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index 3f8931547263beedb8d4afb154a078c127771afa..63f0d3d3223ab315ab1db9b2f3d5e09d770d6a64 100644
--- a/.gitattributes
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dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/alarm_clock_018.urdf b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/alarm_clock_018.urdf
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mesh/alarm_clock_018_collision.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mesh/alarm_clock_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..567d74205cf9daa295554451f8885a66fefef7a2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mesh/alarm_clock_018_collision.obj
@@ -0,0 +1,7044 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mesh/alarm_clock_018_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mesh/alarm_clock_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3393a618b7289d8a140360bb911af52afcea9e6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mesh/alarm_clock_018_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f452ff7fc2ffa60be1a47da30dd86355f98132df9611fdbfd0a7d6aa059087
+size 9144867
diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c7ecf8adfaac5a3f86a25d41aba514bc64acd262
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl alarm_clock_018_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 alarm_clock_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3393a618b7289d8a140360bb911af52afcea9e6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f452ff7fc2ffa60be1a47da30dd86355f98132df9611fdbfd0a7d6aa059087
+size 9144867
diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/alarm_clock_018.xml b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/alarm_clock_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4368868d12ddaa55062dbbcaad8adee2105b7219
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/alarm_clock_018.xml
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..584c14982dfcc094c1e6f0bbd9aa91c4d6cc5880
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_018_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9065597af7d720a47a31571afc9423df10168f3b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision.obj
@@ -0,0 +1,7044 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_0.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98e32d484d12f23bfd328bd103dfa83bfd1ce9e8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_0.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_1.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d7b5aea1a3f491f15c047142a69226b488537c1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_1.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_10.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f34e543075a60a1e43d4efd864b08100804d8e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_10.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_11.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcf594db36e558adab36900bcc448ab850a6ed3f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_11.obj
@@ -0,0 +1,1051 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_12.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7868a547085efd8cbd43fc1deac7422d6969c73e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_12.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_2.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a87f6c3b5e071543f64323065b27a4f48fc7445
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_2.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_3.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c53a36060d0a2bdab934c960a6030940a901085
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_3.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_4.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6e4f8b6305bda6ccfefa30a222473fe388717d4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_4.obj
@@ -0,0 +1,1051 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_5.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d45e79656813bbdf02ea83fd8b60abcee890cd68
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_5.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_6.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f307d6d3671e69e3de7701e83e53ee016825589
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_6.obj
@@ -0,0 +1,100 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_7.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f098c6c5c5196e98c7941c596195ed8290ab2f6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_7.obj
@@ -0,0 +1,973 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_8.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baa072232957d8e6586448ec6e19722b81a07656
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_8.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_9.obj b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2df6c1d6252fd43df7da28db532aaee40a6741c6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/mjcf/mesh/alarm_clock_018_collision_9.obj
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