diff --git a/.gitattributes b/.gitattributes
index 4bd2fd60267b5ab318706fcab95e7562b4c5054f..c34ff3406618d0e4f044eb380464e279c4551fa1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2720,3 +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
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/material.mtl b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..02b9d677d6a1a57ae5462042b4c9ce9f925cde15
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_027_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_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/material_0.png b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..21d3dd4c2a5cdd6d76db73e23a2c70eda50190f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/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/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027.glb b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ecd72ed669b6926643954950b58def49e0ce4d1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f15ef22ba945988e6d94d2e34de4f96769b05eafda4dd82470bba027b6872d52
+size 12746144
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027.mtl b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..659f3f2e522034d1096f0a0ef5c9cb1eb7661255
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_027_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/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..251114cde4500988439aaeaaafa29b094b728cda
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027.obj
@@ -0,0 +1,113646 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_027_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027_collision.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da0a0c081ab762832e47c8c20e571330821152c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mesh/remote_holder_027_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..21d3dd4c2a5cdd6d76db73e23a2c70eda50190f5
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+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:72e197777c059fa4b3384b7025ecd2525b9e3dbcb19309506c13a75a4d075bd7
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027.obj
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index 0000000000000000000000000000000000000000..63b556cdcf281148d4b9df3d56be993a648c5b9b
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c2e0f2f2f35aca8d5a598da1a25b64e23b630f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision.obj
@@ -0,0 +1,11608 @@
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_0.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3a2c29b1bad884c933e2e137102885df2f3a288
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_0.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.05287237 0.03431463 0.01147420
+v 0.05287237 0.03750575 0.01147421
+v 0.05287237 0.03302569 0.01471950
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+v 0.01461358 0.03630267 0.01628635
+v 0.01006745 0.03738776 0.01811365
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+v 0.01006745 0.03216261 0.02130520
+v 0.05287237 0.03857089 0.01471952
+v 0.01006745 0.03767139 0.01880406
+v 0.01006745 0.03866020 0.02130522
+v 0.05287237 0.03261791 0.04409675
+v 0.05271315 0.03261444 0.04409675
+v 0.02698662 0.03254416 0.04987216
+v 0.01006745 0.03271676 0.05274126
+v 0.05287237 0.03262657 0.04615143
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+v 0.03346015 0.03255023 0.04971093
+v 0.03669901 0.03260314 0.04960344
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+v 0.04971312 0.03449405 0.04849137
+v 0.04232198 0.03279136 0.04935953
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_1.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b551b779c72c86ce6cea6fc1979aac20e8021fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_1.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01054276 -0.03985021 -0.07747807
+v -0.02112393 -0.03982865 -0.07747807
+v -0.02112393 -0.03959390 -0.07933211
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_10.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af23fdb77efc1dbb4ad2775f8bbe2b8f8f9a1751
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_10.obj
@@ -0,0 +1,787 @@
+# https://github.com/mikedh/trimesh
+v 0.01717181 -0.02758767 -0.04833756
+v 0.01744446 -0.02758767 -0.04827755
+v 0.01420351 -0.02758767 -0.04794419
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_11.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f00ea31458b423473d2162c90b870155d04e869
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_11.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_12.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6611d69ff5ec709cf4c530cb74255f3876ba1736
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_12.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01737759 0.03050547 -0.08092603
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+f 2 4 1
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_13.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e857daebc783aa83e7a70a78d2a6261daf9402b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_13.obj
@@ -0,0 +1,865 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_14.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5dc87c9a6bacc4b9d221bc27327075783cf26aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_15.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e43a6bb4342a4f8ad60bd0807753faf9d7574394
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_16.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d190799ad9faadece6dbf4fe4167b75740bc073
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_16.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.02112393 0.02839017 -0.05938705
+v -0.01054276 0.02839018 -0.06233404
+v -0.02112393 0.02839025 -0.08093366
+v -0.02112393 -0.02760954 -0.05971633
+v -0.01054276 -0.02760953 -0.06249457
+v -0.01054276 0.02839025 -0.08093155
+v -0.01835719 0.02839025 -0.08093366
+v -0.01188107 0.02142181 -0.08093579
+v -0.01835719 0.01488102 -0.08093582
+v -0.02112393 -0.00846407 -0.08093379
+v -0.02112393 -0.02760946 -0.08092754
+v -0.01054276 -0.02760946 -0.08092754
+v -0.01054276 0.02660291 -0.08093366
+v -0.01054276 0.02142181 -0.08093579
+v -0.01835719 -0.00798708 -0.08093590
+v -0.02112393 -0.02480235 -0.08092964
+v -0.01846077 -0.02760946 -0.08092965
+v -0.01510256 -0.02760946 -0.08092965
+v -0.01054276 -0.02567957 -0.08092964
+v -0.01054276 0.00507805 -0.08093585
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+v -0.01188107 -0.01452239 -0.08093381
+v -0.01054276 -0.01260347 -0.08093381
+f 1 2 6
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_17.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ede387a8800fac553251b11d57f091c245a2ce28
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_17.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.01741305 -0.02758780 -0.01386074
+v 0.01740874 -0.02759994 -0.01386074
+v 0.01006744 -0.02758780 -0.01386074
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+v 0.01163205 -0.03123373 0.01452487
+v 0.01695000 -0.02825772 -0.01386074
+v 0.01006744 -0.02758790 0.01245107
+v 0.01006744 -0.03048234 -0.01386075
+v 0.01006744 -0.03123375 0.01873310
+v 0.01162990 -0.03123373 0.01390591
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+v 0.01688744 -0.02833160 -0.01386074
+v 0.01030041 -0.03048412 -0.01386075
+v 0.01006744 -0.03123372 0.01110468
+v 0.01061247 -0.03123372 0.01142054
+v 0.01079007 -0.03048769 -0.01386075
+v 0.01411846 -0.02993591 -0.01386075
+v 0.01053122 -0.03123372 0.01133440
+f 1 2 6
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+f 14 16 18
+f 15 18 16
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_18.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d1bf59cdb21f2931b3277fefecc99295d23d12f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_18.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.05287999 -0.03740847 0.04812919
+v 0.04871394 -0.03520548 0.04942134
+v 0.05035167 -0.03740099 0.04908668
+v 0.04828359 -0.03912348 0.04933767
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+v 0.04641275 -0.03740099 0.04975599
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+v 0.05287999 -0.03413390 0.04759004
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_19.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a45946697a5a254e7c07724c3e335a396edbe8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_19.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_2.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fc8382896b9691f91814ed218b24172dea2e891
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_2.obj
@@ -0,0 +1,955 @@
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_20.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd39e4fa18c010482dd8adf04656753c27d75af4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_20.obj
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_21.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..422ac4958beb16366435b01df43d8db2ce713e69
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_21.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_22.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ba30955308f4fd3bc647581e93bffe17d478248
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_22.obj
@@ -0,0 +1,445 @@
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_23.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08f0f83493db05282ab7be9779925261b02e2401
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_23.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.03131281 -0.04062191 -0.06431002
+v -0.03358283 -0.03993145 -0.06759952
+v -0.03131281 -0.04054844 -0.07089685
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+v -0.02483660 -0.03996348 -0.07747587
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_24.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8e1500c2e88bb001ea5386540e7d0aaffa017d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_24.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03495389 -0.03053645 -0.05532429
+v 0.03433270 -0.03053524 -0.05532429
+v 0.03495389 -0.03662700 -0.05532431
+v 0.03495389 -0.02759733 -0.06179795
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+v 0.01006744 -0.03053402 -0.05532429
+v 0.03495389 -0.02758881 -0.07064254
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+v 0.01079095 -0.03799942 -0.06431177
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+v 0.03346060 -0.03997981 -0.07748217
+v 0.03495389 -0.03995918 -0.07748217
+v 0.02049120 -0.02758884 -0.06189569
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_25.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a3c70d62a311c48b54fcaab1e1a8259a34cbe87
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_25.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.05171208 0.00051630 -0.04821509
+v 0.05277261 0.00051634 -0.06001417
+v 0.04536255 0.00051630 -0.04821509
+v 0.05320609 -0.02758767 -0.04821519
+v 0.04529713 0.00051359 -0.06001417
+v 0.04529803 0.00051634 -0.06001302
+v 0.05416393 -0.02758763 -0.06001427
+v 0.04488091 -0.02758767 -0.04821519
+v 0.04526532 -0.02758763 -0.06001427
+f 1 2 6
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+f 2 7 9
+f 2 9 5
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+f 4 8 9
+f 4 9 7
+f 5 9 8
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_26.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..717291adeef53724af1b18ffc3c55425bb332d94
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_26.obj
@@ -0,0 +1,757 @@
+# https://github.com/mikedh/trimesh
+v -0.02688000 -0.00556322 0.11968323
+v -0.02705131 -0.00471627 0.11965868
+v -0.02705131 -0.00529267 0.11965519
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_27.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a94b5db537131df74b25325a70353473c446b4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_27.obj
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+v -0.03287547 0.00606839 -0.00091638
+v -0.03287908 -0.02657079 -0.00091650
+v -0.03317245 0.02148690 -0.07941547
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+f 1 19 24
+f 1 24 25
+f 1 25 21
+f 1 21 20
+f 1 20 14
+f 1 14 9
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_28.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d59069d5eab01b71be8d43bd77a9f385452d6f13
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_28.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.02112393 0.02839573 -0.08093456
+v -0.02112393 0.03122669 -0.08092972
+v -0.01835719 0.03122669 -0.08092972
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+v -0.02112393 0.02839565 -0.05938466
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+v -0.01054276 0.03122669 -0.08092489
+v -0.01054276 0.03449344 -0.08089108
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+v -0.02112393 0.02962785 -0.04455461
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+v -0.02112393 0.03776135 -0.08050004
+v -0.01512017 0.03776135 -0.08049521
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+v -0.01054276 0.03449326 -0.03163624
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_29.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cae3ddba3757a478797917e359cc92c63fe07369
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_29.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.01054173 -0.03984900 -0.07748241
+v -0.01054173 -0.03966863 -0.07874671
+v -0.00864139 -0.03985292 -0.07748241
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+v -0.00864139 -0.03795916 -0.06431270
+v -0.01054173 -0.03795132 -0.06431270
+v 0.01006744 -0.03987253 -0.07748241
+v -0.00540154 -0.03985685 -0.07748241
+v -0.01054173 -0.03953924 -0.07963762
+v 0.01006744 -0.03799837 -0.06431270
+v 0.00431197 -0.03799053 -0.06431270
+v 0.00754980 -0.03731614 -0.06205214
+v 0.00431197 -0.03730830 -0.06205214
+v -0.00540154 -0.03727693 -0.06205214
+v -0.00864139 -0.03726517 -0.06205214
+v -0.00965813 -0.03726125 -0.06205214
+v -0.01054173 -0.03725732 -0.06205214
+v -0.00864139 -0.03953924 -0.07963762
+v 0.01006744 -0.03953924 -0.07963577
+v -0.01054173 -0.03828455 -0.08014776
+v 0.01006744 -0.03732006 -0.06205214
+v 0.00977291 -0.03732006 -0.06205214
+v -0.01054173 -0.02845094 -0.06205210
+v -0.00540154 -0.03739841 -0.08050450
+v 0.01006744 -0.03739841 -0.08049711
+v -0.01054173 -0.03739841 -0.08050450
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+v -0.00890364 -0.02838428 -0.06205210
+v 0.01006744 0.00018355 -0.06279689
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+v -0.01054173 0.00018355 -0.06307600
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+v -0.01054173 -0.03413228 -0.08089265
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+v -0.00558310 -0.02825881 -0.06205210
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+v 0.01006744 -0.02686681 -0.08092589
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+v 0.00754980 -0.00799150 -0.08093137
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+v -0.01054173 -0.02567878 -0.08092958
+v -0.00216370 -0.02432606 -0.08092958
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+f 53 56 55
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_3.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18bdff3a4e504b7b6baeedd41ce933b03a0255d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_3.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.02490092 0.02148882 -0.08092720
+v -0.02112394 0.02748157 -0.08093502
+v -0.02112394 0.02148882 -0.08092720
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+v -0.02483673 0.02795870 -0.08092718
+v -0.02159819 0.03122609 -0.08092717
+v -0.02112394 0.03122609 -0.08092717
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+v -0.03131250 0.02148882 -0.08033975
+v -0.03131250 0.02795870 -0.08033973
+v -0.02807396 0.02795870 -0.08090368
+v -0.02483673 0.03122609 -0.08091934
+v -0.02112394 0.03401634 -0.08089583
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+v -0.02112394 0.03239965 -0.03252116
+v -0.03134918 0.02148882 -0.08032409
+v -0.03316758 0.02795869 -0.07945463
+v -0.03316103 0.03122608 -0.07943896
+v -0.03131250 0.03122608 -0.08028489
+v -0.02807396 0.03122609 -0.08086451
+v -0.02483673 0.03449347 -0.08084099
+v -0.02159819 0.03449347 -0.08088799
+v -0.02112394 0.03449347 -0.08088799
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+v -0.02503062 0.03776056 -0.00091626
+v -0.02541579 0.03449317 -0.00091627
+v -0.03316758 0.02148881 -0.07945465
+v -0.03344401 0.03122607 -0.07748079
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+v -0.03331300 0.03452018 -0.07759826
+v -0.03307981 0.03345141 -0.07932146
+v -0.02807396 0.03449347 -0.08053552
+v -0.03138979 0.03452018 -0.07969742
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+v -0.02159819 0.03776086 -0.08049634
+v -0.02112394 0.03728373 -0.08055900
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+v -0.02600402 0.03983894 -0.00091625
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+v -0.03426020 0.03449317 -0.00091627
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_30.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce59f5713867b2e844595763bf83a095a7439cc2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_30.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01054173 0.03129986 -0.04134791
+v -0.01054173 0.03194421 -0.03467686
+v -0.01054173 0.03702651 -0.04134788
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+v 0.00787257 0.03000615 -0.03801693
+v 0.00700108 0.03000614 -0.03464832
+v 0.00709388 0.03000613 -0.03143542
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+f 13 21 25
+f 13 25 17
+f 18 25 19
+f 19 25 20
+f 20 25 21
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_31.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ef21fd860ae6e6f17b087d1fc3d1474a70a1a31
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_31.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00214757 0.03701268 -0.05774133
+v -0.00216370 0.03701268 -0.05774133
+v 0.00756190 0.03700877 -0.05774133
+v 0.01006744 0.03837284 -0.06431239
+v -0.01054173 0.03700485 -0.05774133
+v 0.00754980 0.03837284 -0.06431239
+v 0.01006744 0.03700485 -0.05774133
+v 0.01006744 0.04022688 -0.07748174
+v -0.00540154 0.03834540 -0.06431239
+v -0.01054173 0.03833364 -0.06431239
+v -0.01054173 0.03094897 -0.05774136
+v -0.00540154 0.04021120 -0.07748174
+v -0.00864139 0.04020728 -0.07748174
+v -0.01054173 0.04020336 -0.07748174
+v 0.01006744 0.03094504 -0.05774136
+v 0.01006744 0.03996819 -0.07914834
+v 0.00754980 0.03989372 -0.07962517
+v -0.01054173 0.03988980 -0.07962743
+v 0.00754980 0.03094113 -0.05774136
+v -0.01054173 0.00018355 -0.06307506
+v 0.00593391 0.00018355 -0.06285254
+v 0.00917376 0.00018355 -0.06280940
+v 0.01006744 0.00018355 -0.06279805
+v -0.01054173 0.04007402 -0.07836726
+v 0.00761637 0.03094113 -0.05774136
+v 0.01006744 0.03989372 -0.07962743
+v -0.01054173 0.03776143 -0.08049254
+v -0.01054173 0.00018362 -0.08093317
+v 0.01006744 0.00018362 -0.08092863
+v 0.01006744 0.03776143 -0.08049027
+v -0.01054173 0.03640915 -0.08065830
+v -0.00378565 0.00018362 -0.08093317
+v -0.01054173 0.00373484 -0.08093542
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+v 0.01006744 0.03522149 -0.08079908
+v -0.00216370 0.03449243 -0.08089217
+v -0.01054173 0.03449243 -0.08089217
+v -0.00540154 0.00508320 -0.08093541
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+v -0.00540154 0.01815528 -0.08093536
+v -0.00540154 0.02795443 -0.08093307
+v 0.01006744 0.02541841 -0.08093081
+v -0.01054173 0.02795443 -0.08093307
+v 0.01006744 0.03122343 -0.08092397
+v 0.01006744 0.02868349 -0.08092852
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_32.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76c3d6ddc05d3737679e30482134b291f23f84dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_32.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.04552252 0.00051634 -0.05883286
+v 0.04552146 0.00350165 -0.05883285
+v 0.05221551 0.00051634 -0.05883286
+v 0.04524192 0.00051628 -0.04455431
+v 0.04514201 0.02576290 -0.04455422
+v 0.04552146 0.02576296 -0.05883277
+v 0.05252800 0.02576296 -0.05883277
+v 0.05599087 0.00051627 -0.04126374
+v 0.04587434 0.00051628 -0.04257183
+v 0.04777265 0.01488428 -0.03227565
+v 0.04776946 0.01815131 -0.03208086
+v 0.04584777 0.01161974 -0.04126370
+v 0.04776096 0.02576286 -0.03207212
+v 0.05582187 0.02576286 -0.03138610
+v 0.05595154 0.00835024 -0.04126371
+v 0.05598768 0.00508320 -0.04126372
+v 0.05599193 0.00181617 -0.04126373
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+v 0.05289257 0.00051626 -0.03826675
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_33.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2338442942aed400c1baca8f011fcf53fe11bc6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_33.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.05680118 0.03050883 -0.03138443
+v 0.05582086 0.02576286 -0.03138445
+v 0.05676784 0.03050884 -0.03463714
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+v 0.05487387 0.02576285 -0.02947426
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+v 0.04132361 0.03050887 -0.04455446
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+v 0.04151907 0.03050889 -0.04934793
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+v 0.05111168 0.02576285 -0.02931208
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+v 0.04970256 0.03050882 -0.02909581
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+v 0.04937831 0.03050882 -0.02929705
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+v 0.04893133 0.03050882 -0.02965445
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_34.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59e177337f46a30bbfbe3f30e6eb89b2fdcabf3f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_34.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.05280147 0.03050900 -0.08023253
+v 0.05280147 0.03053014 -0.08024007
+v 0.05289347 0.03050900 -0.08021747
+v 0.05280147 0.03050881 -0.02818275
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+v 0.05496567 0.03449396 -0.07954686
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+v 0.05309124 0.03050881 -0.02815261
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+v 0.05280147 0.03449396 -0.08029279
+v 0.05289347 0.03449396 -0.08027772
+v 0.05490806 0.03691231 -0.07944889
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_35.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab65e88b7bdbb82a6fb714fa4483dd21bfbaf388
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_35.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.05280061 0.03553754 -0.02620297
+v 0.05280061 0.03439394 -0.02626189
+v 0.05280061 0.03774194 -0.02795961
+v 0.03455870 0.03745702 -0.03199240
+v 0.03455870 0.03549712 -0.03155861
+v 0.03455870 0.03449408 -0.03133902
+v 0.05233274 0.03050977 -0.02823278
+v 0.05280061 0.03050977 -0.02818458
+v 0.05280061 0.03882298 -0.03138722
+v 0.03455870 0.03840617 -0.03468093
+v 0.03455870 0.03310309 -0.03202456
+v 0.04970226 0.03050978 -0.02910039
+v 0.03455870 0.03239171 -0.03237803
+v 0.05280061 0.03050996 -0.08023596
+v 0.05280061 0.04005047 -0.07408230
+v 0.03455870 0.04034312 -0.07747777
+v 0.04937724 0.03050978 -0.02929855
+v 0.03455870 0.03207501 -0.03389902
+v 0.04771824 0.03050978 -0.03064281
+v 0.04892901 0.03050978 -0.02965738
+v 0.04965404 0.03050997 -0.08083044
+v 0.05280061 0.03122615 -0.08025739
+v 0.05280061 0.04000427 -0.07626204
+v 0.03669987 0.04031327 -0.07747777
+v 0.03455870 0.04000813 -0.07973250
+v 0.03455870 0.03191330 -0.03468095
+v 0.04689856 0.03050979 -0.03152649
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+v 0.04965404 0.03122616 -0.08083044
+v 0.05280061 0.03449425 -0.08028950
+v 0.05280061 0.03997252 -0.07768129
+v 0.03669987 0.03997733 -0.07969500
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+v 0.03455870 0.03122616 -0.08091077
+v 0.03669987 0.03050997 -0.08091077
+v 0.03993931 0.03122616 -0.08090007
+v 0.03669987 0.03122616 -0.08091077
+v 0.03455870 0.03338820 -0.08089470
+f 1 2 8
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_36.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5985eb79ccb1fd6c89aba0ad8fb63602f4d2de25
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_36.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01006744 0.03050543 -0.08092675
+v 0.01006744 0.03050543 -0.00335513
+v 0.01006744 0.03150543 -0.08092675
+v 0.01006744 0.03150543 -0.00335513
+v 0.01737591 0.03050543 -0.08092675
+v 0.01737591 0.03050543 -0.00335513
+v 0.01737591 0.03150543 -0.08092675
+v 0.01737591 0.03150543 -0.00335513
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_37.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde20357e35de9835b3cfea4153f273f49e6abda
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_37.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.05937001 -0.04038791 -0.06759831
+v 0.05613228 -0.04035782 -0.07418784
+v 0.05965789 -0.03996063 -0.07110449
+v 0.06113238 -0.03927777 -0.07014174
+v 0.06121752 -0.03941686 -0.06759830
+v 0.06122541 -0.03942313 -0.06430679
+v 0.05937001 -0.04038667 -0.06430680
+v 0.05259525 -0.03966869 -0.07437649
+v 0.05259525 -0.03958221 -0.07767451
+v 0.05271901 -0.03958096 -0.07768101
+v 0.05613228 -0.03971754 -0.07677031
+v 0.05879689 -0.03980275 -0.07418784
+v 0.05937001 -0.04013125 -0.01386729
+v 0.05748916 -0.03994832 -0.01386729
+v 0.05660008 -0.03986061 -0.01386729
+v 0.06153084 -0.03740084 -0.06759830
+v 0.05812635 -0.03940555 -0.07619787
+v 0.06092788 -0.03740082 -0.07231440
+v 0.06124209 -0.03740083 -0.07066865
+v 0.06156156 -0.03740085 -0.06430679
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+v 0.05994664 -0.03986562 -0.01386729
+v 0.05259525 -0.03843090 -0.03169089
+v 0.05259525 -0.03956467 -0.07774606
+v 0.05259525 -0.03952959 -0.07783713
+v 0.05368269 -0.03871265 -0.07891695
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+v 0.05259525 -0.03841211 -0.03138515
+v 0.06118416 -0.03505652 -0.07024581
+v 0.06130265 -0.03463178 -0.06759829
+v 0.05832470 -0.03740081 -0.07640602
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+v 0.05490266 -0.03653374 -0.07943733
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_38.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e34c7a43cfe84c2a67cdc80eb6ca32541ce0514
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_38.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.03495389 -0.03152450 -0.03464581
+v 0.03495389 -0.03151789 -0.03467812
+v 0.01812987 -0.02979487 -0.02531811
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+v 0.03495389 -0.03152443 -0.05532180
+v 0.02333436 -0.02979484 -0.03171181
+v 0.03495389 -0.03039247 -0.04455207
+v 0.01812987 -0.03152452 -0.03060754
+v 0.01812987 -0.02979478 -0.04801764
+v 0.01812987 -0.03152443 -0.05532180
+v 0.03495389 -0.03053549 -0.05532179
+v 0.02434397 -0.02979483 -0.03467811
+v 0.02483806 -0.02979481 -0.04156521
+v 0.02475571 -0.02979482 -0.03799097
+v 0.02443949 -0.02979483 -0.03505697
+v 0.02001402 -0.02979479 -0.04761234
+v 0.03022208 -0.03053380 -0.05532179
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+v 0.01812987 -0.03053871 -0.05532179
+v 0.02003214 -0.02979479 -0.04760647
+v 0.02022484 -0.02979479 -0.04752424
+v 0.02368187 -0.02979480 -0.04448158
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+f 1 7 2
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_39.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..690620db05c693e669d7c0415006ac4701847d1d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_39.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01054173 -0.03725805 -0.06205214
+v -0.01054173 -0.02845522 -0.06205210
+v -0.00864139 -0.03726650 -0.06205214
+v -0.01054173 -0.03663452 -0.04134944
+v -0.01054173 -0.03042848 -0.04455534
+v 0.00932103 -0.02772838 -0.04134941
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+v -0.00641828 -0.03727495 -0.06205214
+v -0.00216370 -0.03663452 -0.04134944
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+v -0.00227264 -0.02814153 -0.06205210
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+f 15 21 16
+f 16 21 20
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_4.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7765c2e9fb32d42e57f7c5dedb92ce58c2c3bfd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_4.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.03006084 0.00051642 -0.08091712
+v 0.03006084 0.00051635 -0.06253916
+v 0.03006084 0.00508460 -0.08091927
+v 0.03022465 0.00051642 -0.08091712
+v 0.04552142 0.00051634 -0.05883502
+v 0.03006084 0.03050893 -0.05941227
+v 0.03022465 0.00508460 -0.08091927
+v 0.03006084 0.01488738 -0.08092356
+v 0.03346186 0.00508460 -0.08091710
+v 0.03474894 0.00051642 -0.08091280
+v 0.05221425 0.00051634 -0.05883502
+v 0.04264564 0.03050893 -0.05883491
+v 0.03006084 0.03050901 -0.08091918
+v 0.03346186 0.01161979 -0.08091925
+v 0.03006084 0.02485457 -0.08092135
+v 0.03022465 0.02468723 -0.08092135
+v 0.03346186 0.02468723 -0.08091920
+v 0.03670166 0.00508460 -0.08091278
+v 0.03993887 0.00051642 -0.08090414
+v 0.05475461 0.00051635 -0.06243969
+v 0.05608329 0.03050893 -0.05883491
+v 0.03093450 0.03050901 -0.08091918
+v 0.03670166 0.01161979 -0.08091492
+v 0.03346186 0.03050901 -0.08091701
+v 0.03670166 0.02795483 -0.08091270
+v 0.03670166 0.01488738 -0.08091491
+v 0.03993887 0.01161979 -0.08090843
+v 0.04317867 0.00051642 -0.08089333
+v 0.05512123 0.00051635 -0.06356844
+v 0.05632251 0.03050893 -0.06104053
+v 0.05536045 0.00051636 -0.06431230
+v 0.03741151 0.03050901 -0.08091052
+v 0.03993887 0.02795483 -0.08090621
+v 0.03993887 0.01488738 -0.08090842
+v 0.04317867 0.01488738 -0.08089761
+v 0.04641328 0.00051642 -0.08087387
+v 0.05662153 0.03050895 -0.06431219
+v 0.05462980 0.00051641 -0.07930183
+v 0.03993887 0.03050901 -0.08090403
+v 0.04064871 0.03050901 -0.08090187
+v 0.04317867 0.02795483 -0.08089540
+v 0.04641328 0.01161979 -0.08087600
+v 0.04641328 0.02795483 -0.08087810
+v 0.04641328 0.02468723 -0.08087811
+v 0.04965309 0.00051642 -0.08083278
+v 0.04965309 0.02795483 -0.08083917
+v 0.04965309 0.00835219 -0.08083492
+v 0.05582328 0.03050898 -0.07432179
+v 0.05289289 0.00051641 -0.08014083
+v 0.05471301 0.03050900 -0.07938173
+v 0.05531105 0.03050899 -0.07745722
+v 0.04317867 0.03050901 -0.08089106
+v 0.04388592 0.03050901 -0.08088674
+v 0.04641328 0.03050901 -0.08086944
+v 0.04965309 0.03050901 -0.08083267
+v 0.05094017 0.00051642 -0.08055817
+v 0.05289289 0.03050900 -0.08022073
+f 1 2 6
+f 1 6 13
+f 1 13 15
+f 1 15 8
+f 1 8 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 19
+f 1 19 28
+f 1 28 36
+f 1 36 45
+f 1 45 56
+f 1 56 49
+f 1 49 38
+f 1 38 31
+f 1 31 29
+f 1 29 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 8 7
+f 4 7 9
+f 4 9 10
+f 5 11 21
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+f 6 37 48
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+f 31 38 37
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+f 33 41 35
+f 33 35 34
+f 35 42 36
+f 35 41 43
+f 35 43 44
+f 35 44 42
+f 36 42 46
+f 36 46 47
+f 36 47 45
+f 37 38 48
+f 38 49 50
+f 38 50 51
+f 38 51 48
+f 40 52 41
+f 41 52 43
+f 42 44 46
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+f 43 53 54
+f 43 54 55
+f 43 55 46
+f 43 46 44
+f 45 47 57
+f 45 57 56
+f 46 55 57
+f 46 57 47
+f 49 56 57
+f 49 57 50
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_40.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..486de08d7cab0cf4b5ffda10bac4cd90cb05cf75
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_40.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.05259525 -0.02758764 -0.05772568
+v 0.04571899 -0.02758764 -0.05772796
+v 0.04571899 -0.02759733 -0.05772568
+v 0.05259525 -0.03846043 -0.05772572
+v 0.05259525 -0.02758756 -0.07875788
+v 0.03495561 -0.03055956 -0.05772569
+v 0.03669972 -0.02758762 -0.06178142
+v 0.03495561 -0.02759731 -0.06179958
+v 0.04965272 -0.03830905 -0.05772572
+v 0.03495561 -0.03995964 -0.07748242
+v 0.05259525 -0.03965568 -0.07415976
+v 0.05259525 -0.02759725 -0.08020134
+v 0.04964409 -0.02758755 -0.08083001
+v 0.03495561 -0.03663296 -0.05772571
+v 0.03495561 -0.02758759 -0.07064186
+v 0.03495561 -0.03801837 -0.06431204
+v 0.03495561 -0.03978282 -0.07870346
+v 0.03669972 -0.03993421 -0.07748242
+v 0.05259525 -0.03966779 -0.07437991
+v 0.05259525 -0.03056553 -0.08027170
+v 0.04965272 -0.02759724 -0.08083001
+v 0.04641490 -0.02759724 -0.08086859
+v 0.04640454 -0.02758755 -0.08086859
+v 0.03669108 -0.02758755 -0.08090717
+v 0.03495561 -0.02759724 -0.08091171
+v 0.03495561 -0.03963265 -0.07972250
+v 0.03669972 -0.03960843 -0.07969299
+v 0.05259525 -0.03958178 -0.07767761
+v 0.05259525 -0.03383172 -0.08031483
+v 0.04965272 -0.03086586 -0.08082321
+v 0.04641490 -0.03086586 -0.08085952
+v 0.04317708 -0.02759724 -0.08088902
+v 0.04316845 -0.02758755 -0.08088902
+v 0.03992890 -0.02758755 -0.08090036
+v 0.03993926 -0.02759724 -0.08090036
+v 0.03669972 -0.03086586 -0.08090491
+v 0.03495561 -0.03086586 -0.08090718
+v 0.03495561 -0.03841797 -0.08019230
+v 0.03669972 -0.03740068 -0.08054861
+v 0.03993926 -0.03952365 -0.07959768
+v 0.05259525 -0.03956483 -0.07775024
+v 0.03993926 -0.03740068 -0.08042379
+v 0.04965272 -0.03413206 -0.08063712
+v 0.05259525 -0.03413207 -0.08029668
+v 0.04317708 -0.03413206 -0.08077784
+v 0.03993926 -0.03413206 -0.08083685
+v 0.04641490 -0.03413206 -0.08071202
+v 0.03669972 -0.03413206 -0.08087089
+v 0.04317708 -0.03086586 -0.08087995
+v 0.03993926 -0.03086586 -0.08089584
+v 0.03495561 -0.03413206 -0.08087770
+v 0.03495561 -0.03740068 -0.08058493
+v 0.04641490 -0.03931656 -0.07937979
+v 0.04317708 -0.03942313 -0.07948646
+v 0.05259525 -0.03952971 -0.07783875
+v 0.04965272 -0.03918456 -0.07925723
+v 0.05152116 -0.03908283 -0.07916872
+v 0.04641490 -0.03740069 -0.08010152
+v 0.05259525 -0.03739705 -0.07963625
+v 0.04965272 -0.03740069 -0.07992222
+v 0.05259525 -0.03769376 -0.07955000
+v 0.05259525 -0.03752906 -0.07960674
+f 1 2 3
+f 1 3 6
+f 1 6 14
+f 1 14 9
+f 1 9 4
+f 1 4 11
+f 1 11 19
+f 1 19 28
+f 1 28 41
+f 1 41 55
+f 1 55 61
+f 1 61 62
+f 1 62 59
+f 1 59 44
+f 1 44 29
+f 1 29 20
+f 1 20 12
+f 1 12 5
+f 1 5 13
+f 1 13 23
+f 1 23 33
+f 1 33 34
+f 1 34 24
+f 1 24 15
+f 1 15 7
+f 1 7 2
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+f 22 32 33
+f 22 33 23
+f 24 34 25
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+f 25 35 36
+f 25 36 37
+f 26 38 39
+f 26 39 27
+f 27 40 41
+f 27 41 28
+f 27 39 42
+f 27 42 40
+f 29 43 30
+f 29 44 43
+f 30 45 46
+f 30 46 31
+f 30 43 47
+f 30 47 45
+f 31 48 49
+f 31 46 48
+f 32 50 35
+f 32 35 33
+f 32 49 50
+f 33 35 34
+f 35 50 36
+f 36 50 51
+f 36 51 37
+f 38 52 39
+f 39 52 47
+f 39 47 43
+f 39 43 42
+f 40 42 53
+f 40 53 54
+f 40 54 41
+f 41 54 53
+f 41 53 56
+f 41 56 57
+f 41 57 55
+f 42 43 58
+f 42 58 53
+f 43 44 59
+f 43 59 60
+f 43 60 58
+f 45 47 52
+f 45 52 46
+f 46 52 48
+f 48 51 50
+f 48 50 49
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+f 53 58 56
+f 55 57 61
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+f 56 60 57
+f 57 60 61
+f 59 62 60
+f 60 62 61
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_41.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca9b6d3b68c9f0accb15b6ff2c058f2e6dd0441a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_41.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.02705072 0.02959618 -0.00091629
+v -0.02705072 0.04008272 -0.00091625
+v -0.02541449 0.03449429 -0.00091627
+v -0.01912103 0.03457653 0.01883999
+v -0.01912103 0.03335172 0.02071618
+v -0.01912103 0.03297528 0.02130600
+v -0.01912103 0.03154512 0.05364514
+v -0.02705072 0.03078238 0.05092072
+v -0.02600285 0.03984017 -0.00091625
+v -0.02705072 0.04064994 0.04773009
+v -0.02483544 0.04080687 0.05093199
+v -0.01912103 0.04062029 0.05429679
+v -0.02503027 0.03776042 -0.00091626
+v -0.01912103 0.03722148 0.01884000
+v -0.01912103 0.03158244 0.05438102
+v -0.01912103 0.03179095 0.05604376
+v -0.02705072 0.03080762 0.05110047
+v -0.01912103 0.03849347 0.02130602
+v -0.02705072 0.04049299 0.05110051
+v -0.02483544 0.04030860 0.05374067
+v -0.02187112 0.04035470 0.05453834
+v -0.02097383 0.03967534 0.05604941
+v -0.01912103 0.04039750 0.05475742
+v -0.01912103 0.03211910 0.05640327
+v -0.02705072 0.03151659 0.05398218
+v -0.02705072 0.03997387 0.05316208
+v -0.02313245 0.03929560 0.05584717
+v -0.02187112 0.03802800 0.05625724
+v -0.01912103 0.03781838 0.05647070
+v -0.01912103 0.03972912 0.05608311
+v -0.02353452 0.03551584 0.05602130
+v -0.02705072 0.03449189 0.05499894
+v -0.02705072 0.03175475 0.05419565
+v -0.02705072 0.03894661 0.05408332
+v -0.02353452 0.03711708 0.05602131
+v -0.02705072 0.03814983 0.05460011
+v -0.02705072 0.03463457 0.05501579
+f 1 2 9
+f 1 9 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 17
+f 1 17 25
+f 1 25 33
+f 1 33 32
+f 1 32 37
+f 1 37 36
+f 1 36 34
+f 1 34 26
+f 1 26 19
+f 1 19 10
+f 1 10 2
+f 2 10 11
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+f 24 33 25
+f 26 34 27
+f 27 35 28
+f 27 34 36
+f 27 36 35
+f 28 35 31
+f 31 35 37
+f 31 37 32
+f 35 36 37
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_42.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f5ad6b698d2a5f65970f4c7d78ba7d06b30245b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_42.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01006744 -0.03662278 -0.05532181
+v 0.01006744 -0.03804669 -0.03467815
+v 0.01006744 -0.03152507 -0.05532180
+v 0.03420603 -0.03662661 -0.05532181
+v 0.01726834 -0.03706406 -0.03205449
+v 0.01006744 -0.03727221 -0.03265672
+v 0.01079095 -0.03804669 -0.03467815
+v 0.03495389 -0.03708896 -0.03199526
+v 0.03346060 -0.03708768 -0.03200020
+v 0.03022069 -0.03708322 -0.03201007
+v 0.02374329 -0.03707491 -0.03203228
+v 0.01006744 -0.03152516 -0.03078584
+v 0.03495389 -0.03152507 -0.05532180
+v 0.03495389 -0.03662661 -0.05532181
+v 0.01403086 -0.03152516 -0.03010710
+v 0.01079095 -0.03705001 -0.03207671
+v 0.01006744 -0.03704810 -0.03207918
+v 0.01403086 -0.03804541 -0.03467815
+v 0.03495389 -0.03759337 -0.03343913
+v 0.03495389 -0.03572514 -0.03168179
+v 0.01726834 -0.03804413 -0.03467815
+v 0.01006744 -0.03218152 -0.03077597
+v 0.01079095 -0.03152516 -0.03035638
+v 0.03495389 -0.03152514 -0.03464604
+v 0.03495389 -0.03802115 -0.03467815
+v 0.02050825 -0.03804030 -0.03467815
+v 0.01726834 -0.03152516 -0.03033417
+v 0.01114173 -0.03152516 -0.03032429
+v 0.03495389 -0.03413338 -0.03132144
+v 0.01006744 -0.03478273 -0.03146706
+v 0.03495389 -0.03201231 -0.03235806
+v 0.02067390 -0.03152516 -0.03074388
+f 1 2 6
+f 1 6 17
+f 1 17 30
+f 1 30 22
+f 1 22 12
+f 1 12 3
+f 1 3 13
+f 1 13 14
+f 1 14 4
+f 1 4 2
+f 2 5 6
+f 2 4 14
+f 2 14 7
+f 2 7 8
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+f 2 11 5
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+f 3 23 28
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+f 3 32 24
+f 3 24 13
+f 5 15 16
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+f 5 11 15
+f 6 16 17
+f 7 18 8
+f 7 14 18
+f 8 19 25
+f 8 25 14
+f 8 14 13
+f 8 13 24
+f 8 24 31
+f 8 31 29
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+f 8 20 15
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+f 8 10 9
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+f 14 21 18
+f 15 28 17
+f 15 17 16
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+f 17 23 30
+f 19 21 26
+f 19 26 25
+f 22 30 23
+f 24 32 31
+f 27 29 32
+f 29 31 32
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_43.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1850bc39f10deb1b6d192e01302e5919a69b5472
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_43.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.04727962 -0.01115852 -0.03782567
+v 0.04731129 -0.01100099 -0.03782567
+v 0.04746621 -0.01437922 -0.03782568
+v 0.04770500 -0.02758773 -0.03382666
+v 0.04770500 -0.02758773 -0.03203162
+v 0.04777604 -0.01452612 -0.03226286
+v 0.04786077 -0.01257624 -0.03263870
+v 0.04891096 -0.00805915 -0.03782566
+v 0.04771099 -0.01450055 -0.03782568
+v 0.05289259 -0.02758772 -0.03673562
+v 0.04943734 -0.02758772 -0.03530707
+v 0.04940053 -0.02758772 -0.03529091
+v 0.04862851 -0.02758774 -0.03038454
+v 0.04862167 -0.01779153 -0.03043638
+v 0.04777775 -0.01779152 -0.03208261
+v 0.04910696 -0.01452613 -0.03061663
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_44.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcfce1493318efb5a4892f502d24b8ec4833171c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_44.obj
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_45.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f35208d6ea4df20f90e2526a852c41ca4ed42e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_45.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01054173 -0.03663417 -0.04134815
+v -0.00864139 -0.03805531 -0.03467712
+v -0.01054173 -0.03805301 -0.03467712
+v -0.01054173 -0.03094584 -0.04134813
+v -0.00216370 -0.03663417 -0.04134815
+v 0.01006744 -0.03663340 -0.04134815
+v -0.00216370 -0.03805454 -0.03467712
+v 0.01006744 -0.03727263 -0.03265673
+v 0.01006744 -0.03704779 -0.03207929
+v -0.01054173 -0.03761716 -0.03363902
+v -0.01054173 -0.03155513 -0.03467710
+v 0.00775153 -0.03021690 -0.02931923
+v 0.00708783 -0.03021690 -0.03034046
+v 0.00701722 -0.03021688 -0.03462129
+v 0.00702327 -0.03021688 -0.03467579
+v 0.00812071 -0.03021686 -0.04126119
+v 0.00816307 -0.03021686 -0.04134813
+v 0.01006744 -0.03021686 -0.04134813
+v 0.01006744 -0.03804687 -0.03467712
+v 0.01006744 -0.03042256 -0.02809299
+v 0.00754980 -0.03704166 -0.03208967
+v -0.00540154 -0.03701019 -0.03215325
+v -0.00864139 -0.03700099 -0.03216753
+v -0.01054173 -0.03699331 -0.03217661
+v -0.01054173 -0.03205084 -0.03248153
+v 0.00929278 -0.03021691 -0.02809299
+v 0.00887318 -0.03021691 -0.02842647
+v 0.01006744 -0.03021691 -0.02809299
+v -0.01054173 -0.03580777 -0.03194692
+v -0.01054173 -0.03413342 -0.03162771
+f 1 2 3
+f 1 3 10
+f 1 10 24
+f 1 24 29
+f 1 29 30
+f 1 30 25
+f 1 25 11
+f 1 11 4
+f 1 4 17
+f 1 17 18
+f 1 18 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 6 18 28
+f 6 28 20
+f 6 20 9
+f 6 9 8
+f 6 8 19
+f 6 19 7
+f 7 19 8
+f 9 20 21
+f 9 21 10
+f 10 22 23
+f 10 23 24
+f 10 21 22
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 12 27 26
+f 12 26 28
+f 12 28 18
+f 12 18 17
+f 12 17 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 20 28 26
+f 20 26 24
+f 20 24 23
+f 20 23 21
+f 21 23 22
+f 24 26 29
+f 25 30 26
+f 26 30 29
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_46.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb1e016897891dde4a62d6e889ff9b57cc2904f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_46.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02524842 -0.02758771 -0.04125660
+v 0.02483531 -0.02979424 -0.04156096
+v 0.02367920 -0.02979423 -0.04448275
+v 0.02383226 -0.02758770 -0.04462071
+v 0.02482788 -0.02758772 -0.03775450
+v 0.02482788 -0.02758848 -0.03775450
+v 0.02443855 -0.02979426 -0.03505186
+v 0.02475507 -0.02979425 -0.03798582
+v 0.01812751 -0.03152404 -0.05531774
+v 0.01812751 -0.03152413 -0.03061236
+v 0.01812751 -0.03053869 -0.05531773
+v 0.02382334 -0.02758770 -0.04463289
+v 0.02404922 -0.02758773 -0.03467851
+v 0.02434196 -0.02979426 -0.03467040
+v 0.01006744 -0.03152404 -0.05531774
+v 0.02333148 -0.02979427 -0.03170803
+v 0.01598470 -0.02939704 -0.01386480
+v 0.01411977 -0.02993615 -0.01386480
+v 0.01079113 -0.03048798 -0.01386480
+v 0.01726860 -0.03152413 -0.03033642
+v 0.01079113 -0.03053368 -0.05531773
+v 0.01717052 -0.02758768 -0.04834194
+v 0.01744246 -0.02758768 -0.04828107
+v 0.02022277 -0.02758807 -0.04710018
+v 0.02021979 -0.02758769 -0.04710018
+v 0.02281584 -0.02758775 -0.03066510
+v 0.01910678 -0.02758779 -0.01889272
+v 0.01741571 -0.02758781 -0.01386479
+v 0.01006744 -0.03053330 -0.05531773
+v 0.01006744 -0.03152413 -0.03079092
+v 0.01741126 -0.02759975 -0.01386479
+v 0.01735627 -0.02767913 -0.01386479
+v 0.01695208 -0.02825755 -0.01386479
+v 0.01030075 -0.03048451 -0.01386480
+v 0.01079113 -0.03152413 -0.03036076
+v 0.01114034 -0.03152413 -0.03032830
+v 0.01403061 -0.03152413 -0.03011323
+v 0.01420150 -0.02758768 -0.04795237
+v 0.01006744 -0.02758781 -0.01386479
+v 0.01006744 -0.02758770 -0.04320851
+v 0.01070494 -0.02758770 -0.04450709
+v 0.01213744 -0.02758769 -0.04661727
+v 0.01410936 -0.02758768 -0.04793613
+v 0.01006744 -0.03048258 -0.01386480
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 25
+f 1 25 23
+f 1 23 22
+f 1 22 38
+f 1 38 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 28
+f 1 28 27
+f 1 27 26
+f 1 26 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 9
+f 3 9 4
+f 4 9 11
+f 4 11 12
+f 5 13 7
+f 5 7 6
+f 7 13 14
+f 7 14 10
+f 7 10 8
+f 9 15 29
+f 9 29 21
+f 9 21 11
+f 9 10 20
+f 9 20 37
+f 9 37 36
+f 9 36 35
+f 9 35 30
+f 9 30 15
+f 10 14 16
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+f 10 19 20
+f 11 21 22
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+f 11 23 24
+f 11 24 12
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+f 13 26 14
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+f 14 27 28
+f 14 28 16
+f 15 30 44
+f 15 44 39
+f 15 39 40
+f 15 40 29
+f 16 28 31
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 17 33 32
+f 17 32 31
+f 17 31 28
+f 17 28 39
+f 17 39 44
+f 17 44 34
+f 17 34 19
+f 17 19 18
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 21 29 22
+f 22 29 38
+f 23 25 24
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 38
+f 30 35 44
+f 34 44 35
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_47.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac21eb2294f0df16a8cd7675a747d6fa6cda2c38
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_47.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.02687920 -0.04046443 0.04885732
+v -0.02483486 -0.04043051 0.05093359
+v -0.02687920 -0.04013645 0.05107464
+v -0.02687920 -0.03966536 -0.00091655
+v -0.01912103 -0.04023723 0.05429059
+v -0.02483486 -0.03993905 0.05372639
+v -0.02687920 -0.03993288 0.05223689
+v -0.02687920 -0.03041286 -0.00091651
+v -0.02601423 -0.03946384 -0.00091654
+v -0.01912103 -0.04020535 0.05347814
+v -0.01912103 -0.03935609 0.05607347
+v -0.02091932 -0.03929954 0.05603962
+v -0.02183821 -0.03997504 0.05452755
+v -0.02687920 -0.03963060 0.05319604
+v -0.02307758 -0.03886977 0.05583087
+v -0.02541733 -0.03413381 -0.00091653
+v -0.02687920 -0.02996154 0.01143387
+v -0.01912103 -0.03249701 0.01305876
+v -0.01912103 -0.03338020 0.01141129
+v -0.01912103 -0.03501395 0.00950992
+v -0.02528443 -0.03792262 -0.00091654
+v -0.01912103 -0.03620869 0.00950992
+v -0.01912103 -0.03714433 0.01092606
+v -0.01912103 -0.03743325 0.01142820
+v -0.01912103 -0.03807278 0.01394454
+v -0.01912103 -0.03823009 0.01471749
+v -0.01912103 -0.03796601 0.05637250
+v -0.01912103 -0.03745089 0.05645713
+v -0.02183821 -0.03762877 0.05624838
+v -0.02687920 -0.03776139 0.05462347
+v -0.02350968 -0.03669108 0.05601142
+v -0.02532088 -0.03495943 -0.00091653
+v -0.02687920 -0.02998931 0.01471752
+v -0.01912103 -0.03118933 0.05435833
+v -0.02503990 -0.03740133 -0.00091654
+v -0.01912103 -0.03201804 0.05672233
+v -0.02687920 -0.03413401 0.05496765
+v -0.02350968 -0.03522079 0.05601142
+v -0.02687920 -0.03049942 0.05089977
+v -0.02687920 -0.03122737 0.05392390
+v -0.01912103 -0.03173427 0.05642330
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 30
+f 1 30 37
+f 1 37 40
+f 1 40 39
+f 1 39 33
+f 1 33 17
+f 1 17 8
+f 1 8 4
+f 1 4 2
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+f 6 15 14
+f 8 17 18
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+f 8 19 20
+f 8 20 16
+f 9 21 22
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+f 9 25 26
+f 9 26 10
+f 11 27 12
+f 12 27 28
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+f 12 29 15
+f 14 15 30
+f 15 29 31
+f 15 31 30
+f 16 20 32
+f 17 33 34
+f 17 34 18
+f 20 22 35
+f 20 35 32
+f 21 35 22
+f 28 36 29
+f 29 36 31
+f 30 31 37
+f 31 38 37
+f 31 36 38
+f 33 39 34
+f 34 39 40
+f 34 40 41
+f 36 41 40
+f 36 40 37
+f 36 37 38
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_48.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0abb07becdc7d3920727b24fce50796739ff94c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_48.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01054173 0.03095161 -0.05774135
+v -0.01054173 0.03080589 -0.04648699
+v -0.01054173 0.03700715 -0.05774132
+v -0.00865148 0.03095025 -0.05774135
+v 0.01006744 0.03007472 -0.04277725
+v 0.00982940 0.03007472 -0.04236810
+v 0.00942795 0.03007471 -0.04167493
+v -0.01054173 0.03078954 -0.04455510
+v -0.01054173 0.03702616 -0.04135078
+v -0.00216370 0.03701328 -0.05774132
+v 0.00429381 0.03094616 -0.05774135
+v 0.01006744 0.03007471 -0.04135081
+v 0.00753164 0.03094548 -0.05774135
+v 0.00761637 0.03094548 -0.05774135
+v 0.01006744 0.03094616 -0.05774135
+v 0.00943602 0.03007471 -0.04135081
+v -0.01054173 0.03100398 -0.04319444
+v -0.01054173 0.03129943 -0.04135081
+v -0.00216370 0.03702888 -0.04135078
+v -0.00214757 0.03701328 -0.05774132
+v 0.01006744 0.03702139 -0.04135078
+v 0.01006744 0.03700783 -0.05774132
+v 0.00756190 0.03700987 -0.05774132
+f 1 2 8
+f 1 8 17
+f 1 17 18
+f 1 18 9
+f 1 9 3
+f 1 3 10
+f 1 10 20
+f 1 20 23
+f 1 23 22
+f 1 22 15
+f 1 15 14
+f 1 14 13
+f 1 13 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 4 11 5
+f 5 12 16
+f 5 16 7
+f 5 7 6
+f 5 11 13
+f 5 13 14
+f 5 14 15
+f 5 15 22
+f 5 22 21
+f 5 21 12
+f 7 16 8
+f 8 16 17
+f 9 18 16
+f 9 16 12
+f 9 12 21
+f 9 21 19
+f 9 19 10
+f 10 19 20
+f 16 18 17
+f 19 21 23
+f 19 23 20
+f 21 22 23
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_49.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3a98d26807235a967a26e4ec24bf108a3184643
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_49.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.05259525 -0.03407377 -0.02655377
+v 0.05259525 -0.03732210 -0.02802450
+v 0.05259525 -0.02759839 -0.02916869
+v 0.05024675 -0.02758774 -0.02940364
+v 0.03495561 -0.03413229 -0.03132293
+v 0.03495561 -0.03572558 -0.03168298
+v 0.03495561 -0.03708899 -0.03199422
+v 0.05259525 -0.03741257 -0.02819843
+v 0.05259525 -0.02758774 -0.02973928
+v 0.04862698 -0.02758774 -0.03038616
+v 0.03495561 -0.03201215 -0.03236036
+v 0.03495561 -0.03759348 -0.03343748
+v 0.03495561 -0.03802133 -0.03467630
+v 0.05259525 -0.03841195 -0.03138397
+v 0.05259525 -0.02758764 -0.05772568
+v 0.04770312 -0.02758773 -0.03203385
+v 0.03495561 -0.03151829 -0.03467628
+v 0.05259525 -0.03843111 -0.03168910
+v 0.03495561 -0.03663337 -0.05772571
+v 0.04965272 -0.03830968 -0.05772572
+v 0.05259525 -0.03845975 -0.05772572
+v 0.04571899 -0.02759829 -0.05772568
+v 0.04551522 -0.02758765 -0.05443029
+v 0.04481585 -0.02758769 -0.04375995
+v 0.03495561 -0.03039326 -0.04455329
+v 0.03495561 -0.03056031 -0.05772569
+v 0.04483485 -0.02758767 -0.04784562
+v 0.04468116 -0.02758769 -0.04455328
+v 0.04476232 -0.02758768 -0.04644813
+f 1 2 8
+f 1 8 14
+f 1 14 18
+f 1 18 21
+f 1 21 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 4 9 15
+f 4 15 23
+f 4 23 27
+f 4 27 29
+f 4 29 28
+f 4 28 24
+f 4 24 16
+f 4 16 10
+f 4 10 11
+f 4 11 5
+f 5 11 17
+f 5 17 25
+f 5 25 26
+f 5 26 19
+f 5 19 13
+f 5 13 12
+f 5 12 7
+f 5 7 6
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 10 16 17
+f 10 17 11
+f 13 18 14
+f 13 19 20
+f 13 20 21
+f 13 21 18
+f 15 21 20
+f 15 20 19
+f 15 19 26
+f 15 26 22
+f 15 22 23
+f 16 24 25
+f 16 25 17
+f 22 26 27
+f 22 27 23
+f 24 28 25
+f 25 28 29
+f 25 29 26
+f 26 29 27
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_5.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7f64db07e4cc934aff1499bfb1f9a99a29ce52b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_5.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.06149479 0.03776082 0.03117646
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_6.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c5da72d3d985201c511c948153b5b491621a932
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_6.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_7.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfe64ea4f602a75a320822f5b8a421398d0fbc59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_7.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_8.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ace7a2d915a3b2825b6b7c915016a23b05c98bf3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_8.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.04468255 -0.02758769 -0.04455407
+v 0.04476369 -0.02758768 -0.04644870
+v 0.04481816 -0.02758769 -0.04376184
+v 0.04524169 0.00051628 -0.04455397
+v 0.04534951 0.00051630 -0.04784695
+v 0.04536285 0.00051630 -0.04821509
+v 0.04483595 -0.02758767 -0.04784705
+v 0.04577526 -0.02758770 -0.04144313
+v 0.04584306 -0.01125791 -0.04126205
+v 0.04629215 0.00051627 -0.04126201
+v 0.05171235 0.00051630 -0.04821509
+v 0.04488041 -0.02758767 -0.04821519
+v 0.04753604 -0.02758771 -0.03883254
+v 0.04728259 -0.01121115 -0.03782669
+v 0.04728037 -0.01115888 -0.03782669
+v 0.04714920 0.00051627 -0.04015451
+v 0.05517278 0.00051628 -0.04344444
+v 0.05320635 -0.02758767 -0.04821519
+v 0.04929238 -0.02758771 -0.03800574
+v 0.04746601 -0.01437752 -0.03782670
+v 0.04731150 -0.01100207 -0.03782669
+v 0.04771390 0.00051626 -0.03942534
+v 0.05549737 0.00051628 -0.04257899
+v 0.05598647 -0.00472434 -0.04126203
+v 0.05517055 -0.00145617 -0.04344344
+v 0.05320635 -0.02758767 -0.04784705
+v 0.05516611 -0.00472433 -0.04343938
+v 0.05596202 -0.00799250 -0.04126204
+v 0.05603761 -0.01125792 -0.03796906
+v 0.05602316 -0.01141197 -0.03782669
+v 0.05266277 -0.02758770 -0.04070480
+v 0.05530284 -0.01373104 -0.03782670
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+v 0.04891110 -0.00805853 -0.03782668
+v 0.04965476 0.00051626 -0.03873786
+v 0.04888442 0.00051626 -0.03901041
+v 0.05599092 0.00051627 -0.04126201
+v 0.05316744 -0.02758769 -0.04455407
+v 0.05601537 -0.01125241 -0.03782669
+v 0.05281506 -0.02758770 -0.04151228
+v 0.04954693 -0.00700215 -0.03782668
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+v 0.05372769 -0.00653174 -0.03782667
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+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 4 45 48
+f 4 48 46
+f 4 46 40
+f 4 40 23
+f 4 23 17
+f 4 17 11
+f 4 11 6
+f 4 6 5
+f 6 11 18
+f 6 18 12
+f 6 12 7
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 10
+f 10 15 16
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+f 19 36 20
+f 21 37 38
+f 21 38 39
+f 21 39 22
+f 23 40 24
+f 24 27 25
+f 24 40 29
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+f 30 40 42
+f 30 32 31
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+f 30 43 41
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+f 42 48 47
+f 44 49 45
+f 45 49 50
+f 45 50 51
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+f 45 47 48
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_9.obj b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e72b4de7859c76f2d65d348efa15bc2b80d8e2f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/mesh/remote_holder_027_collision_9.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.03005629 0.03050893 -0.05941051
+v 0.03005629 0.03050901 -0.08091986
+v 0.02698213 0.03050893 -0.05941894
+v 0.03005629 0.00051635 -0.06253936
+v 0.01726851 0.02795483 -0.08092830
+v 0.02050508 0.03050901 -0.08092408
+v 0.03005629 0.02485457 -0.08092199
+v 0.02698213 0.02468723 -0.08092410
+v 0.01726851 0.02468723 -0.08093041
+v 0.01402999 0.02468723 -0.08093252
+v 0.02374361 0.03050893 -0.05942947
+v 0.02893503 0.00051635 -0.06255201
+v 0.03005629 0.00051642 -0.08091576
+v 0.01079146 0.03050893 -0.05947371
+v 0.01031596 0.03050893 -0.05947582
+v 0.01006940 0.03050893 -0.05947793
+v 0.01474031 0.03050901 -0.08092619
+v 0.01079146 0.02795483 -0.08093040
+v 0.03005629 0.01161979 -0.08092204
+v 0.02698213 0.01488738 -0.08092414
+v 0.01726851 0.01488738 -0.08093045
+v 0.01006940 0.02541826 -0.08093252
+v 0.01402999 0.01488738 -0.08093256
+v 0.01858741 0.00051635 -0.06268264
+v 0.02826776 0.00051642 -0.08091786
+v 0.03005629 0.00508460 -0.08091995
+v 0.01006940 0.03050901 -0.08092408
+v 0.01006940 0.00051635 -0.06279641
+v 0.01050381 0.00051635 -0.06279009
+v 0.01274436 0.00051635 -0.06275849
+v 0.01402999 0.00051635 -0.06274163
+v 0.01726851 0.00051635 -0.06269949
+v 0.01058796 0.03050901 -0.08092619
+v 0.01006940 0.02795483 -0.08093040
+v 0.01006940 0.01161979 -0.08093257
+v 0.01726851 0.00835219 -0.08092837
+v 0.01079146 0.00051642 -0.08092840
+v 0.01079146 0.01161979 -0.08093257
+v 0.01855414 0.00051642 -0.08092419
+v 0.01006940 0.00051642 -0.08092840
+f 1 2 6
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+f 16 28 29
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+f 23 36 37
+f 23 37 38
+f 25 39 26
+f 26 39 36
+f 27 33 34
+f 35 38 37
+f 35 37 40
+f 36 39 37
+
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/remote_holder_027.xml b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/remote_holder_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..883c8f879549634568d5016b0a3d998d1df65f84
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/mjcf/remote_holder_027.xml
@@ -0,0 +1,114 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_027">
+  <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_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_027_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_027_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_027_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_027_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_027_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_027_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_027_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_027_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_027_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_027_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_027_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_027_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_027_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_027_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_027_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_027_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_027_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_027_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/remote_holder_027_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/remote_holder_027_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/remote_holder_027_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/remote_holder_027_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/remote_holder_027_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/remote_holder_027_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/remote_holder_027_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/remote_holder_027_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/remote_holder_027_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/remote_holder_027_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/remote_holder_027_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/remote_holder_027_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/remote_holder_027_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/remote_holder_027_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/remote_holder_027_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/remote_holder_027_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/remote_holder_027_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/remote_holder_027_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/remote_holder_027_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/remote_holder_027_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/remote_holder_027_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/remote_holder_027_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/remote_holder_027_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/remote_holder_027_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/remote_holder_027_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/remote_holder_027_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/remote_holder_027_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/remote_holder_027_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_027">
+      <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" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" 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/26ded53f0b5f5cbbb2e767d973a9f6d2/remote_holder_027.urdf b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/remote_holder_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..78a84b70a39378833ec5f37b01b9f448a97881d0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/remote_holder_027.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_027">
+   <link name="remote_holder_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_027.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_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>26ded53f0b5f5cbbb2e767d973a9f6d2</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>gray remote holder</name>
+         <color>gray,black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>gray plastic stand holding a black remote at an angle</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611134526</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036149 -0.040463 -0.080103</min>
+            <max>0.061693 0.040830 0.119897</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/26ded53f0b5f5cbbb2e767d973a9f6d2/remote_holder_027.usd b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/remote_holder_027.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2376ce6a62d71c72a47ce54cc8cc48639002c7d9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/remote_holder_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ebf59ae88b120f5ff42b910a1f5669bfc6722afe1f60a24e8336b0141ff81a7
+size 4784881
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/textures/material_0.png b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..21d3dd4c2a5cdd6d76db73e23a2c70eda50190f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72e197777c059fa4b3384b7025ecd2525b9e3dbcb19309506c13a75a4d075bd7
+size 9612111
diff --git a/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/video.mp4 b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..168bd705415390280cba351daf948559387cb214
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/26ded53f0b5f5cbbb2e767d973a9f6d2/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ac151b7ee09aa897b375a051c71903c61fdaea244f0346b57e5bcf83d083e51
+size 342597