diff --git a/.gitattributes b/.gitattributes
index e9d10700838aaa10ab73a673f08afcff83d2294c..8b55f24a5e5afd6f56060d7c00c6fbf732bf9c8b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2660,5 +2660,5 @@ dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/flas
 dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/alarm_clock_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/6b7d1c3f955e5838a37c7f3d88a0b162/flashlight_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/6b7d1c3f955e5838a37c7f3d88a0b162/mesh/flashlight_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/alarm_clock_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/alarm_clock_021.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/alarm_clock_021.urdf b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/alarm_clock_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3ad4b4ad032aa4b3803476b92ab76295685ff0cc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/alarm_clock_021.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_021">
+   <link name="alarm_clock_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.8000" />
+         <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>5f86afae4eed5ef6bcc734799e742d7f</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>vintage cylinder clock</name>
+         <color>black,golden</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>black cylindrical alarm clock with exposed number drums and gold accents</description>
+         <min_height>0.1500</min_height>
+         <max_height>0.1500</max_height>
+         <real_height>0.1500</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611125403</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.042332 -0.043417 -0.070079</min>
+            <max>0.046627 0.043343 0.079921</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>15</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/5f86afae4eed5ef6bcc734799e742d7f/alarm_clock_021.usd b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/alarm_clock_021.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/alarm_clock_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a04fe942efa2a0d874b7176796e1252188cd066696694a606ad066f89513e3b
+size 4919367
diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/alarm_clock_021.glb b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/alarm_clock_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..93644c240da08dba0b53d3d84141326fb9cfcd03
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/alarm_clock_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:961ff9079c55be99a844ba4f307a92c7fe87db60b918d9b4abd032285365a37a
+size 15153940
diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/alarm_clock_021.mtl b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/alarm_clock_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2f6f465f2bd1ec5cd9f9136fed8fd05ab1768a5f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/alarm_clock_021.mtl
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+newmtl alarm_clock_021_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/5f86afae4eed5ef6bcc734799e742d7f/mesh/alarm_clock_021.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/alarm_clock_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d7e3a6fd52d1ba874d578120375f762f8c2bcc8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/alarm_clock_021.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/5f86afae4eed5ef6bcc734799e742d7f/mesh/alarm_clock_021_collision.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/alarm_clock_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc677aedc55553a3b1d5fd2ad82b38c79d2cc48f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/alarm_clock_021_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/material.mtl
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+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/material.mtl
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+
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ab69c9f6c85cc62c73ac812bf0582bf17379f38f576071612981bf3aa82b34dd
+size 11800171
diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/alarm_clock_021.xml b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/alarm_clock_021.xml
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+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61657235248f0eced6d84ba7aabb61f92f45f515
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021.obj
@@ -0,0 +1,119322 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_021_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c08341bf68491f90e154a08cc5112385c9ce8c97
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision.obj
@@ -0,0 +1,17668 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_0.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7931da051fa1099414acea45f15eccd7c232a6fe
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_1.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2676a189408bdfb83c55936acf0f26ced86c08cd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_1.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_10.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0adc9af54ff48829576340f49573a5b49012224a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_10.obj
@@ -0,0 +1,646 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_11.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b14012dfaf8113069182d452c46af755c9b9c70
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_11.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_12.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d3181bb7e493038d8499f65d2b78fafe165f29e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_12.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_13.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d91d8b7da6324d28c116b7d3a016c6c0d5f059
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_13.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_14.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..313843c45f7d84711061e28be1aba6178bf45301
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_14.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_15.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5931853c1ace217ba92083c2759febd12378e2a4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_15.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_16.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07dae201056a02cc6dcc20069f5df4fb7a4439bb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_16.obj
@@ -0,0 +1,544 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_17.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b7c6e1487761f5f3cba03e0808ed2d80cf74c9e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_17.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.02587101 0.03246119 -0.06318497
+v 0.02529786 0.03240713 -0.06318497
+v 0.02778048 0.03213990 -0.06318497
+v 0.02773843 0.02965918 -0.06753982
+v 0.02370301 0.03221714 -0.06318497
+v 0.02990020 0.03114822 -0.06318498
+v 0.02940181 0.02946455 -0.06726605
+v 0.02773843 0.02850377 -0.06877736
+v 0.02529786 0.02948927 -0.06730338
+v 0.02164714 0.03161626 -0.06318497
+v 0.03037834 0.03087327 -0.06318498
+v 0.03059016 0.03071571 -0.06318498
+v 0.03093436 0.03045003 -0.06318498
+v 0.03107453 0.02888220 -0.06566349
+v 0.03167572 0.02721242 -0.06728542
+v 0.03013694 0.02793842 -0.06810122
+v 0.02924450 0.02703788 -0.06955099
+v 0.02773843 0.02728503 -0.06970862
+v 0.02587413 0.02718617 -0.06964432
+v 0.02515613 0.02799248 -0.06865499
+v 0.02403319 0.02923903 -0.06695079
+v 0.01930003 0.02910462 -0.06318498
+v 0.03265070 0.02875553 -0.06318498
+v 0.03293104 0.02840025 -0.06318499
+v 0.03310081 0.02817628 -0.06318499
+v 0.03341698 0.02764182 -0.06318499
+v 0.03443557 0.02559667 -0.06318500
+v 0.03190000 0.02554881 -0.06760760
+v 0.03077394 0.02554881 -0.06884513
+v 0.02773843 0.02554882 -0.07024789
+v 0.02955288 0.02554882 -0.06974112
+v 0.02515613 0.02548703 -0.06980611
+v 0.02424657 0.02625936 -0.06928759
+v 0.02356128 0.02798476 -0.06749144
+v 0.01893869 0.02692664 -0.06318499
+v 0.02320150 0.02548702 -0.06833283
+v 0.03482493 0.02346812 -0.06318500
+v 0.03179565 0.02311286 -0.06746243
+v 0.03480780 0.02311284 -0.06318501
+v 0.03060574 0.02311286 -0.06869995
+v 0.02938468 0.02311287 -0.06963536
+v 0.02773843 0.02311287 -0.07009580
+v 0.02528852 0.02327352 -0.06976947
+v 0.02402073 0.02419413 -0.06941757
+v 0.02402073 0.02463437 -0.06941757
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+v 0.02773843 0.01668238 -0.06318503
+v 0.02678992 0.01672872 -0.06318503
+v 0.02268909 0.01887890 -0.06318502
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+
diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_18.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23fdd17eeb4b3270241f3b927c6ebf7cd3022fe1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_18.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.04239145 -0.01050134 0.03828276
+v 0.04385620 -0.01004877 0.03828276
+v 0.04378537 -0.00996080 0.04075630
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+v 0.04066780 -0.01015029 0.04075630
+v 0.04059007 -0.01023403 0.03828276
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+v 0.04071056 -0.01019426 0.03587009
+v 0.04239145 -0.01041082 0.03587009
+v 0.04380745 -0.01000477 0.03587009
+v 0.04419789 -0.00856331 0.03828277
+v 0.04413075 -0.00856332 0.04075631
+v 0.04413581 -0.00860137 0.03587010
+v 0.04369984 -0.00987198 0.04213087
+v 0.04239145 -0.01002172 0.04235742
+v 0.04085497 -0.01001241 0.04234220
+v 0.03992921 -0.00856332 0.04075631
+v 0.03980045 -0.00856331 0.03828277
+v 0.03987817 -0.00856330 0.03580585
+v 0.04060893 -0.01006821 0.03580584
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+v 0.04048706 -0.00586898 0.02591847
+v 0.04060893 -0.00591297 0.02591847
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+v 0.04239145 -0.00332446 0.03828279
+v 0.04395461 -0.00424144 0.03587011
+v 0.04239145 -0.00428460 0.04037929
+f 1 2 3
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+f 47 49 48
+
diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_19.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ada91c5114380797d485aa2d4da062bb9ad9beee
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_19.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.00087570 0.04351781 0.05808225
+v 0.00087570 0.04329460 0.06055625
+v 0.00331839 0.04347414 0.05808225
+v 0.00087570 0.04295254 0.05560826
+v -0.00156698 0.04285306 0.05560826
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_2.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db98084e8d63358541de49f71b1c2c81c287bd1d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_2.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_20.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2006167957b424d91193eaa7abf40798689097f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_20.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_21.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e7a0d94591902875b8ce10329d4ad7e700524c6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_21.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_22.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1021d16988d7ca2241461dee79fb1bbdfb8fbe39
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_22.obj
@@ -0,0 +1,622 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_23.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84e1f96b71e455d0326c841e9b4326e4bb64501b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_23.obj
@@ -0,0 +1,166 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_24.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de0bb2c320a8cf3b0be1eaf17e6ef6a094826899
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_24.obj
@@ -0,0 +1,550 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_25.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..804d3c7c6d3d9ff398d07e7a17b3b77a04949220
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_25.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_26.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..667298af0acad80f7ec1d1f486e09ec2c7215ddb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_26.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_27.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..668b3699867e7f8aa1c58e0568e5782f59b53fbc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_27.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_28.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5a7a45c276369c419b23681769209525db17225
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_28.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_29.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05b8514f80298cefc12931c00da0b0969c39f2be
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_29.obj
@@ -0,0 +1,682 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_3.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edcd2a9fc8f218a615684d4d2fb459732953a20b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_3.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_30.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79b6ec1a6e9230a283d284aa84943c8c38ab61e9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_30.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_31.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a87b461c81727e96f71b650475fae0840cd537a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_31.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_32.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dce3c7b23f07bc66dc25aacb04f642488f51c919
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_32.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_33.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e0b5627b1f6cf65f7e91c12cb6b7a945832104c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_33.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_34.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0ac0f01694697d75b8c460f9ff45ec6edf04e37
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_34.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_35.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ea9bc023a6f7d99324eb69f84c433a7b0307cd4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_35.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_36.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fd8a762f63f7326e64cf9d24640d571e7d8f9d6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_36.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_37.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a59bd6a55451632437dd163c1b8a7398a0b8dce
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_37.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+v -0.01866889 0.01750078 0.06431320
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+
diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_38.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..213a1869d0f10f0aae17960a5655e45a8db84914
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_38.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_39.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad2fe517f1bec592e5ab4c4beb9d71c300be3a8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_39.obj
@@ -0,0 +1,562 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_4.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9c2ce20cdc0d0f5a99544eb2775db702ee69500
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_4.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_40.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7c483ce3848a9df31f2aac127f8775bc5913d9e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_40.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_5.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be5cafe4e94d33a302709f468d19126f0ff6722d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_5.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_6.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2aed04613ba0979b5d141582b0622d3e5bdf22
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_6.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_7.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32f6219512ae276d414874b5680a30f660db0484
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_7.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.04239212 -0.01041164 0.03587149
+v 0.04380770 -0.01000531 0.03587149
+v 0.04071086 -0.01019430 0.03587149
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+v 0.04631426 -0.00308569 0.01105890
+v 0.04635814 -0.00316838 0.01353478
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+
diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_8.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b0943b60992f66ca15a0535e729010567621581
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_8.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.03799979 0.01520612 0.00145865
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+
diff --git a/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_9.obj b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1c64ef4236095317d83f3e2b501123e188a01cf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/mjcf/mesh/alarm_clock_021_collision_9.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.02529763 -0.01685739 -0.06318515
+v 0.02776186 -0.01688551 -0.06318515
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