1 24 25
+f 1 25 32
+f 1 32 36
+f 1 36 31
+f 1 31 21
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+f 1 7 4
+f 1 4 8
+f 1 8 15
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+f 1 22 30
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+f 5 11 6
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+f 18 19 24
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+f 20 30 22
+f 20 21 29
+f 20 29 30
+f 21 31 29
+f 29 33 34
+f 29 34 35
+f 29 35 30
+f 29 31 36
+f 29 36 32
+
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_2.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2a8ed071aba570b15f5bcd9c86a14661b000e33
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_2.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.01147838 -0.03406939 0.04578950
+v -0.01147838 -0.03400303 0.04519720
+v -0.01139194 -0.03411916 0.04578950
+v -0.01147838 -0.01025801 0.04578959
+v -0.01139194 -0.03405281 0.04519719
+v -0.01147838 -0.03358590 0.04365992
+v -0.01066629 -0.03273032 0.03874262
+v -0.00819591 -0.03409069 0.03874261
+v -0.00819591 -0.03442724 0.04196990
+v -0.00819591 -0.03446993 0.04519719
+v -0.00819591 -0.03446519 0.04578950
+v 0.00046861 -0.01025801 0.04578959
+v -0.01147838 -0.01025796 0.03310395
+v -0.00776371 -0.03285354 0.03310387
+v -0.01147838 -0.03302184 0.04158621
+v -0.01147838 -0.03174441 0.03953361
+v -0.01012035 -0.03221365 0.03642925
+v -0.00499989 -0.03420206 0.03310386
+v -0.00499989 -0.03442249 0.03551408
+v -0.00499989 -0.03446041 0.03874261
+v -0.00180387 -0.03445328 0.03310386
+v -0.00099178 -0.03445328 0.03310386
+v 0.00138988 -0.03445330 0.03874261
+v -0.00180387 -0.03445333 0.04519719
+v -0.00760903 -0.03446519 0.04578950
+v 0.00086669 -0.01025801 0.04542700
+v 0.00448354 -0.01510466 0.04578957
+v 0.00684018 -0.01025796 0.03310395
+v -0.01147838 -0.01754097 0.03310393
+v -0.00843931 -0.03165668 0.03310387
+v -0.01147838 -0.03054754 0.03831050
+v -0.01147838 -0.03016598 0.03808202
+v -0.00964721 -0.03016597 0.03420282
+v -0.00912629 -0.03016596 0.03310388
+v 0.00458590 -0.03443670 0.03310386
+v 0.00138988 -0.03441066 0.04196990
+v -0.00180387 -0.03444860 0.04578950
+v 0.00403996 -0.01025798 0.03892896
+v 0.00638068 -0.01568056 0.04401015
+v 0.00574603 -0.01735616 0.04578957
+v 0.01068451 -0.01462113 0.03310394
+v 0.00458590 -0.03439167 0.03551408
+v 0.00783197 -0.03375888 0.03310387
+v 0.00138988 -0.03410731 0.04519719
+v 0.00143538 -0.03393431 0.04578951
+v 0.00651489 -0.01746517 0.04428954
+v 0.00954031 -0.01570898 0.03747486
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+v 0.01176047 -0.01746513 0.03310393
+v 0.00458590 -0.03405278 0.03874261
+v 0.00797983 -0.03302182 0.03558735
+v 0.00709950 -0.03270187 0.03874262
+v 0.00398082 -0.03275168 0.04519720
+v 0.01002938 -0.03246960 0.03310387
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+v 0.00964495 -0.01746515 0.03769092
+v 0.00630562 -0.02909476 0.04384371
+v 0.00944704 -0.02886722 0.03727241
+v 0.00510682 -0.03018260 0.04578952
+v 0.01113718 -0.02993133 0.03310388
+v 0.00654446 -0.03220181 0.04113173
+v 0.01080962 -0.03087459 0.03310388
+v 0.00968817 -0.03214965 0.03455919
+v 0.00603719 -0.03121117 0.04328368
+v 0.00487935 -0.03075377 0.04578952
+v 0.00917635 -0.03098362 0.03671114
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+f 1 3 11
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+f 1 25 37
+f 1 37 45
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+f 1 55 65
+f 1 65 59
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+
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_3.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e132deb806238b9dac6cd8d1d7302d87eccfcf82
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_3.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.01012975 0.02221677 -0.00422279
+v -0.00964346 0.02229716 -0.00451515
+v -0.00825044 0.02933144 -0.02540308
+v -0.01085244 0.02221677 -0.00422279
+v -0.00931129 0.02193540 -0.00422279
+v -0.00628884 0.02890078 -0.02540308
+v -0.00803049 0.02930847 -0.02540308
+v -0.00815019 0.02932570 -0.02540308
+v -0.00837613 0.02933144 -0.02540308
+v -0.01220507 0.02210193 -0.00422279
+v -0.01140457 0.02929699 -0.02540308
+v -0.01160955 0.02927976 -0.02540308
+v -0.00847339 0.02124634 -0.00422279
+v -0.00476415 0.02727573 -0.02540309
+v -0.00796615 0.02080993 -0.00422279
+v -0.00650730 0.01925953 -0.00422280
+v -0.01274073 0.02220529 -0.00494228
+v -0.01337963 0.02146454 -0.00422279
+v -0.01458712 0.02863663 -0.02540308
+v -0.00466091 0.02701733 -0.02540309
+v -0.00633822 0.01758281 -0.00422281
+v -0.00380804 0.02386486 -0.02540310
+v -0.01720408 0.02684506 -0.02540309
+v -0.01426991 0.02060895 -0.00422279
+v -0.00380504 0.02381892 -0.02540310
+v -0.00625144 0.01526870 -0.00422281
+v -0.01834573 0.02438740 -0.02540310
+v -0.01579011 0.01746796 -0.00422281
+v -0.00623647 0.01429252 -0.00422282
+v -0.00377512 0.02067219 -0.02540311
+v -0.01853875 0.02396822 -0.02540310
+v -0.01892029 0.02064348 -0.02540311
+v -0.01601006 0.01429252 -0.00422282
+v -0.00623647 0.01209325 -0.00422283
+v -0.00623797 -0.01428647 -0.00422292
+v -0.00378859 -0.02063728 -0.02540327
+v -0.01900708 0.01746803 -0.02540313
+v -0.01604747 0.01111708 -0.00422283
+v -0.00634720 -0.01757101 -0.00422293
+v -0.00381701 -0.02381273 -0.02540328
+v -0.01900857 0.01730151 -0.02540313
+v -0.01606094 0.00794163 -0.00422284
+v -0.01903401 0.01429259 -0.02540314
+v -0.00649533 -0.01907547 -0.00422294
+v -0.00651478 -0.01924200 -0.00422294
+v -0.00383048 -0.02386441 -0.02540328
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+v -0.01606842 0.00476619 -0.00422285
+v -0.00660904 -0.01936833 -0.00422294
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+v -0.01905197 0.00794170 -0.02540316
+v -0.01905645 0.00476626 -0.02540317
+v -0.01607141 0.00159075 -0.00422286
+v -0.00796466 -0.02079239 -0.00422295
+v -0.00515916 -0.02760259 -0.02540329
+v -0.01906094 -0.00157888 -0.02540320
+v -0.01607141 -0.00256087 -0.00422288
+v -0.00930830 -0.02192935 -0.00422295
+v -0.00698460 -0.02853282 -0.02426703
+v -0.00799009 -0.02930803 -0.02540330
+v -0.01905496 -0.01111096 -0.02540323
+v -0.01606842 -0.00573631 -0.00422289
+v -0.01090032 -0.02221072 -0.00422295
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_4.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..174cd5631a4b0a7a6819a7ab134f592883484ae2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_4.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_5.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aed2c6fff5279be21a7ff5b3c5852d15b45d111
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_5.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_6.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f7744bedc3e204e6b1281b6c321ac52f7c5458e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_7.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b78f83bf5773906ec4495b87c8933b97753d8eb7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_7.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_8.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07df30d8dc10672df0ea8bed5f972e971fb4496f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_8.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_9.obj b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a658bba06da083e649f64e9bb0ff5faf8be45fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/mesh/remote_holder_002_collision_9.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/remote_holder_002.xml b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/remote_holder_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2778e36323b5e4d115bf67b2bebab6306952da4e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/mjcf/remote_holder_002.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_002">
+  <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_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_002_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_002_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_002_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_002">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/remote_holder_002.urdf b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/remote_holder_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ec64795e80baa06e3a04531a3ef4ab0c6b9199db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/remote_holder_002.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_002">
+   <link name="remote_holder_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>b612dd9c5c135e3cbea3120adfcb64dc</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>sleek remote holder</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>gray remote holder with curved back and rectangular base</description>
+         <min_height>0.1959</min_height>
+         <max_height>0.1959</max_height>
+         <real_height>0.1959</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427231337</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/remote_holder_002.usd b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/remote_holder_002.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/remote_holder_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824be91d2d2f6326d7eba8184153eb0771da5dec2e130b5d33488c93c15c8b38
+size 4778286
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/textures/material_0.png b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 6969673
diff --git a/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/video.mp4 b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b612dd9c5c135e3cbea3120adfcb64dc/video.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:5f5fbc4ba06974514258b2120a49ec311a81ae1f2cacf3a184a3bd4b88b73632
+size 173642