diff --git a/.gitattributes b/.gitattributes
index b59c76a4b4bf7e0269dd84ee35691405069cfbe8..5edce41b0b3558723ccfebfbd97a9283e7da7713 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2754,3 +2754,5 @@ dataset/bedroom_supplies/storage/4e2839feedd050caaeaa45fc947092bb/mesh/wicker_ba
 dataset/bedroom_supplies/storage/4e2839feedd050caaeaa45fc947092bb/mesh/wicker_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/51b033dfae3c5cf6bbff7a06cd75c739/mesh/pill_organizer_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/51b033dfae3c5cf6bbff7a06cd75c739/pill_organizer_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/remote_holder_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/material.mtl b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..224fdfae60591debdff48c2645ec6d73c771f41f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_006_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_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/material_0.png b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..823deb458bcccad80f1b7591d304e9013542483b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7aadf81e952a59a0a4dbe650752ebf57ae4f1497dfae93468f21613b13522c2
+size 14149881
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006.glb b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..49a74ff077e29c4eaf554aaad14be4d8a3255320
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88cbf471b83cdd99fd56561cc074b623f846229fc8cb433d6cbf973f38917b19
+size 17521912
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006.mtl b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f921a97008233230c4515302b3651ef5319307bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_006_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b38061579d9ddbe2579261640c4fca89f1dc4893
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006.obj
@@ -0,0 +1,140480 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_006_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006_collision.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc79b97988fc222c5fac710bb2f9c27d192f9634
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mesh/remote_holder_006_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 14149881
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..823deb458bcccad80f1b7591d304e9013542483b
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+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:c7aadf81e952a59a0a4dbe650752ebf57ae4f1497dfae93468f21613b13522c2
+size 14149881
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006.obj
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index 0000000000000000000000000000000000000000..afd12da427bd2720d91f889fc42d4305a5b1e068
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+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4abc6dd67ac029b423095dd6919fc3807a57c74
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision.obj
@@ -0,0 +1,9727 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_0.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79f0666b3765b5cd86543a360362acf9ef2a6b76
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_1.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4e3cc43629602e57da339c48f0a90ee071fc83e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_10.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a3a603c0a68096832fbbabf73b63ba345d7fd2e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_10.obj
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+
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_11.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b450f65c8b63a15243ccdc4216dc6f34a22ad2d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_11.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.08954173 0.00497795 -0.06078228
+v 0.08949885 -0.00012763 -0.03356586
+v 0.08947503 -0.00012758 -0.04716563
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+v 0.08948933 -0.00012811 0.09908682
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+v 0.04425012 -0.00012752 -0.06314747
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+v 0.08947026 0.02211391 0.10248261
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+v 0.04564136 -0.00012809 0.09227848
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+v 0.06619554 -0.00012815 0.10942602
+v 0.06619554 0.01176359 0.10944296
+v 0.07977445 -0.00012815 0.10915571
+v 0.07637734 -0.00012815 0.10942602
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 15 16
+f 1 16 2
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+
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_12.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4de4009e784fe3af383fddc6b27ffe76b30e6e6f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_12.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.08953629 -0.01538463 -0.06078309
+v 0.08949864 -0.02168594 -0.03355970
+v 0.08941862 -0.02168585 -0.05737385
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+v 0.08939038 -0.01538462 -0.06296029
+v 0.08953158 -0.00520479 -0.06078305
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+v 0.08948922 -0.02168642 0.09908056
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+v 0.08937155 -0.00520478 -0.06296025
+v 0.08924917 -0.00012752 -0.06296023
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+
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_13.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..827ac7829919804cb83d0cca5de546fd0ddf039e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_13.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.08952352 0.02534161 -0.06078221
+v 0.08949489 0.02211441 -0.03356590
+v 0.08946054 0.02211450 -0.05753856
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+
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_14.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d25d21673aec4b8344ac7d480be81736c023e827
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_14.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_15.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bab146b3b436c1d71ddd07e4f925d28307d07a71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_15.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.02582580 0.04232903 -0.06310525
+v -0.04053381 0.02305571 -0.06310533
+v -0.08924238 0.04232903 -0.06310525
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+
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_16.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..691351ef20561573b685e544e08263084659bbbd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_16.obj
@@ -0,0 +1,922 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_2.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5758d412eca78323e8fd7b11e89778332af8959a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_3.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72e2aa5c1f8373af38ae220127db92e1c95d17e9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_4.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f3a760c588f842e31f64ae5e88ff977dfab1bda
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_5.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b38d26b98858d8650f4314da7a4f5b4fd275b933
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_5.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_6.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1ed01c5e32284ef3a6a2a09480e3ccbd3171cb5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_6.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_7.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f2393ba147d136ba91e58f6e9cd33675fa45192
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_7.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.03044800 -0.03927992 -0.06298885
+v -0.08936548 -0.03927992 -0.06298885
+v -0.03077777 -0.03843723 -0.06298885
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+v -0.08941754 -0.03794470 -0.06298885
+v -0.08949854 -0.03914249 -0.05738543
+v -0.08951590 -0.03574881 -0.06077785
+v -0.08951011 -0.03927998 -0.04717438
+v -0.08951590 -0.03914253 -0.04717438
+v -0.04135329 -0.02256520 -0.06298879
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+v -0.08954482 -0.02556780 -0.06077781
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+v -0.08944648 -0.03928049 0.09226977
+v -0.08930184 -0.02256520 -0.06298879
+v -0.04598731 -0.02256580 0.09983107
+v -0.05650499 -0.02256583 0.10837122
+v -0.04689561 -0.03914310 0.10796609
+v -0.04684354 -0.03928055 0.10798297
+v -0.08945226 -0.02556836 0.09226982
+v -0.08944648 -0.02256579 0.09907157
+v -0.08945226 -0.02256576 0.08887739
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+v -0.08944648 -0.03235572 0.09907153
+v -0.08945226 -0.02896366 0.09226980
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+v -0.08941754 -0.03928053 0.10248082
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+v -0.07978503 -0.03928055 0.10913066
+v -0.08318100 -0.03928055 0.10874247
+v -0.08351076 -0.02256583 0.10867503
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+f 1 7 3
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+
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_8.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97783e4ed2669d45643e8f92d7ce5d490a580026
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_8.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v -0.08930287 -0.02256356 -0.06298879
+v -0.04153377 -0.01886522 -0.06298878
+v -0.04266159 -0.02256412 0.08887802
+v -0.08942084 -0.01538429 -0.06298877
+v -0.08948218 -0.02256358 -0.05777354
+v -0.08955297 -0.01538430 -0.06077777
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+v -0.08945387 -0.02256412 0.08887802
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+v -0.04554481 -0.00012808 0.08887810
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+v -0.08927928 -0.00012752 -0.06298871
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+v -0.08890648 -0.02256418 0.10504700
+v -0.08884042 -0.01199183 0.10540147
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+
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_9.obj b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45c3bc5a67df238bab4f0f74e0717018875dde6b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/mesh/remote_holder_006_collision_9.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+v -0.04157060 0.01515853 -0.06310535
+v -0.08935308 0.02305571 -0.06310533
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diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/remote_holder_006.xml b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/remote_holder_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..829cbb5864d0c957b87b5cd692545997e8d8e5d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/mjcf/remote_holder_006.xml
@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_006">
+  <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_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_006_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_006_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_006_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_006_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_006_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_006_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_006_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_006_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_006">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/remote_holder_006.urdf b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/remote_holder_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6a59ddece3de6610834a9c51aa58ff20bc3f65ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/remote_holder_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_006">
+   <link name="remote_holder_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_006.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_006_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>51caa858da3f595bbab60c07f7aee37f</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>compact remote holder</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact brown holder with textured base for storing remotes</description>
+         <min_height>0.2068</min_height>
+         <max_height>0.2068</max_height>
+         <real_height>0.2068</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427231550</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>7</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/51caa858da3f595bbab60c07f7aee37f/remote_holder_006.usd b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/remote_holder_006.usd
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/textures/material_0.png b/dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/textures/material_0.png
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