diff --git a/.gitattributes b/.gitattributes
index d8b1cf59e18fc73b0fe89d27c567b271ee43f154..48e2e54e6979f8249f14f6be90041f9af0fe8cf6 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/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
+dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/remote_holder_035.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/material.mtl b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6479c3e8d865bfdce85d3eafe456c04f70d61932
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_035_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_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/material_0.png b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a4cd2545d25a449ee62635070814ea26a76f8db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b97d32b69c94025e1dbf50222594cdb323b5c29e08b6aa7c696c1f584b4f739
+size 10967945
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035.glb b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bbe5ce5216d3ef2ce29bff801733a29f9fbaf2c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b4595fc8e494e61892c89c287955fa1483de5db9c8b6c90ca951d862dcb22ba
+size 14379864
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035.mtl b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6aba086237fdf014f1000cf4f744815690e8c62e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035.mtl
@@ -0,0 +1,6 @@
+newmtl remote_holder_035_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/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1636e6104898f4bec64a6600cfa2814610635c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035.obj
@@ -0,0 +1,121436 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl remote_holder_035_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035_collision.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b14d41b8f74c5e6c83e5c46410c4b1e52bae3c2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035_collision.obj
@@ -0,0 +1,11599 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a4cd2545d25a449ee62635070814ea26a76f8db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..129b2e4e1e8fa7a0fb94fbfc810dcc30d5632725
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision.obj
@@ -0,0 +1,11599 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_0.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a2b778b639d238d438f3186dc68fbe94a7ded20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_0.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_1.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..868be3b9832dc17797a27ec89487b3672cc06f97
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_1.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_10.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d49bf37e2b5ae17286712a9eae138ff918e5b9f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_10.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v -0.01148747 -0.03032643 0.01148433
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_11.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..079fcf09a7a6345ae2feadb7283945ad4625f215
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_11.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_12.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ac97b25ce62583ca27f52c76ec757dffbc7524
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_12.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_13.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..680d3c8f40549d1d1ec3be52b951a6d5a0904b35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_13.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_14.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89aa212a85afa2daa01d489e3f95dab2646ab90e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_14.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_15.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8466a1280b18f5a0f17f3b5c7a78cb8477cda629
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_15.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_16.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..867d7b261d9c3ecca51275230dc0b51e259ad506
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_16.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_17.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8afafd501612d6b0a7fff4dbee601052f41a4d55
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_17.obj
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_18.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dccf2de701002fab339ff3e9224477999799f64d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_18.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_19.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e473d445ab4607b6bc27e65b4d1f0ca665c6921
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_19.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_2.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fbccd602694ef7daa40c0b55ae24570d4df85f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_2.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_20.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa16346663ee39747bbd895ba9dc9433d0d4a19
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_20.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_21.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..679b3bf992b055b72335f6a58bf90f45b1435e5e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_21.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_22.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28c5d1fe8bb3dab0a99c1de3979ce06891e8a918
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_22.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_23.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3aec8ed6df833f202f514195a6410b1b82500e6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_23.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_24.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..788a7a90719a03a8f2dd21f4626709d07a0d88fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_24.obj
@@ -0,0 +1,196 @@
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+
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_25.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41714df01c0fcd6fcd6c1d8822de0be7424c3283
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_25.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.00586360 0.03679779 -0.00556303
+v 0.00586360 0.03652528 -0.00696533
+v 0.00586360 0.03663619 -0.00391704
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+
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_26.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b25cc29b35a791f6941e77d1f113e4ae5ee8db18
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_26.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00771774 0.02844096 0.01148137
+v -0.00760505 0.02844096 0.01117586
+v -0.00792267 0.02844096 0.01120681
+v -0.00792267 0.02843655 0.01148137
+v -0.00771222 0.00913986 0.01148130
+v -0.00750863 0.02844096 0.01091341
+v -0.00771177 0.00750059 0.01148130
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+v -0.00642159 0.02565821 -0.00226797
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+v -0.00792267 0.00593407 0.00027564
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+
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_27.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7235da26b775f7742dab7a9c860c8c0c902811c7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_27.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00145068 -0.03206078 -0.00113216
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+
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_28.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03f148140ec1efbf00e936186dad7d5e294e87fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_28.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_29.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f85f8791d2dff51a63ccfe9250d17fdfa5ea58f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_29.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_3.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4005d1179922c66f05ebc122d22cbe756e756464
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_3.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_30.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b872d06435110a894460984143b2cb89c425f1b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_30.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_31.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae75be52040d5f59c35556faa2a6ffdf9ad42769
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_31.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_32.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..136df9198c33a6f329cc0660721f7ac7b0d8b39f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_32.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_33.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a4724509f1154bd927a3a7067c8b8da260d0709
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_33.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_34.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ddb5188c518c6503d4da21068fe030676b15231
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_34.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_35.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b21430e116cfb951ae54f9bf5321846941810346
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_35.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_36.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..928d3f956c9aa142880636570940d1fdd6cf9071
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_36.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_37.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be5fa1ee054e31879b7044678aaed41e3a0ae5a5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_37.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_38.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6c77e0079ca98e8385c0eaa48e3cf276bcd1563
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_38.obj
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_39.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3e1a60b1c6268195f46357589061c34f7faf7e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_39.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_4.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d004ae68337f4c39a8f7dee9721264de366382
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_4.obj
@@ -0,0 +1,547 @@
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+
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_40.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4698ebbfeb950184f6ed5313d44092b812393984
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_40.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00706974 0.02403022 -0.00695841
+v -0.00706974 0.02403022 -0.00226797
+v -0.00706974 0.02844103 -0.00695841
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+v -0.00606974 0.02403022 -0.00695841
+v -0.00606974 0.02403022 -0.00226797
+v -0.00606974 0.02844103 -0.00695841
+v -0.00606974 0.02844103 -0.00226797
+f 2 4 1
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+f 2 8 4
+f 6 2 5
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+f 4 8 3
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_5.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d821580737b4e3930170f2bcad9ca0cc8f706c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_5.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
+v 0.05541530 0.02062077 -0.00083639
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+v 0.05706354 0.01897868 -0.00114315
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+
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_6.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..118ff5c51aafbfb0d00587487791ea7c1723e024
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_6.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00145068 -0.02696546 -0.00804765
+v 0.00145068 -0.02696547 -0.00469974
+v 0.00145068 -0.02656823 -0.00814027
+v 0.02879133 -0.02696546 -0.00791129
+v 0.02879133 -0.02696547 -0.00515770
+v 0.00145068 0.02787378 -0.00455657
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+v 0.00145068 -0.02459818 -0.00830087
+v 0.00145068 -0.02366952 -0.00830859
+v 0.02879133 -0.02366952 -0.00791312
+v 0.02879133 0.02787378 -0.00508325
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+v 0.02879133 -0.01520959 -0.00791382
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+v 0.00145068 0.02225889 -0.00831136
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+v 0.00145068 0.02390149 -0.00830951
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+
diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_7.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bc601a7bec43c9f01057442ce03f7ac55253e26
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_7.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v -0.02529740 0.02226113 0.04881233
+v -0.02529477 0.02390301 0.04881234
+v -0.02520164 0.02390302 0.04716445
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+v -0.02473604 0.02390302 0.04566929
+v -0.02473604 0.01734088 0.04567573
+v -0.02520077 0.01734088 0.04716442
+v -0.02525436 -0.00018065 0.04881225
+v -0.02523678 -0.00018065 0.04933677
+v -0.02507075 -0.00018066 0.05083677
+v -0.02479490 -0.00018066 0.05164577
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+v -0.02478172 0.00750034 0.05163125
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_8.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a1d893c11570b43a060a13fde644177c42be3da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_8.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_9.obj b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ef63e5df87f2aaf7b5f963cc3af9900b19ebd52
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_9.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/remote_holder_035.xml b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/remote_holder_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..245b60898b6942cea774c71e9f8b6d647a2cea49
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/remote_holder_035.xml
@@ -0,0 +1,96 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_035">
+  <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_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_035_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_035_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_035_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_035_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_035_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_035_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_035_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_035_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_035_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/remote_holder_035_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_40" file="mesh/remote_holder_035_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_035">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_40" 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/d7fc4343ccbb57008b25bac8ab801b09/remote_holder_035.urdf b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/remote_holder_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0a2b391fa5f76d1d1eba6daf6f908688bdeda6e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/remote_holder_035.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_035">
+   <link name="remote_holder_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_035.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_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5250" />
+         <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>d7fc4343ccbb57008b25bac8ab801b09</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>adjustable remote holder</name>
+         <color>gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>foldable gray plastic stand with hinged backrest and tubular support legs</description>
+         <min_height>0.0934</min_height>
+         <max_height>0.0934</max_height>
+         <real_height>0.0934</real_height>
+         <min_mass>0.35</min_mass>
+         <max_mass>0.7</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611134908</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.041486 -0.039881 -0.039811</min>
+            <max>0.058583 0.040119 0.053565</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/d7fc4343ccbb57008b25bac8ab801b09/remote_holder_035.usd b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/remote_holder_035.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/remote_holder_035.usd
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new file mode 100644
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--- /dev/null
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