diff --git a/.gitattributes b/.gitattributes
index 5cb28c36135b39c11cf4e24da2efc3af627123c5..34a585315c20c02790d2c36f5d91c4800c04cc26 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2686,3 +2686,5 @@ dataset/bedroom_supplies/small_electronics/f01413b2aca957a4b34ed047aaa341f2/flas
 dataset/bedroom_supplies/small_electronics/f01413b2aca957a4b34ed047aaa341f2/mesh/flashlight_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/flashlight_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/alarm_clock_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/alarm_clock_006.urdf b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/alarm_clock_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9828accb74f5e1906d1a1b50a4472b78f955bee6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/alarm_clock_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_006">
+   <link name="alarm_clock_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>f222b12835c45fca8a178711fd894803</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>square alarm clock</name>
+         <color>gray,blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact square alarm clock with blue face and gray frame</description>
+         <min_height>0.0876</min_height>
+         <max_height>0.0876</max_height>
+         <real_height>0.0876</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506202356</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</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/f222b12835c45fca8a178711fd894803/alarm_clock_006.usd b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/alarm_clock_006.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/alarm_clock_006.usd
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006.glb b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006.mtl b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d32a740ef4397b1c3fe64fcc5f17d3864d76e72f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006.mtl
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9065658ce19a4f347f59fc8aa347a7835eed969
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006.obj
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+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006_collision.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bed7170d1f5bee6db9cf965482c71d5e2b982fa
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/alarm_clock_006_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/material.mtl
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/alarm_clock_006.xml b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/alarm_clock_006.xml
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index 0000000000000000000000000000000000000000..2bb715d47879d8a47f2a087c6d2bded3ef275538
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+    <mesh name="collision_mesh_0_16" file="mesh/alarm_clock_006_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/alarm_clock_006_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/alarm_clock_006_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/alarm_clock_006_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/alarm_clock_006_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/alarm_clock_006_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/alarm_clock_006_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/alarm_clock_006_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/alarm_clock_006_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="alarm_clock_006">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd416df57ec29e812b2457559042ac04c40ac421
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006.obj
@@ -0,0 +1,117354 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_006_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bd36f0e32c3aa94494bf14322c481a5b3fda290
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision.obj
@@ -0,0 +1,7497 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_0.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a9bc9a13264b15c2df42416f37bc29974f46410
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_1.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df4dec86489f6ea5b13ff25bc38632db322ce235
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_10.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a461071f7a4b559458534601c44715fcea7c0a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_10.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_11.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..504b7ed09269ab13de9dc9d36cd5b4c9218704a4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_11.obj
@@ -0,0 +1,757 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_12.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad082ae44891a18db2069bf49d3176e2aafcd577
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_12.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_13.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c7141be8cb53c644271c94623277cff282d70e3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_13.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_14.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..116ea3bfe27a8681ea2a31e80d235a2b7a8ed52d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_14.obj
@@ -0,0 +1,226 @@
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+f 56 64 63
+f 56 63 69
+f 56 69 57
+f 57 69 58
+f 58 73 67
+f 58 67 74
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+f 59 75 60
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_15.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2974997874aadb2490759b1e32cfe5d12ace585d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_15.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.01468440 0.00165350 0.00866846
+v 0.01386016 0.00160562 0.00864935
+v 0.01468440 0.00104938 0.00866845
+v 0.01544850 0.00158966 0.00864171
+v 0.01468440 0.00609092 0.00782952
+v 0.01235083 0.00233284 0.00790882
+v 0.01235083 0.00065955 0.00790977
+v 0.01386016 0.00116336 0.00864934
+v 0.01426167 0.00609092 0.00776168
+v 0.01235083 0.00609092 0.00728201
+v 0.01544850 0.00122719 0.00864170
+v 0.01235083 -0.00555147 0.00788873
+v 0.01824606 -0.00067861 0.00291622
+v 0.01823486 0.00044186 0.00289615
+v 0.01573444 0.00609092 0.00747789
+v 0.01235083 0.00609094 0.00185083
+v 0.01466966 -0.00555147 0.00743677
+v 0.01518908 -0.00555147 0.00726095
+v 0.01545675 -0.00555147 0.00710998
+v 0.01822719 -0.00149132 0.00287226
+v 0.01235083 -0.00555145 0.00255406
+v 0.01831209 -0.00067861 0.00209638
+v 0.01827554 0.00085904 0.00219098
+v 0.01819064 0.00140389 0.00273564
+v 0.01615128 0.00609093 0.00645358
+v 0.01370098 0.00609094 0.00160718
+v 0.01235083 0.00491121 -0.00109121
+v 0.01555816 -0.00555146 0.00676026
+v 0.01821776 -0.00287395 0.00143611
+v 0.01824547 -0.00203161 0.00198936
+v 0.01235496 -0.00555144 0.00022546
+v 0.01235083 -0.00553890 0.00021399
+v 0.01837341 -0.00067860 0.00065164
+v 0.01836280 0.00076445 0.00065164
+v 0.01823427 0.00164896 0.00177247
+v 0.01621141 0.00609093 0.00498590
+v 0.01808510 0.00252665 0.00065165
+v 0.01468440 0.00609094 0.00145907
+v 0.01518141 0.00609094 0.00148296
+v 0.01720840 0.00317864 -0.00109122
+v 0.01235083 -0.00520037 -0.00109125
+v 0.01575979 -0.00555145 0.00266203
+v 0.01823604 -0.00291042 0.00065163
+v 0.01829558 -0.00212164 0.00065163
+v 0.01468440 -0.00555144 0.00080163
+v 0.01235083 -0.00536679 -0.00062305
+v 0.01835159 -0.00067860 -0.00079407
+v 0.01833980 0.00076445 -0.00079407
+v 0.01824724 0.00175611 -0.00079406
+v 0.01824960 0.00180513 0.00065165
+v 0.01624915 0.00609094 0.00398833
+v 0.01799549 0.00247763 -0.00079406
+v 0.01624502 0.00609094 0.00354115
+v 0.01557761 0.00609094 0.00167789
+v 0.01587653 0.00609094 0.00210214
+v 0.01729153 0.00323221 -0.00079406
+v 0.01768596 0.00266685 -0.00109122
+v 0.01604928 -0.00396820 -0.00109124
+v 0.01553575 -0.00555144 0.00113320
+v 0.01513955 -0.00555144 0.00095929
+v 0.01575862 -0.00555145 0.00210496
+v 0.01823132 -0.00290244 -0.00032491
+v 0.01826551 -0.00212734 -0.00080172
+v 0.01825372 -0.00196549 -0.00109124
+v 0.01831917 -0.00067860 -0.00109123
+v 0.01831858 -0.00022608 -0.00109123
+v 0.01831032 0.00076445 -0.00109123
+v 0.01830030 0.00106309 -0.00109123
+v 0.01824134 0.00169342 -0.00109122
+v 0.01808098 0.00215278 -0.00109122
+v 0.01733751 -0.00338231 -0.00109124
+v 0.01566192 -0.00555145 0.00136539
+v 0.01751262 -0.00327859 -0.00109124
+v 0.01761167 -0.00332418 -0.00080172
+v 0.01817177 -0.00267219 -0.00109124
+v 0.01793594 -0.00290016 -0.00109124
+f 1 2 8
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+f 1 3 11
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+f 1 4 5
+f 1 5 2
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+f 2 7 8
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+f 2 10 6
+f 3 8 12
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+f 4 11 13
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+f 4 15 5
+f 5 15 25
+f 5 25 36
+f 5 36 51
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+f 5 53 55
+f 5 55 54
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+f 5 39 38
+f 5 38 26
+f 5 26 16
+f 5 16 10
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+f 6 16 27
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+f 6 41 46
+f 6 46 32
+f 6 32 21
+f 6 21 12
+f 6 12 7
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+f 11 12 17
+f 11 17 18
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+f 11 19 20
+f 11 20 13
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+f 12 19 18
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+f 13 20 22
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+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 14 22 23
+f 16 26 27
+f 19 28 29
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+f 20 29 30
+f 20 30 22
+f 21 32 31
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+f 22 34 23
+f 23 34 35
+f 23 35 24
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+f 26 38 27
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+f 27 73 71
+f 27 71 58
+f 27 58 41
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 30
+f 30 44 33
+f 31 32 46
+f 31 46 45
+f 33 44 47
+f 33 47 34
+f 34 48 49
+f 34 49 50
+f 34 50 35
+f 34 47 48
+f 35 50 37
+f 36 37 51
+f 37 50 49
+f 37 49 52
+f 37 52 53
+f 37 53 51
+f 39 54 40
+f 40 54 55
+f 40 55 56
+f 40 56 57
+f 41 58 59
+f 41 59 60
+f 41 60 46
+f 42 61 43
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+f 45 46 60
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+f 47 64 65
+f 47 65 66
+f 47 66 48
+f 48 67 68
+f 48 68 49
+f 48 66 67
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+f 49 69 52
+f 52 69 70
+f 52 70 57
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+f 52 56 55
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+f 58 71 59
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+f 61 72 62
+f 62 74 75
+f 62 75 64
+f 62 64 63
+f 62 72 74
+f 73 76 74
+f 74 76 75
+
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_16.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85c81c4d6dedf822aa7809330ddeb4c37d4a7e21
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_16.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01582567 -0.01367119 -0.02247091
+v -0.01582567 -0.01222787 -0.01091100
+v -0.01582567 -0.00649337 -0.02973262
+v -0.01582288 -0.02575000 -0.02973269
+v -0.01582288 -0.02575011 -0.00109508
+v -0.01582567 -0.00675236 -0.00109501
+v -0.01582567 0.01047942 -0.02973256
+v 0.01137335 -0.02575000 -0.02973269
+v 0.01182741 -0.02575011 -0.00109508
+v -0.01582567 0.01047931 -0.00109495
+v 0.01137335 0.01047942 -0.02973256
+v 0.01198897 -0.02575006 -0.01380172
+v 0.01195833 -0.01944460 -0.02973267
+v 0.01196390 -0.01944460 -0.02969622
+v 0.01262689 -0.00503238 -0.00109501
+v 0.01135663 0.01047931 -0.00109495
+v 0.01150706 0.01047939 -0.02247082
+v 0.01259346 0.00152491 -0.02973259
+v 0.01259624 -0.00289738 -0.02973261
+v 0.01261017 -0.00292930 -0.02825222
+v 0.01262689 -0.00488342 -0.00646141
+v 0.01262689 -0.00489760 -0.00608570
+v 0.01262689 0.00467750 -0.00109497
+v 0.01150706 0.01047939 -0.02207829
+v 0.01261017 -0.00220585 -0.02814288
+v 0.01259624 -0.00273070 -0.02973261
+v 0.01262689 0.00450374 -0.00170619
+v 0.01262689 0.00435834 -0.00221367
+v 0.01262689 -0.00379824 -0.00646140
+v 0.01262689 0.00169859 -0.00456043
+v 0.01262689 0.00120210 -0.00474268
+v 0.01262689 0.00338664 -0.00342490
+v 0.01262689 0.00304974 -0.00371930
+v 0.01262689 0.00249652 -0.00408379
+f 1 2 6
+f 1 6 10
+f 1 10 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
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+f 3 11 18
+f 3 18 26
+f 3 26 19
+f 3 19 13
+f 3 13 8
+f 3 8 4
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+f 4 9 5
+f 5 9 15
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+f 5 16 10
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+f 7 17 11
+f 8 13 14
+f 8 14 12
+f 9 12 15
+f 11 17 18
+f 12 14 19
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+f 12 21 22
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+f 15 22 21
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+f 16 23 24
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+f 18 20 26
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+f 19 26 20
+f 20 25 29
+f 20 29 21
+f 25 30 31
+f 25 31 29
+f 25 28 32
+f 25 32 33
+f 25 33 34
+f 25 34 30
+
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_17.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f7b53271c73f701d6cbd66f07d3be9ca688983
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_17.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01225097 0.02963798 0.01717483
+v 0.01225097 0.02953162 0.01715483
+v 0.01225097 0.03097191 0.01654907
+v 0.01211903 0.03244706 0.02809841
+v 0.01225097 0.02939628 0.01712911
+v 0.01222623 0.03244710 0.01654623
+v 0.01225097 0.03097191 0.01644621
+v -0.01582328 0.03244706 0.02809841
+v 0.01137141 0.02908738 0.02809840
+v 0.01225097 0.02908346 0.01706339
+v 0.01225097 0.03093898 0.01523184
+v 0.01194587 0.03244716 -0.00109207
+v -0.01582328 0.02908342 0.02809840
+v -0.01582603 0.03244707 0.02377241
+v -0.01582603 0.02908343 0.02466103
+v 0.01083543 0.02908342 0.02809840
+v 0.01137141 0.02908342 0.02721834
+v 0.01225097 0.02908347 0.01413463
+v 0.01225097 0.03070815 0.01506898
+v 0.01126697 0.02908351 0.00378253
+v 0.01034069 0.02908352 -0.00109208
+v -0.01582603 0.03244716 -0.00109207
+v 0.01225097 0.02913155 0.01415463
+v -0.01582878 0.02963803 0.00354251
+v -0.01582603 0.02908352 0.00009657
+v -0.01582328 0.02908352 -0.00109208
+v -0.01582603 0.02934070 -0.00109208
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 23
+f 1 23 19
+f 1 19 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
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+f 3 6 4
+f 3 7 6
+f 4 8 13
+f 4 13 16
+f 4 16 9
+f 4 9 10
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+f 4 22 14
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+f 6 11 12
+f 8 14 15
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+f 12 19 23
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+f 12 18 20
+f 14 22 24
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+f 22 27 24
+f 24 27 25
+f 25 27 26
+
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_18.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4f438523cbf894158dd9e81da6b14546904b98e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_18.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.01410059 -0.01716560 0.01443083
+v 0.01355818 -0.01716560 0.01443083
+v 0.01410059 -0.01736172 0.01443083
+v 0.01541379 -0.01735198 0.01300965
+v 0.01541135 -0.01655776 0.01299713
+v 0.01539255 -0.01581917 0.01294151
+v 0.01454308 -0.01524888 0.01311255
+v 0.01543886 -0.00562494 0.00721787
+v 0.01398117 -0.01439206 0.01293457
+v 0.01235151 -0.01501381 0.01359926
+v 0.01235151 -0.01655776 0.01425562
+v 0.01355818 -0.01736172 0.01443083
+v 0.01461549 -0.01765521 0.01355754
+v 0.01220389 -0.01871093 0.01346575
+v 0.01220389 -0.01898495 0.01317095
+v 0.01442262 -0.01894460 0.01195140
+v 0.01463673 -0.01912681 0.01076661
+v 0.01490933 -0.01871092 0.01080416
+v 0.01534486 -0.01804466 0.01086535
+v 0.01542458 -0.01759122 0.01044957
+v 0.01576019 -0.00555259 0.00266230
+v 0.01552798 -0.00934154 0.00894359
+v 0.01544721 -0.01398590 0.01163158
+v 0.01546914 -0.01119150 0.01018955
+v 0.01547158 -0.00839431 0.00871831
+v 0.01552902 -0.00645533 0.00741673
+v 0.01545661 -0.00555261 0.00711219
+v 0.01518819 -0.00555261 0.00726237
+v 0.01466945 -0.00555261 0.00743481
+v 0.01401390 -0.00716332 0.00860706
+v 0.01235151 -0.00955992 0.01052051
+v 0.01235151 -0.01664817 0.01424867
+v 0.01235151 -0.01811422 0.01381062
+v 0.01235151 -0.01812535 0.01380645
+v 0.01220389 -0.01871091 0.00892825
+v 0.01235151 -0.00936797 0.01040371
+v 0.01235151 -0.00555261 0.00788814
+v 0.01220389 -0.01938832 0.01229070
+v 0.01220389 -0.01976248 0.01076661
+v 0.01441357 -0.01904058 0.00975704
+v 0.01542458 -0.01759122 0.00989055
+v 0.01575845 -0.00555259 0.00210467
+v 0.01555792 -0.00555260 0.00676176
+v 0.01555026 -0.00790609 0.00790621
+v 0.01220389 -0.01941473 0.00936212
+v 0.01235151 -0.00555259 0.00255383
+v 0.01235534 -0.00555258 0.00022459
+v 0.01220389 -0.01944672 0.00948171
+v 0.01235151 -0.01800571 0.00824408
+v 0.01423393 -0.01745629 0.00848466
+v 0.01540996 -0.01444490 0.00712189
+v 0.01517183 -0.01699588 0.00892826
+v 0.01544338 -0.01603335 0.00848188
+v 0.01566202 -0.00555259 0.00136487
+v 0.01235151 -0.01341142 0.00526545
+v 0.01235151 -0.01362841 0.00540451
+v 0.01235151 -0.01780263 0.00810919
+v 0.01468408 -0.00555258 0.00080168
+v 0.01513910 -0.00555258 0.00095882
+v 0.01553564 -0.00555258 0.00113404
+v 0.01543363 -0.01016079 0.00420444
+f 1 2 12
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+f 1 8 9
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+f 1 11 2
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+f 21 27 43
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+f 21 44 22
+f 21 41 42
+f 22 25 24
+f 22 44 43
+f 22 43 26
+f 22 26 25
+f 26 43 27
+f 29 37 36
+f 29 36 30
+f 30 36 31
+f 35 46 47
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+f 39 48 40
+f 40 48 45
+f 40 45 49
+f 40 49 50
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+f 40 51 52
+f 40 52 41
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+f 41 53 42
+f 42 53 54
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+f 45 56 57
+f 45 57 49
+f 47 58 56
+f 47 56 55
+f 49 57 50
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+f 50 60 61
+f 50 61 51
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+f 51 60 54
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+f 51 53 52
+f 56 58 57
+
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_19.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3beb6f242133cfd12df4071489fa089d08f8760e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_19.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01263023 -0.00503139 -0.00109221
+v 0.01263023 -0.00489761 -0.00539843
+v 0.01445042 -0.00551748 -0.00539843
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_2.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7aa033797b7de8a9defccd6fc2f38661ec100fd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_2.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_20.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbf9497f01ca16f56ab5f24611de0c6e7516d84f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_20.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_21.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8e565b8c158f73e31badf557217ed2627c4e20b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_21.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.01468394 0.02530466 0.01781500
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_22.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c8c8877bf4bc4250dbd367e9a309bb9c72f6ace
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_22.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01198741 -0.00461203 0.02375365
+v 0.01198741 -0.00461203 0.03101050
+v 0.01198741 0.00342973 0.02375365
+v 0.01198741 0.00342973 0.03101050
+v 0.01298741 -0.00461203 0.02375365
+v 0.01298741 -0.00461203 0.03101050
+v 0.01298741 0.00342973 0.02375365
+v 0.01298741 0.00342973 0.03101050
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_23.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169f0715c477f4cd50c03aeb3a9db29ee32b0416
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_23.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.02127259 0.02908337 0.03967008
+v 0.02122568 0.02908337 0.04111480
+v 0.02127181 0.02908338 0.03822536
+v 0.02127181 0.03108148 0.03822536
+v 0.02127181 0.03108147 0.03967008
+v 0.02123350 0.03244701 0.04111481
+v 0.02123193 0.03108147 0.04111480
+v 0.02110371 0.03108147 0.04205497
+v 0.02109745 0.02908337 0.04203015
+v 0.02121317 0.02908338 0.03733482
+v 0.02122724 0.03108148 0.03678064
+v 0.02126086 0.03244702 0.03678065
+v 0.02126321 0.03244702 0.03685923
+v 0.02127103 0.03244702 0.03822537
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+v 0.02110606 0.03244701 0.04206187
+v 0.02070887 0.03108146 0.04277733
+v 0.02067447 0.02908336 0.04275251
+v 0.02116548 0.02908338 0.03678064
+v 0.02113029 0.03244703 0.03534420
+v 0.02071122 0.03244700 0.04278423
+v 0.02000521 0.03108146 0.04357412
+v 0.01997081 0.02908336 0.04354793
+v 0.02108651 0.02908339 0.03616857
+v 0.02109902 0.03108149 0.03555098
+v 0.02112326 0.03244703 0.03527528
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+v 0.01994813 0.03244700 0.04359343
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+v 0.01890436 0.02908336 0.04390911
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+v 0.01609126 0.03244705 0.02988929
+v 0.01807716 0.02908340 0.03273322
+v 0.01749781 0.02908340 0.03266981
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_24.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73268e42d90be4ca4ad11ac058e09a3a0f60fbd1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_24.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01582436 0.02908342 0.02809840
+v -0.01582436 0.02908337 0.03966985
+v -0.01582721 0.02963789 0.03966985
+v -0.01582436 0.03244706 0.02809841
+v 0.01083731 0.02908342 0.02809840
+v -0.01581296 0.02908337 0.04111571
+v -0.01581296 0.03108147 0.04111571
+v -0.01582436 0.03244701 0.03966986
+v 0.01211967 0.03244706 0.02809841
+v 0.01137020 0.02908738 0.02809840
+v 0.01137020 0.02908342 0.02811075
+v -0.01567902 0.02908336 0.04224644
+v -0.01567902 0.02963788 0.04224644
+v -0.01567902 0.03108146 0.04224026
+v -0.01567902 0.03244700 0.04222328
+v -0.01581011 0.03244701 0.04111572
+v 0.01327664 0.03244705 0.02987019
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+v 0.01328519 0.02908340 0.03264758
+v -0.01538835 0.02908336 0.04296937
+v -0.01538835 0.02963788 0.04296937
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+v -0.01537980 0.03244700 0.04290604
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+v -0.01495520 0.02908336 0.04334010
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+v -0.00782244 0.02963788 0.04387766
+v -0.01204282 0.02908336 0.04387611
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_3.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73def57e5985019cca923b754ccf1adb24373bec
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_3.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.01582695 0.02908305 0.03967034
+v -0.01581242 0.02908305 0.04111537
+v -0.01582332 0.02908309 0.03103938
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+v -0.01581968 -0.01871131 0.03103920
+v -0.01568168 -0.01871136 0.04225200
+v -0.01568168 -0.00934055 0.04225457
+v -0.01568168 -0.00212180 0.04225585
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+v -0.01550008 0.02908304 0.04269175
+v -0.01539476 0.00221039 0.04297839
+v 0.01892252 0.02908308 0.03285449
+v 0.01233799 0.00076482 0.03103927
+v 0.01172784 -0.01871131 0.03103920
+v -0.01539113 -0.01871136 0.04297451
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_4.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05bd8bd213e5b7b35e6cd2c9bff96cef0e28ac86
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_4.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.00360274 0.04407745 -0.00109203
+v -0.00331361 0.04407416 -0.00109203
+v -0.00079128 0.04404786 -0.00368563
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+v -0.00219564 0.04406100 -0.00109203
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+v -0.00219564 0.04406110 -0.02680659
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+v 0.01230226 0.04379142 -0.03158462
+v -0.01210873 0.04377826 -0.03252299
+v -0.01344975 0.04377169 -0.03252299
+v -0.01344975 0.04379799 -0.03114158
+v -0.01459801 0.04357433 -0.02969556
+v -0.01459801 0.04357432 -0.02680659
+v -0.01459801 0.04357093 -0.00109203
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+v -0.01530019 0.04297900 -0.02969556
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_5.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887910bce1d5b0df1ca1d4d10ab4f437ad3d8ab4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_5.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.01230314 0.02828422 -0.03252305
+v 0.01890453 0.03031054 -0.03252304
+v 0.01931657 0.03333701 -0.02772708
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_6.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2bc68f53944cfcc56035a12dad8a0df29d53741
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_6.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.01890435 -0.04388666 0.02088107
+v 0.01998445 -0.04353462 0.02232656
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_7.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b80738430b589df34572d8404b7db6e398b2cd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_7.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_8.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85392b22aac10e2b8e58c3cf5ed08da8a505a744
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_8.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_9.obj b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a751d8c4734e8769f4c469b84515707bd3c72e6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/mjcf/mesh/alarm_clock_006_collision_9.obj
@@ -0,0 +1,562 @@
+# https://github.com/mikedh/trimesh
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