diff --git a/.gitattributes b/.gitattributes
index 25c44713c32b7ad7b225d1e3235e4c3a0f2077ca..d8b1cf59e18fc73b0fe89d27c567b271ee43f154 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2852,5 +2852,5 @@ dataset/bedroom_supplies/storage/d70a4f57344d582086532447853448d7/storage_box_00
 dataset/bedroom_supplies/storage/d86cdfd81a315184a8cfd74e09300e26/d86cdfd81a315184a8cfd74e09300e26.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d86cdfd81a315184a8cfd74e09300e26/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d86cdfd81a315184a8cfd74e09300e26/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/dabad4168c9150289af08007757d07ee/basket_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/dabad4168c9150289af08007757d07ee/mesh/basket_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/remote_holder_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/material.mtl b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d3865fbddddfe8871fd367bd45b5e3548fa5e1e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_022_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_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/material_0.png b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee45b129d9412e609bc3ad14963c7aa0af9956fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dd46ec43326a8e0bcf9452302d3c4cdb9a743ce0a9aabda276b4527cd60ec32
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022.glb b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0583c716a8ec4ac559cec880d8dd6998c6012612
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd298005b57aa96a3c5e60e6bbf619e6de73ce511e068e744b22634b4e3f8825
+size 12683652
diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022.mtl b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a4ca93de95d3b69985698731f804b13f78d4d122
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_022_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b964a33745d72ec44707f08caab5228c1286468
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022.obj
@@ -0,0 +1,109534 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_022_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022_collision.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4401724e5611b3a781a8c1a058df715ac04f6e15
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022_collision.obj
@@ -0,0 +1,17426 @@
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee45b129d9412e609bc3ad14963c7aa0af9956fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ec60467b49586bb3a05691594de7ca0f374428d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision.obj
@@ -0,0 +1,17426 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_0.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5d948158692234c76a690b52c63bef93cf44115
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_1.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04177dc02c0a4a8e4c5c47625ce5f09d23631717
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_1.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_10.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e10b4c31baeaa6eec02df0834bf29b01ada55931
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_10.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_11.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d0631cd6e74eca997ad47994d437cb5748a5f4d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_12.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed31b15e35d4a7b6945131fa9c6bd2f3842635d4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_12.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_13.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cfe77cf8048d03d261185e467ad8dbab2760500
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_13.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_14.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ce0ce5368d7644448e70231cca9b307d4f5fa4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_14.obj
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+
diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_15.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74ba0b59a08b8f23587e92487940a03dedc48de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_15.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_16.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3b59868b8b1abb9f688e2b541391116e34e8ffa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_16.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_17.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d59b48cb6a564b7bd4843f62aed84fdbd9b7572
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_17.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_18.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc8b5aee833b9ef2326553a42f3d2fef7f554f11
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_19.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad1f5360c576dd3e5d6d207304d5b779bc7bddc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_19.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_2.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5bb135848ff7af198704d39bc916a7033ba9873
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_2.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_20.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab2945d165be70e67df9bfc94a474f63217aaaeb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_20.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_21.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d877de6f0c3a6169a3566dac776337546cb2da69
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_21.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_22.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef5e77f4cac2862ed91d1920a8bd41285243f428
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_22.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_23.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b387ee9f63badbb3c085d4fbff0a1db5cdfcae68
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_23.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_24.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a1de1d5ce43ac54602b2038b0f5ab08ee58a1c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_24.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_25.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82e3e9c6f96e7695019f8334120fd5c80edef041
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_25.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_26.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e21dd4bd83d11ccc3186b222ea66bdbf330e66eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_26.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_27.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5df82b8c3ac7a9447847f87b693cec88f8eba1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_27.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_28.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9365e35c3545c1388e2abdf4f4b8f8f4cedbfc6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_28.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_29.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cf66e572ebfc9d3fa77f367c6ab49e9c31c42d9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_29.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_3.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7379604538936467206f599a971ecb5f882e035c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_30.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7b43bb290f51b73de2af5cf0cd0cfe9b5f173ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_30.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00756691 0.02168376 0.04729117
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+
diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_31.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a80dd5107464f47532e2f1aa04c02107570c6af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_31.obj
@@ -0,0 +1,616 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_32.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90a2dd4649377abb9e0afb0468a77e08b2b51616
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_32.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_33.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbaaab0327561d1bcfbb5db668335d1b2835d120
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_33.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_34.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fcd6dc6c2536184c11f7aefc26a14ebbe069332
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_34.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_35.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dfed204a629d0b379c1b76f87eae078c01672bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_35.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_4.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642623d1f02c7fdbbb2258c0b2162054d206acdb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_5.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bfec9e6aa4235056ea8540e24ec706256f5f2ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_6.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..377e8f3b79dda665920236e0df399eeed311e3d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_7.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ec0f013eb4e440e09dfa8fdfeb53348a6ce968
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_7.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_8.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4242a7a9fb662fe0000ec852de6cdda366fc4b84
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_8.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_9.obj b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d313788691f0b1bf99b476f29c50761e34afb25
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/mesh/remote_holder_022_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/remote_holder_022.xml b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/remote_holder_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b20b8e0a5484bc1f61f09ae89f1cae4074d7c7b3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mjcf/remote_holder_022.xml
@@ -0,0 +1,86 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_022">
+  <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_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_022_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_022_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_022_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_022_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_022_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_022_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_022_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_022_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_022_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_022_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_022_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_022_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_022_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_022_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_022_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_022_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_022_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_022_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/remote_holder_022_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/remote_holder_022_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/remote_holder_022_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/remote_holder_022_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/remote_holder_022_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/remote_holder_022_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/remote_holder_022_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/remote_holder_022_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/remote_holder_022_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/remote_holder_022_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/remote_holder_022_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/remote_holder_022_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/remote_holder_022_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/remote_holder_022_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_022">
+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/remote_holder_022.urdf b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/remote_holder_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..131d269e6b0462a3094231b42f9297b29bf5f055
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/remote_holder_022.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_022">
+   <link name="remote_holder_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_022.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_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>ded7fc8373485d3d950fa6fef6e3995b</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>wall remote holder</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>dark rounded rectangular holder with front retaining bar for a remote</description>
+         <min_height>0.1185</min_height>
+         <max_height>0.1185</max_height>
+         <real_height>0.1185</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611134241</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.026151 -0.049758 -0.057743</min>
+            <max>0.052504 0.050242 0.060783</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/remote_holder_022.usd b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/remote_holder_022.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/remote_holder_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cc7620cccbabca6685c08a72e427a92717a3a57390b23f37cc056822e03c324
+size 4675403
diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/textures/material_0.png b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dd46ec43326a8e0bcf9452302d3c4cdb9a743ce0a9aabda276b4527cd60ec32
+size 9719688
diff --git a/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/video.mp4 b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19963ef0f4a92a44c87edfcf4e0422a8bb93a9dedd1217242380210cb7b3131d
+size 304262