diff --git a/.gitattributes b/.gitattributes
index 4108e728c82378e7b967dcf375f4109bcde130a9..e149a625b2e005f67bd95662d54b0519db2d9041 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2678,3 +2678,5 @@ dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/flas
 dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/flashlight_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/mesh/flashlight_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/alarm_clock_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/alarm_clock_003.urdf b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/alarm_clock_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d45ccba11ed0f1e69bbc6867905cee447f6cadc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/alarm_clock_003.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_003">
+   <link name="alarm_clock_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>d591678549495e6982d626b5e6e34bc8</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>square alarm clock</name>
+         <color>black,green</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact square alarm clock with black frame and visible dial</description>
+         <min_height>0.0926</min_height>
+         <max_height>0.0926</max_height>
+         <real_height>0.0926</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506202224</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>10</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/alarm_clock_003.usd b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/alarm_clock_003.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/alarm_clock_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:177609edc4bae8dbfa0208b12e108181c155a0563c576ba4567b33303b33a09e
+size 4932969
diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003.glb b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22c7771ef1df20458d5d578e3c4d9a476d0224a1e1be46a2c9bfe4d505e7b273
+size 14614884
diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003.mtl b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9839551e19e670e9cfd4c8c8e06e91d9f580e911
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003.mtl
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+newmtl alarm_clock_003_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/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f566928cc805e18f458fe2edf2526e7194fb47e7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003.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/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003_collision.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe83b1042f95804146539f3c7b55f415a673941d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003_geometry_Looks_material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cd2258eafde735f24fda647bb6aef9860915aada
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+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/alarm_clock_003.xml b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/alarm_clock_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1519292663474f189b67b8323ec79869731e9d70
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/alarm_clock_003.xml
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+    <mesh name="collision_mesh_0_18" file="mesh/alarm_clock_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/alarm_clock_003_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/alarm_clock_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/alarm_clock_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/alarm_clock_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/alarm_clock_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/alarm_clock_003_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/alarm_clock_003_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/alarm_clock_003_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/alarm_clock_003_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/alarm_clock_003_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="alarm_clock_003">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a86faf71c4aa199dedc0302d45bc0bb02eff749
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003.obj
@@ -0,0 +1,120906 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_003_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b89ca7a6fdea9eb505b1d49e79e731109fe4934
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision.obj
@@ -0,0 +1,14836 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_0.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..880db947899c8f2f349f4869639996abd86c51e9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_1.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..068a797074e93f00777f720e5b77bd0a4453094e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_10.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d3a82aeea98353a6fcab577933ed98fa619754c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_10.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_11.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7df021d85a53e974e99579245c36a8b938129927
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_11.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_12.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..014ab5a2689b6d25c5c2b534df7897dced5ad81f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_12.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_13.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0954dd08ad0eb8bc5432cf1e993fca1af12c53ba
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_13.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_14.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a61f8332766f9093548d309ee71b1f7c7772f5fc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_14.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_15.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37479f3dc9974c7af953bf36e374da1a26953c8e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_15.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_16.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f06caa79cb812720893f7d13924ce2cf539bba3e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_16.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_17.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcbd7d451d06697a6d192aa5fa19a3e0caceb717
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_17.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_18.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5ede701f990cfc500c6af59ce4278cf00f3b466
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_18.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_19.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd66e8b52d138b19c95df0ffa14b95dc6ab6db9c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_19.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_2.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7793ae6343f1a23262fc4680f719b2c0c9cf6a16
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_2.obj
@@ -0,0 +1,1729 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_20.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..069425468f565828bb4835b246de90695bb924c8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_20.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_21.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..021b576fc17c6a6f0bab1340166927b5be7eba2a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_21.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01343220 -0.02369058 -0.01355239
+v 0.01343220 -0.02369058 -0.00832985
+v 0.01343220 -0.02067941 -0.01355239
+v 0.01343220 -0.02067941 -0.00832985
+v 0.01443220 -0.02369058 -0.01355239
+v 0.01443220 -0.02369058 -0.00832985
+v 0.01443220 -0.02067941 -0.01355239
+v 0.01443220 -0.02067941 -0.00832985
+f 2 4 1
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+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/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_22.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..821e04ee20c204afc61b63ca9acaf234105d0161
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_22.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.01982624 -0.00007211 0.00017309
+v 0.01980316 0.00074402 0.00017309
+v 0.01981816 0.00074401 0.00169696
+v 0.01981643 -0.00007212 0.00169696
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+v 0.01393207 0.00045430 0.01096271
+v 0.01393207 0.00064818 0.01096670
+v 0.01480278 0.00106834 0.01020344
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+
diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_23.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..695f9430eb8ebe07bf5ba33e7c649545e40112a1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_23.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.01392178 -0.04623202 -0.02571955
+v 0.01392178 -0.04613533 -0.02707536
+v 0.01673705 -0.04618234 -0.02571955
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+v 0.01392178 -0.04612324 -0.02724301
+v 0.01822529 -0.04615548 -0.02571955
+v 0.01971353 -0.04599972 -0.02571955
+v 0.01971353 -0.04600106 -0.02419609
+v 0.01822529 -0.04592191 -0.00439840
+v 0.01673705 -0.04596892 -0.00355528
+v 0.01392178 -0.04603740 -0.00355528
+v 0.01524801 -0.04609505 -0.02724301
+v 0.01392178 -0.04591780 -0.02837771
+v 0.01673705 -0.04606282 -0.02724301
+v 0.01822529 -0.04602925 -0.02724301
+v 0.02055612 -0.04578622 -0.02571955
+v 0.01975959 -0.04585737 -0.02725031
+v 0.02051245 -0.04575398 -0.02674734
+v 0.02055374 -0.04578488 -0.02419609
+v 0.01911712 -0.04579301 -0.00355528
+v 0.01822529 -0.04591118 -0.00355528
+v 0.01392178 -0.03433116 -0.00355524
+v 0.01404567 -0.04591511 -0.02837771
+v 0.01392178 -0.03251565 -0.02837766
+v 0.01524801 -0.04588826 -0.02837771
+v 0.01929422 -0.04577681 -0.02822950
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+
diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_24.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..546a9423f1e801569e2ce3f0ff00709972afeecc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_24.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01687475 -0.00007210 -0.00182709
+v 0.01373326 -0.00007210 -0.00279034
+v 0.01373326 -0.00007210 -0.00182709
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+v 0.01373326 -0.00317636 -0.00182710
+v 0.01839755 -0.00238380 -0.00182710
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+v 0.01776697 -0.00634143 -0.01034705
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+
diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_25.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a4e1de23a0b51ee75d02cc74c0128b46ec6986e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_25.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01393207 0.02054601 0.01975621
+v 0.01393207 0.01923030 0.01952358
+v 0.01466847 0.01964194 0.01930004
+v 0.01467351 0.02054601 0.01930187
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+
diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_26.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d45c7292f7aa0e54325d6282e502ed2ca5c6ac4c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_26.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
+v -0.00857063 0.02867255 -0.04711432
+v -0.00857063 0.02968656 -0.04711432
+v -0.00757790 0.02867255 -0.04711244
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_27.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ae8ecc220eeb9cdbeb38888b070c3b88a86668a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_27.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_28.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c14d81621f2680d070faf2ce2e670b9155cc079
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_28.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_3.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d323ec735fbb67c28505857523ac86dfc0b761
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_3.obj
@@ -0,0 +1,139 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_4.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3e9a007cad25f0e6310fd8d18b7a9673107396e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_4.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_5.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c38b95d4ad86844066518230ee18fcc94222a6d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_5.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01396110 -0.01144215 0.02454077
+v 0.01390920 -0.00007219 0.02301983
+v 0.01394584 -0.00078107 0.03367103
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+v -0.01722553 -0.00991688 0.00017486
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+
diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_6.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a5f6eee8b0cce835eebe8ece0de2efecb99d37
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_6.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.01673697 -0.01445472 -0.02115012
+v 0.01778647 -0.01412041 -0.02115012
+v 0.01776817 -0.01409131 -0.01962675
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+
diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_7.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be0dc3bb44b62a183e90a7f342b4f1ec34b912f9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_7.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_8.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73045014481eadf8c6e528a97fc963809d7d58ac
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_8.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_9.obj b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf13ac5ab8216c87680c5ab8a17d2b567e6ec320
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mjcf/mesh/alarm_clock_003_collision_9.obj
@@ -0,0 +1,664 @@
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