diff --git a/.gitattributes b/.gitattributes
index ddc138b2577c3366ebdcc810256ebd199dc15f13..8e566dc31254df956e162eb8943158287fe0f23a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2670,3 +2670,5 @@ dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/alar
 dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/alarm_clock_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/alarm_clock_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mesh/alarm_clock_040.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/alarm_clock_040.urdf b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/alarm_clock_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c5d82aa641e52d2eed03c4f3e6ba6fa6a8a61925
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/alarm_clock_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_040">
+   <link name="alarm_clock_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_040.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/alarm_clock_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>889e05f5fda15efa9c27e115f03a509b</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>wooden desk clock</name>
+         <color>brown,white</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>round wooden alarm clock on rectangular base with white dial</description>
+         <min_height>0.1573</min_height>
+         <max_height>0.1573</max_height>
+         <real_height>0.1573</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130358</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.048308 -0.064987 -0.072656</min>
+            <max>0.049109 0.065014 0.084608</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/alarm_clock_040.usd b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/alarm_clock_040.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/alarm_clock_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4842576
diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mesh/alarm_clock_040.glb b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mesh/alarm_clock_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..10f21ebf9575dab5692194266dd00a5a52bd5c79
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+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mesh/alarm_clock_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15122320
diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mesh/alarm_clock_040.mtl b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mesh/alarm_clock_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1b0dac195628b7c931a136b0d7d578ec3986faff
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mesh/alarm_clock_040.mtl
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+newmtl alarm_clock_040_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/small_electronics/889e05f5fda15efa9c27e115f03a509b/mesh/alarm_clock_040.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mesh/alarm_clock_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbb44b788ff9ba13dd09e34ba22b7bdff1fd8421
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mesh/alarm_clock_040.obj
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+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mesh/alarm_clock_040_collision.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mesh/alarm_clock_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..809c01e8d53ced43fefd185374b9db3ed886fb11
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mesh/alarm_clock_040_collision.obj
@@ -0,0 +1,28726 @@
+# https://github.com/mikedh/trimesh
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+    <mesh name="collision_mesh_0_3" file="mesh/alarm_clock_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/alarm_clock_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/alarm_clock_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/alarm_clock_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/alarm_clock_040_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/alarm_clock_040_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/alarm_clock_040_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/alarm_clock_040_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/alarm_clock_040_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/alarm_clock_040_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/alarm_clock_040_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/alarm_clock_040_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/alarm_clock_040_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/alarm_clock_040_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/alarm_clock_040_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/alarm_clock_040_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/alarm_clock_040_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/alarm_clock_040_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/alarm_clock_040_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/alarm_clock_040_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/alarm_clock_040_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/alarm_clock_040_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/alarm_clock_040_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/alarm_clock_040_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/alarm_clock_040_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/alarm_clock_040_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="alarm_clock_040">
+      <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_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" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12fb93a742a4dcce5d8592398a1e35737d7e112d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040.obj
@@ -0,0 +1,116772 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ea8b6c7207e74c4ecbd7fe2ce5af0339c710c5b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision.obj
@@ -0,0 +1,28726 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_0.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c859e40369d4dfda2b0164f9b36945418a13feec
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_1.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1258daf21d4fcc6feca5ffc4fee3d2507abefa3f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_10.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0207aa500663321fcacf7a6a44856eae147d6af3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_10.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_11.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfb662afa1986f3f51785556a647866d73c8cc18
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_11.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_12.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a14ac45ce5b453376d966172d75bdf2cdea84a48
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_12.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02680761 -0.01331740 -0.04202144
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+
diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_13.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bb43f70ee867abec4032c603ee73d5ea23685ef
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_13.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
+v 0.02710024 -0.02698084 -0.02515220
+v 0.03497671 -0.02728322 -0.02515220
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_14.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04fc4a37583536dfa8530f23f66e50cc8c849478
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_14.obj
@@ -0,0 +1,1348 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_15.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5430525022bd20729ffe5af086f6a3c0ce388bd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_15.obj
@@ -0,0 +1,118 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_16.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0443f9a25d930cd757f7c4d8fc295d85ea1e03d2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_16.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_17.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e209759b1a2a33ec2312e39596daa726e6323555
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_17.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_18.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39224d9e2198038ce3a8cd6007ced75daeda671d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_18.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_19.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a86484966abbc631ea087fce6ffa958494b39e1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_19.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_2.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a36605ebf63234f1f88591a09410a81da17c8357
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_2.obj
@@ -0,0 +1,2806 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_20.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c8aa21cbb447c0730369b218388dfac26bbebb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_20.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_21.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92962a2563e8e3afbdb5a5d6094e33d6d9042e82
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_21.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_22.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c66b5e45643b42272439cd99bf1c8a0d0078c7bd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_22.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_23.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c93079f3db8a398a4ab1db934f1d530a2add7d14
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_23.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_24.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c95c49fd8a6d6d73b924514f02042c36442955f3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_24.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_25.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afd9bc155fa562581df38d2a59b24e9da0c82ce3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_25.obj
@@ -0,0 +1,391 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_26.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8730c11c1b0ce98c0d4b11f9cb5a7165a45256e1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_26.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.02629712 0.03419071 0.05320911
+v 0.02629712 0.03467856 0.05229013
+v 0.02941624 0.03419071 0.05398477
+v 0.02629712 0.03419063 0.07533211
+v 0.02629712 0.04556934 0.03229601
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+v 0.02941624 0.03419063 0.07522672
+v 0.02693981 0.03419063 0.07533633
+v 0.02629712 0.03419175 0.07535741
+v 0.02629712 0.04556922 0.06638262
+v 0.02941624 0.04556922 0.06621822
+v 0.02941624 0.03469407 0.07491056
+v 0.02755289 0.03419063 0.07531103
+v 0.02726131 0.03456709 0.07508761
+v 0.02629712 0.03468293 0.07504546
+v 0.02629712 0.04541551 0.06653438
+v 0.02752144 0.04488756 0.06700229
+v 0.02742191 0.04556922 0.06633204
+v 0.02808994 0.04556922 0.06629831
+v 0.02852777 0.04382946 0.06798872
+v 0.02941624 0.04379493 0.06795500
+v 0.02941624 0.03634473 0.07383560
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+v 0.02629712 0.03681809 0.07365856
+v 0.02629712 0.04388292 0.06803509
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+v 0.02629712 0.03981532 0.07145808
+v 0.02729154 0.03979082 0.07144121
+v 0.02941624 0.03943107 0.07160561
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+
diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_27.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c63acd6dec79a34c695fa633eb71c2ecc1bba99e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_27.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.02589841 -0.00869790 0.01685093
+v 0.02700391 -0.00869790 0.01685093
+v 0.02589501 -0.00869790 0.01715323
+v 0.02589501 0.00749094 0.01685099
+v 0.03253651 -0.00500407 0.01685094
+v 0.03375503 -0.00519424 0.01854385
+v 0.02928969 -0.00869791 0.02011583
+v 0.02589501 -0.00869796 0.03310545
+v 0.02775423 0.00749094 0.01685099
+v 0.02589501 0.00749089 0.03124871
+v 0.03405583 -0.00369831 0.01685095
+v 0.03408982 -0.00398672 0.01762581
+v 0.03375503 -0.00519424 0.01905141
+v 0.03028812 -0.00869792 0.02271726
+v 0.03026518 -0.00869792 0.02228448
+v 0.02884868 -0.00869795 0.02955574
+v 0.03370659 -0.00003303 0.02401879
+v 0.03370659 0.00005571 0.02401879
+v 0.03241500 0.00506167 0.01685098
+v 0.02871187 0.00749094 0.01762744
+v 0.02916053 0.00749090 0.02739670
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+v 0.03407877 -0.00393602 0.01999970
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+v 0.03345762 0.00486515 0.02078891
+v 0.03437363 0.00196683 0.01685097
+v 0.03409322 0.00400629 0.01761946
+v 0.03086339 0.00749092 0.02277460
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+
diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_28.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce5a885f7cfdb8fe177d25afa9ecbfcef21da1fb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_28.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.02589545 -0.02787506 0.03130191
+v 0.02589545 -0.02723682 0.03037986
+v 0.02722557 -0.02787507 0.03312429
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+
diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_3.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..094f34cfbafb134c12b46107817de074d5cfaca1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_3.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
+v 0.02580610 0.03904536 -0.01271741
+v 0.02580610 0.05874925 -0.01271733
+v 0.03497555 0.03950034 -0.01271740
+v 0.02580610 0.04680023 0.01685113
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+v 0.02729133 0.05869079 -0.01271733
+v 0.03542375 0.03960710 -0.01271740
+v 0.03661224 0.04882857 0.01685114
+v 0.02580610 0.06500955 0.01685120
+v 0.02729133 0.05911526 -0.01177089
+v 0.02580610 0.05967445 -0.01054658
+v 0.02985377 0.05855353 -0.01271733
+v 0.03742826 0.04026796 -0.01271740
+v 0.03789346 0.04967498 0.01685114
+v 0.02580610 0.06500446 0.01645178
+v 0.02729133 0.06496634 0.01685120
+v 0.02729133 0.05964649 -0.01047712
+v 0.02985377 0.05958549 -0.01032372
+v 0.02985377 0.05904663 -0.01161749
+v 0.02580610 0.06018025 -0.00923256
+v 0.03134672 0.05843661 -0.01271734
+v 0.03241620 0.05895004 -0.01138884
+v 0.03836947 0.04089578 -0.01271740
+v 0.03887794 0.05062052 0.01685115
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_4.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20d1d3da1229f272180ec044b932af426b3e4b73
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_4.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_5.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eaac01e102062fd5e4ce00f0d0954ce28a30e01
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_5.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_6.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f3dacf1dc5be4cd72d0f176648e985034f53129
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_6.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_7.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d1d0324f88cadeddecfbea25c00445dd993b040
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_7.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_8.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0542a5abe3fc686addda3b6ffdb9235a686373a5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_8.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_9.obj b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11842d5980522f53103b2a30885105d21dde24b6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/889e05f5fda15efa9c27e115f03a509b/mjcf/mesh/alarm_clock_040_collision_9.obj
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