diff --git a/.gitattributes b/.gitattributes
index 4dcd8846d2811fa176972282c9af471ea67acc94..2e19d344022896bf526c212c15a427e8f7124dc9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2664,3 +2664,5 @@ dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/alar
 dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/alarm_clock_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/flashlight_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/mesh/flashlight_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/alarm_clock_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/alarm_clock_022.urdf b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/alarm_clock_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5e96ed7bb8d88cce60798212893b74f12e552e86
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/alarm_clock_022.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_022">
+   <link name="alarm_clock_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_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/alarm_clock_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>802db1a1feba5ccbb6a16ebac2c3f714</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>blue alarm clock</name>
+         <color>blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>pastel blue round alarm clock with handle and two feet</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611125428</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.029279 -0.051218 -0.057397</min>
+            <max>0.036801 0.051262 0.072603</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>17</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/802db1a1feba5ccbb6a16ebac2c3f714/alarm_clock_022.usd b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/alarm_clock_022.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/alarm_clock_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2f0db387ad1dc8cd36f64db0efdc3827ebefbdb650b4f3723261246fca0bc75
+size 4972921
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022.glb b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..372b147bf6b3437ae2aa2d24994e7c74185332c3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14830128
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022.mtl b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d1e83a9a5711869d322eeab018aef9b241486f7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022.mtl
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+newmtl alarm_clock_022_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/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc2cb24728fe2806ab3de4ffb9663e15841b92a4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022_collision.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14b9293b2fee3dbd6c8557755bd32274c14afc7a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022_geometry_Looks_material_0.png
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--- /dev/null
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/material.mtl
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index 0000000000000000000000000000000000000000..942c15dae1819fd6196636fc08f762dfbcaffff5
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+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/material.mtl
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/alarm_clock_022.xml b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/alarm_clock_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d84a3c87fba9b052ce171293fda693b5cd452abb
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+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/alarm_clock_022.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="alarm_clock_022">
+  <asset>
+    <material name="material_0" texture="texture_0_alarm_clock_022_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_alarm_clock_022_geometry_Looks_material_0" type="2d" file="mesh/alarm_clock_022_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/alarm_clock_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/alarm_clock_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_2" file="mesh/alarm_clock_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/alarm_clock_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/alarm_clock_022_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/alarm_clock_022_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/alarm_clock_022_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/alarm_clock_022_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/alarm_clock_022_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/alarm_clock_022_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/alarm_clock_022_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/alarm_clock_022_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/alarm_clock_022_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/alarm_clock_022_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/alarm_clock_022_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/alarm_clock_022_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_19" file="mesh/alarm_clock_022_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/alarm_clock_022_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/alarm_clock_022_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/alarm_clock_022_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/alarm_clock_022_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/alarm_clock_022_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/alarm_clock_022_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_29" file="mesh/alarm_clock_022_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/alarm_clock_022_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/alarm_clock_022_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/alarm_clock_022_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/alarm_clock_022_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/alarm_clock_022_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/alarm_clock_022_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/alarm_clock_022_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/alarm_clock_022_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/alarm_clock_022_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/alarm_clock_022_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/alarm_clock_022_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/alarm_clock_022_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_43" file="mesh/alarm_clock_022_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/alarm_clock_022_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
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+    <body name="alarm_clock_022">
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+      <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_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adca1dff450c75a08b2702f47e4f92bd24455be1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022.obj
@@ -0,0 +1,120074 @@
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+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..270cc85c145ab620f1883799b53ae798a3a213f9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision.obj
@@ -0,0 +1,28665 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_0.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0769f8f7527eedebe2acd69648812806b08cebcc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_1.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed556c4b7e41090a7e39622fe4824af8c0be3192
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_10.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea863fcc6eb396b8d0050ca44572fbe833526d6f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_10.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_11.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdc34dafc93d4eb408f58be947012887a7a0f9ba
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_11.obj
@@ -0,0 +1,1186 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_12.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99ea4fe61425dec65217b94150893a85c30fc055
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_12.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_13.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92bd6f86113a3fc466f2068d19d6372c75cf4534
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_13.obj
@@ -0,0 +1,880 @@
+# https://github.com/mikedh/trimesh
+v 0.01440738 0.02877294 -0.00493937
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_14.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a0eaa17a8471a3e5505d6b800737f449299018e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_14.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_15.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49cbd04d782d6050d1c9c1461d2f63294a6b2e89
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_15.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01440738 0.04498512 -0.02761913
+v 0.01523252 0.04498061 -0.02761913
+v 0.01440738 0.04474129 -0.02807972
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+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_16.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..434816913d7a6da55f4bfa562d64f7140a1b4c1c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_16.obj
@@ -0,0 +1,796 @@
+# https://github.com/mikedh/trimesh
+v 0.02401492 0.02877061 0.02532959
+v 0.03207174 0.02877060 0.02685573
+v 0.02401492 0.02877054 0.04351176
+v 0.02401492 0.03644192 0.01075759
+v 0.03389256 0.02877060 0.02791697
+v 0.03207174 0.03736515 0.01075760
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_17.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fca6024fac92a1dfa575512878ca3f15b46a4d6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_17.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_18.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55da1dcf0c757a870513bb7ea11177884c0a8d7e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_18.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_19.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..316c5d5bdee93f0d77329a54457f349ed6a29b5f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_19.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_2.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a728217d1a73c99f73ab00d21544cbbd1eca2b6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_2.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_20.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab424c5527308f4bb554b3780e680e50abaafdff
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_20.obj
@@ -0,0 +1,79 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_21.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccdf4468c1a606d095af57f620a9996854e0d2fc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_21.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_22.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d55b6eefaceece0bcd3c497ee4ba15aefddb7c8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_22.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_23.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44dbf79bf24e8330a00f171a17d4311ddf5f5e67
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_23.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_24.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..726daa2c0b2f171fcc3e128763e67639912f46e9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_24.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_25.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd5cb62c778322b0d0a3e8e82abcbdfbc5984c63
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_25.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_26.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e4e2195e9b2202e450ad4a36103c8f184dd7a7c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_26.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_27.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c46c3c646aeba244f45e9429cdb4eb2d25f769f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_27.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_28.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9c4def938ee3861de41f704b426318103ba8a0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_28.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_29.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2be6865ab71eb0ba6e94b4b5a4d27f6364e79b7c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_29.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_3.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..784fa96ca63fd2ab22570c24b12b39b05c9f3fc3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_3.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_30.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b50233628b319dbd2cbfa9c18c97a9749b45a078
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_30.obj
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+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_31.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cd3e543d43e0f4a1d04fde51d742af2a963c48f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_31.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.02346332 -0.02680924 0.01309091
+v 0.02690430 -0.02558105 0.01405333
+v 0.02346332 -0.02640045 0.01466681
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+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_32.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca78e18df96600961e8180d619cc0b7e0f80bd8c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_32.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02467519 -0.00613058 -0.00493950
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+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_33.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6f16f755211067a92ae1d72dffaa87afb39c57a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_33.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v 0.02417838 0.01109699 0.03705986
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_34.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa5b903e4edbf58962ff5e0082570116b9591a6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_34.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_35.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2929c1d25068043c0f84b06a9790f581b0b33181
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_35.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+f 23 28 31
+f 23 31 29
+f 25 30 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_36.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..838f08bae6fbf83387afc588aa5c627bda19d9e3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_36.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.02417742 -0.00051084 0.05167665
+v 0.02417742 -0.00104321 0.05167665
+v 0.02417742 0.00108560 0.05167360
+v 0.01440833 0.00108560 0.05259726
+v 0.02417742 -0.00257847 0.05162482
+v 0.01440833 -0.00104321 0.05258812
+v 0.02417742 0.00321574 0.05160350
+v 0.01440833 0.00312433 0.05259118
+v 0.01440833 -0.00243530 0.05246008
+v 0.01440833 -0.00257847 0.05243569
+v 0.02417742 -0.00257842 0.03841612
+v 0.02417742 0.00428855 0.05153644
+v 0.01440833 0.00428855 0.05218880
+v 0.01440833 -0.00257836 0.02146094
+v 0.02260599 -0.00257839 0.03108168
+v 0.02417742 0.00321579 0.03823019
+v 0.02417742 0.00428860 0.03824544
+v 0.01440833 0.00428866 0.02146097
+v 0.01788404 -0.00257836 0.02146094
+v 0.01840721 0.00416766 0.02146097
+v 0.02241279 0.00428863 0.03043850
+v 0.02261077 0.00428863 0.03097806
+v 0.02282884 0.00127589 0.03200840
+v 0.01840721 0.00428866 0.02146097
+f 1 2 5
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+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_37.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aa5542b75bd3488cdfd4bb0491c76175292f478
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_37.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.01488050 0.02589158 0.03672663
+v -0.01488050 0.02589155 0.04427387
+v -0.01488050 0.03589595 0.03672666
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+v -0.01113116 0.02970223 0.05119372
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+v -0.01488050 0.02602003 0.04420731
+v -0.01093976 0.02589154 0.04509672
+v -0.00581958 0.02592839 0.05119371
+v -0.01488050 0.03565798 0.03697025
+v -0.01112952 0.03208742 0.05109601
+v -0.01103791 0.03222595 0.05119373
+v -0.01061259 0.03296887 0.05119373
+v -0.00944788 0.03450612 0.05119374
+v -0.00922867 0.03463348 0.05119374
+v -0.00790364 0.03534847 0.05119374
+v -0.00694013 0.03624782 0.04839238
+v -0.00714625 0.03631932 0.04717298
+v -0.00605024 0.03727121 0.03672667
+v 0.00183124 0.03696957 0.03672667
+v 0.00183124 0.02589154 0.04519161
+v -0.01488050 0.02985533 0.04182942
+v -0.01488050 0.02946655 0.04208435
+v -0.01488050 0.02889566 0.04245116
+v -0.01488050 0.02708470 0.04359123
+v -0.01488050 0.02676072 0.04378101
+v -0.00839440 0.02589154 0.04554567
+v -0.00788401 0.02589154 0.04560091
+v -0.00601098 0.02589154 0.04565614
+v -0.00371426 0.02589154 0.04567313
+v -0.00170872 0.02589154 0.04554001
+v -0.00425735 0.02619763 0.05119371
+v -0.01488050 0.03533288 0.03728183
+v -0.01488050 0.03459219 0.03798996
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+v -0.01488050 0.03231871 0.03996563
+v -0.01488050 0.03079041 0.04113120
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+v -0.00049165 0.02981507 0.05119372
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+v -0.00559384 0.03572496 0.05119374
+v 0.00183124 0.03071890 0.04254180
+v 0.00183124 0.03136576 0.04207444
+v 0.00183124 0.03374759 0.03998121
+v 0.00183124 0.03622216 0.03752543
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+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_38.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0371aaf6f750c916f8e72786829d930682ac9e0a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_38.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02467477 -0.01656821 -0.02998358
+v 0.02575762 -0.01647235 -0.02998358
+v 0.02467477 -0.01619095 -0.02784093
+v 0.02436496 -0.01648008 -0.03034597
+v 0.02765678 -0.01581985 -0.02998358
+v 0.02743754 -0.01550598 -0.02784093
+v 0.02544412 -0.01638421 -0.03034597
+v 0.02732922 -0.01551679 -0.03159849
+v 0.02758358 -0.01575336 -0.03034597
+v 0.02467477 -0.01246927 -0.01498506
+v 0.02436496 -0.01230378 -0.03034596
+v 0.02436496 -0.01608115 -0.03158490
+v 0.02467477 -0.01167917 -0.01283108
+v 0.02467477 -0.00920989 -0.01064539
+v 0.02467477 -0.00608811 -0.00886513
+v 0.02808378 -0.01381906 -0.02998357
+v 0.02814145 -0.01381907 -0.02784092
+v 0.02739244 -0.00532583 -0.00886513
+v 0.02717801 -0.00673905 -0.01069974
+v 0.02436496 -0.01588014 -0.03199032
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+v 0.02436496 -0.01278620 -0.03098468
+v 0.02467477 -0.00077226 -0.00886511
+v 0.02467477 -0.00131805 -0.01305300
+v 0.02467477 -0.00218391 -0.01498502
+v 0.02467477 -0.00333893 -0.01720467
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+v 0.02715176 -0.00390485 -0.01242336
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+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_39.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fa79b5dc50b079cc39ee810f0c2abbb50053c0f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_39.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.02400079 0.00894022 0.01032939
+v 0.02600577 0.00894022 0.00965077
+v 0.02400079 0.00894026 -0.00136102
+v 0.02400079 -0.00799783 0.01004832
+v 0.02721781 -0.00799782 0.00924265
+v 0.02774643 0.00894023 0.00866424
+v 0.02773408 0.00894026 0.00014418
+v 0.02400079 0.00682468 -0.00493945
+v 0.02400079 -0.00799778 -0.00285284
+v 0.02748623 -0.00799782 0.00893323
+v 0.03170450 -0.00104253 0.00416054
+v 0.03170532 0.00108633 0.00416801
+v 0.03140313 0.00321520 0.00370465
+v 0.03207667 0.00321520 0.00216357
+v 0.02851548 0.00894024 0.00644903
+v 0.02851301 0.00894025 0.00221740
+v 0.03161886 0.00495611 -0.00212336
+v 0.03135126 0.00462451 -0.00367191
+v 0.02990867 0.00490472 -0.00433857
+v 0.02949779 0.00460960 -0.00493946
+v 0.02400079 -0.00683552 -0.00493951
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+v 0.02866946 -0.00799780 0.00228759
+v 0.03186918 -0.00104249 -0.00493948
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+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_4.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97ec11f5440edeac05f9b0ce455ddbcf973113be
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_4.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_40.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cd33527e08ae8818e8a3adbdc172bc5768f11b0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_40.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_41.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f807d1d156dfdfda192629b8b0d0d4365798da20
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_41.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_42.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2af102bf9e98b30695ebdfce9ad622ea35d74834
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_42.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_43.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e287521b1eac7552f8e6635e5fd6d0696a5ba88b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_43.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_44.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0510776f6714b2884e807ed5f252c5b5be1d1a60
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_44.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_45.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46a239623cbe7b973891897ae5e066d40604f4e1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_45.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01488050 -0.02580423 0.03672644
+v 0.00183124 -0.02580423 0.03672644
+v -0.01488050 -0.02580426 0.04427085
+v -0.01488050 0.02589158 0.03672663
+v 0.00183124 -0.02580427 0.04524665
+v 0.00183124 0.02589158 0.03672663
+v -0.00792327 -0.02580427 0.04557381
+v -0.00836495 -0.01771290 0.05119354
+v -0.00976196 -0.01719675 0.05119355
+v -0.01002860 -0.01709049 0.05119355
+v -0.01057333 -0.01686784 0.05119355
+v -0.01208976 -0.01612904 0.05119355
+v -0.01237276 -0.01596711 0.05119355
+v -0.01361600 -0.01518277 0.05119355
+v -0.01435540 -0.01469698 0.05119356
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+v -0.00069449 -0.02580427 0.04556814
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+v -0.00371426 0.01854906 0.05119368
+v -0.00601098 0.02589154 0.04565614
+v -0.00330039 0.01853388 0.05119368
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+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_46.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..096603b5b901729a3abf8b81c3bb81ff8dbee4de
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_46.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.02436461 -0.01788807 -0.03589580
+v 0.02436461 -0.02345950 -0.03589582
+v 0.02436461 -0.02239366 -0.03281644
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+f 12 16 13
+f 13 16 15
+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_47.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8724c0cb5787267aba6adbaca2370389fdfaff5d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_47.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.01440738 -0.02346004 -0.03589039
+v 0.01440738 -0.02346006 -0.03034736
+v 0.01440738 -0.02345244 -0.03589582
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+
diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_48.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f00ac33eb16916c12edc63a80ab268af44cbd5e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_48.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
+v 0.01440738 -0.00404977 -0.05346953
+v 0.01440738 -0.00446819 -0.05344029
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_5.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dbf157a86fcf4e57b14dc5fd2cf813714dc73a7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_5.obj
@@ -0,0 +1,586 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_6.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd55044d32e3290951392114fc5a55137591e5e1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_6.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_7.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce11cff12167c5e4dc2cc98e5f465fb62979cab3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_7.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_8.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24ca4fd8a74ad07e3a01848fa5ce274c116c95ec
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_8.obj
@@ -0,0 +1,598 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_9.obj b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b11f459b76ccc73393a9d4115ed39407fcb0604
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mjcf/mesh/alarm_clock_022_collision_9.obj
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