diff --git a/.gitattributes b/.gitattributes
index 7d9380e082d9b116be6104a96bc86e6f98ec3ab7..6e486e3000bf681578a3697d46381d6b70c6226b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2674,3 +2674,5 @@ dataset/bedroom_supplies/small_electronics/acf69c4392e45d0e8ffc982bc04c978c/alar
 dataset/bedroom_supplies/small_electronics/acf69c4392e45d0e8ffc982bc04c978c/mesh/alarm_clock_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/alarm_clock_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/alarm_clock_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/alarm_clock_039.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/alarm_clock_039.urdf b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/alarm_clock_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..731c4b3253c3545816be8ebff9cf7c77649430a2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/alarm_clock_039.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_039">
+   <link name="alarm_clock_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>b11d649311825fe2b09dd75deba0da2a</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>twin bell clock</name>
+         <color>brown,black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>vintage round twin-bell alarm clock with roman numerals</description>
+         <min_height>0.1807</min_height>
+         <max_height>0.1807</max_height>
+         <real_height>0.1807</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130326</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.029216 -0.065000 -0.070135</min>
+            <max>0.036983 0.065000 0.110557</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>20</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/b11d649311825fe2b09dd75deba0da2a/alarm_clock_039.usd b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/alarm_clock_039.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/alarm_clock_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5002639
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/alarm_clock_039.glb b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/alarm_clock_039.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/alarm_clock_039.glb
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+size 15080692
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/alarm_clock_039.mtl b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/alarm_clock_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba1cbe335591be9f27ba21d58aa5f64639104f65
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+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/alarm_clock_039.mtl
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+newmtl alarm_clock_039_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/b11d649311825fe2b09dd75deba0da2a/mesh/alarm_clock_039.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/alarm_clock_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77e370b9205ee03b2f959d886fd07820d294447d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/alarm_clock_039.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/b11d649311825fe2b09dd75deba0da2a/mesh/alarm_clock_039_collision.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/alarm_clock_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8af2430bc7a05ddf2a8772636ae9f966b9218195
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/alarm_clock_039_collision.obj
@@ -0,0 +1,25206 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/material.mtl
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/material.mtl
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+
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/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/b11d649311825fe2b09dd75deba0da2a/mjcf/alarm_clock_039.xml b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/alarm_clock_039.xml
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+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/alarm_clock_039.xml
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3fe3b8c7a1f8384c3af00f6f27be4c3e148f9df
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039.obj
@@ -0,0 +1,117788 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..854d5d2e0bc319efaa2c4ba778835d5c6c8492f9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision.obj
@@ -0,0 +1,25206 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_0.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f38fc9c8de889e2f22fd700d66086c730bcfeb2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_1.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0563f0c54de7abd21ed9141eb3b9ae3e7c736604
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_10.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3201811b787aee777e4db5b9628f4cf70f2c82c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_10.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_11.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f43855d405dc500583679688d7d6f26bb8d5071
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_11.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_12.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd265555e5687475567986b03396c0108ab9bad9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_12.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_13.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..148a19e5be8af3dfa89329c533ea63ca8cadec77
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_13.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_14.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1d44d9b90f9e4a967e242b0ac4283ffc225f24d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_14.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_15.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f989d8ef92170a3b6a4fc48c021c8c5c5e9d186
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_15.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.01433663 -0.06217568 0.05721938
+v 0.01433663 -0.06187072 0.05431248
+v 0.01519266 -0.06191153 0.05721938
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_16.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..838ecd34a1406b795ef0b46c8288fd25c6731f91
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_16.obj
@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
+v 0.00535575 -0.02828095 -0.05412051
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_17.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..058b7ecf2e8855a225f1a17c0061a00b4757efc0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_17.obj
@@ -0,0 +1,115 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_18.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ed9af181d4259668f540ffdbce9305d40e2fd02
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_18.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_19.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06a6ce261aae3aa59a9d96dd79ba38b334113c54
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_19.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_2.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25a58e20530ebec30a7d460091e833210539785e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_2.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_20.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dee10e6fcdded141bf714ecc4639f105eb3b56b0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_20.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_21.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52ea01daa1ccf7230991c0693003fcd3fbe0c577
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_21.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_22.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6e0299bf5017d8044a81cb3e731a55111e573b6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_22.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_23.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f264a6a55219d7639f874e877332c13e84b67c23
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_23.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_24.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0a4eef4d69fbda561bb59594a7fea3a1e707f1d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_24.obj
@@ -0,0 +1,652 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_25.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759130a2ddff9622e4266f67c009780686251ee3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_25.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_26.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ca43e46efa44af816500e6aa39197ff47f892dc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_26.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_27.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1561cfc1293ccb58a1d09c41db6e0d0571300ca7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_27.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_28.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f777100fbe13cd027cae7fa45e31b50fc77162b7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_28.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_29.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0c11236178eacd9517208e0e8d7582af8e0987a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_29.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_3.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cad6389e4b648930a9073babcb92f93c5cc268a2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_3.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_30.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72ed0ba340b5b643be58c4fdb072e138884a7601
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_30.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_31.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f0a47e5994fdb0341dc92d6c5a75319e33246a8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_31.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_32.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09795bf086a3a3f2e53dbe79052fa9dd01a0a648
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_32.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_33.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dec79f586b0f758eb2ff19f29958461ad4fa7247
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_33.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_34.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36d7d5c55338be3e27661d6f2ba0e5f1d0b608e0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_34.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_35.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcf96b3c764368e1dbbc9498c815afb5cd27a3fc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_35.obj
@@ -0,0 +1,934 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_36.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42feb693b5f886c18c00cd673fd829265a549469
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_36.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_37.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a39c8d3fc9d99b25eb5880020a2b547c4475b90
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_37.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00535575 0.00169685 0.06155096
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_38.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..602d30ca9e7f5dc18f486a0d22ff57cfb37dfb29
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_38.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_39.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11d28189cac01b88622c7da7a59d7c208024463f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_39.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_4.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1402a7ada0c8bc187e845d3a28ceca57555f545
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_4.obj
@@ -0,0 +1,331 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_40.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19d4164a168c60aa76d3e3e65da9a15bcbf2fc67
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_40.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00535575 0.02268323 0.09990592
+v 0.00535575 0.02268321 0.10645351
+v 0.00415291 0.02268323 0.10118806
+v 0.00535575 0.03041019 0.08589292
+v 0.00535575 0.02327852 0.10622005
+v 0.00481748 0.02268321 0.10589396
+v 0.00359045 0.02268322 0.10267149
+v 0.00486103 0.03041019 0.08712072
+v 0.00535575 0.03041014 0.10097273
+v 0.00535575 0.02503192 0.10549544
+v 0.00445755 0.02268321 0.10551153
+v 0.00359685 0.02268322 0.10403415
+v 0.00360341 0.03026643 0.09606756
+v 0.00360341 0.02897370 0.09606756
+v 0.00367391 0.02933755 0.09380921
+v 0.00375565 0.03041017 0.09127713
+v 0.00400724 0.03041018 0.08979169
+v 0.00433037 0.03041018 0.08869472
+v 0.00453220 0.03041014 0.09970064
+v 0.00535575 0.03001452 0.10158663
+v 0.00535575 0.02625053 0.10478292
+v 0.00505767 0.02527549 0.10507678
+v 0.00384740 0.02626415 0.10322905
+v 0.00365162 0.02429517 0.10379866
+v 0.00363711 0.02734358 0.10124243
+v 0.00362173 0.03041016 0.09592264
+v 0.00362035 0.03041016 0.09544964
+v 0.00364506 0.02986325 0.09831987
+v 0.00368290 0.03041017 0.09327583
+v 0.00379021 0.03041015 0.09766371
+v 0.00382373 0.02931256 0.10030851
+v 0.00535575 0.02887306 0.10283455
+v 0.00535575 0.02757504 0.10396774
+v 0.00535575 0.02811210 0.10350480
+v 0.00434126 0.02821876 0.10215422
+f 1 2 6
+f 1 6 11
+f 1 11 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 20
+f 1 20 32
+f 1 32 34
+f 1 34 33
+f 1 33 21
+f 1 21 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 18
+f 4 18 17
+f 4 17 16
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+f 5 10 11
+f 5 11 6
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+f 7 14 15
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+f 10 22 11
+f 11 22 23
+f 11 23 24
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+f 13 26 27
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+f 13 25 28
+f 13 28 26
+f 14 27 29
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+f 19 31 20
+f 20 31 32
+f 21 33 23
+f 21 23 22
+f 23 34 35
+f 23 35 31
+f 23 31 25
+f 23 25 24
+f 23 33 34
+f 25 31 28
+f 26 28 30
+f 28 31 30
+f 31 35 32
+f 32 35 34
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_41.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea6101c8b8cd8b13ad622dbe48fe14a4cdeb293a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_41.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00304587 -0.04872617 0.08517698
+v 0.00304587 -0.04751981 0.08514513
+v 0.00010218 -0.03100955 0.08070213
+v 0.00010218 -0.03411935 0.08046685
+v 0.00010218 -0.04293308 0.07851609
+v 0.00010218 -0.04577550 0.07753091
+v 0.00269404 -0.04872617 0.08413545
+v 0.00010218 -0.05707832 0.06865700
+v 0.00010218 -0.05855523 0.06714003
+v 0.00304587 -0.04972245 0.08413545
+v 0.00304587 -0.03398248 0.08276558
+v 0.00010218 -0.03025200 0.08064332
+v 0.00010218 -0.04617655 0.07730300
+v 0.00010218 -0.04806408 0.07620999
+v 0.00010218 -0.04880572 0.07574681
+v 0.00010218 -0.05540725 0.07014702
+v 0.00010218 -0.05944010 0.06601517
+v 0.00010218 -0.05972657 0.06565002
+v 0.00010218 -0.06121303 0.06310378
+v 0.00230908 -0.06143265 0.06359880
+v 0.00304587 -0.06146766 0.06367723
+v 0.00304587 -0.03026791 0.08129029
+v 0.00304039 -0.03025200 0.08128784
+v 0.00230908 -0.03025200 0.08121432
+v 0.00010218 -0.03025198 0.07570767
+v 0.00010218 -0.06153769 0.06249845
+v 0.00075367 -0.06203742 0.06182452
+v 0.00230908 -0.06216474 0.06210635
+v 0.00304587 -0.06220294 0.06218722
+v 0.00304587 -0.06201833 0.06256217
+v 0.00304587 -0.03025200 0.08123393
+v 0.00304587 -0.03025198 0.07612183
+v 0.00304587 -0.03986781 0.07038478
+v 0.00010218 -0.05702100 0.06014338
+v 0.00010218 -0.06222203 0.06036147
+v 0.00230908 -0.06267402 0.06027815
+v 0.00304587 -0.06274722 0.06027815
+v 0.00304587 -0.05765760 0.06014338
+v 0.00010218 -0.06225068 0.06014336
+v 0.00010218 -0.06223794 0.06027815
+v 0.00230908 -0.06268993 0.06014336
+v 0.00235374 -0.06269630 0.06014336
+v 0.00304587 -0.06276632 0.06014336
+f 1 2 3
+f 1 3 4
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+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 9 10
+f 1 10 21
+f 1 21 30
+f 1 30 29
+f 1 29 37
+f 1 37 43
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+f 1 32 31
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+f 3 26 19
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+f 10 18 19
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+f 19 26 20
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+f 22 31 23
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+f 33 38 34
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+f 34 43 42
+f 34 42 41
+f 34 41 39
+f 35 40 36
+f 36 40 41
+f 36 41 42
+f 36 42 43
+f 36 43 37
+f 39 41 40
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_42.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..375a2225be7632cbbb1088bb625e4f363323285e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_42.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00535575 -0.02874914 -0.05388686
+v 0.00535575 -0.02828095 -0.05388685
+v 0.00535575 -0.02867588 -0.05393031
+v 0.01056637 -0.04214809 -0.06128406
+v 0.00920756 -0.03999834 -0.05597969
+v 0.00956729 -0.04141723 -0.05494778
+v 0.00956729 -0.04141723 -0.05422581
+v 0.00946675 -0.04092045 -0.05388690
+v 0.00804196 -0.02828095 -0.05388685
+v 0.00535575 -0.02828095 -0.05413813
+v 0.01075802 -0.03989825 -0.06128406
+v 0.01148063 -0.04493225 -0.06128408
+v 0.01180894 -0.04540938 -0.06128408
+v 0.00998829 -0.04171567 -0.05388690
+v 0.00960342 -0.04131895 -0.05388690
+v 0.01692375 -0.03080778 -0.05388686
+v 0.01583198 -0.03236425 -0.05776685
+v 0.01621685 -0.03501437 -0.06093355
+v 0.01400818 -0.03539678 -0.06128404
+v 0.01302481 -0.03575240 -0.06128404
+v 0.01219538 -0.03638678 -0.06128404
+v 0.01190948 -0.03677099 -0.06128405
+v 0.01171155 -0.03710695 -0.06128405
+v 0.01086170 -0.03905300 -0.06128405
+v 0.01399719 -0.04653162 -0.06128408
+v 0.01287558 -0.04423534 -0.05492317
+v 0.01093239 -0.04247872 -0.05388691
+v 0.01888264 -0.03194074 -0.05388687
+v 0.01778302 -0.03277526 -0.05658866
+v 0.01699915 -0.03389392 -0.05906235
+v 0.01816632 -0.03561123 -0.06035858
+v 0.01651061 -0.03552902 -0.06128404
+v 0.01400818 -0.04653698 -0.06128408
+v 0.01343481 -0.04412276 -0.05388691
+v 0.01973878 -0.03392432 -0.05388687
+v 0.02090437 -0.03697830 -0.05596592
+v 0.01899261 -0.03474276 -0.05837007
+v 0.01881981 -0.03753404 -0.06128405
+v 0.01766049 -0.03621165 -0.06128404
+v 0.01693946 -0.04634934 -0.06128408
+v 0.01582099 -0.04439975 -0.05396874
+v 0.01482348 -0.04439975 -0.05396874
+v 0.01474493 -0.04436758 -0.05388691
+v 0.02140392 -0.03800405 -0.05492532
+v 0.02122483 -0.03763057 -0.05388689
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+v 0.01884180 -0.03756978 -0.06128405
+v 0.01881667 -0.04517707 -0.06128408
+v 0.01714524 -0.04387437 -0.05388691
+v 0.01590896 -0.04434793 -0.05388691
+v 0.02140392 -0.03863308 -0.05492532
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+v 0.02018019 -0.03986609 -0.05901820
+v 0.02113686 -0.03902622 -0.05388689
+v 0.02140392 -0.03863308 -0.05428156
+v 0.01925966 -0.04235542 -0.05388691
+v 0.01885437 -0.04276821 -0.05388691
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+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
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+f 1 8 15
+f 1 15 14
+f 1 14 27
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+f 1 34 43
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+f 1 59 58
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+f 1 35 28
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+f 50 58 59
+f 50 59 51
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_43.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4abac60b916c633d181a2886914f42ccda5cc104
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_43.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.01868901 0.03691290 0.06661685
+v -0.01882419 0.03691290 0.06624195
+v -0.02137023 0.02510617 0.05951258
+v -0.01868901 0.03502560 0.06624194
+v -0.01868901 0.03938059 0.06624195
+v -0.02137023 0.02905235 0.05886752
+v -0.02137023 0.02744041 0.05914816
+v -0.02137023 0.02510622 0.04522245
+v -0.01868901 0.02510617 0.06077550
+v -0.01868901 0.03397075 0.06590682
+v -0.01868901 0.03976186 0.06614353
+v -0.01868901 0.03985718 0.06611630
+v -0.02137023 0.03362340 0.05700770
+v -0.01868901 0.02510622 0.04522245
+v -0.02137023 0.04674134 0.04522253
+v -0.01880975 0.04282053 0.06325954
+v -0.02137023 0.03758229 0.05482325
+v -0.02137023 0.03549587 0.05610711
+v -0.01868901 0.04282053 0.06376638
+v -0.01868901 0.04674558 0.04522253
+v -0.02137023 0.04171276 0.05089835
+v -0.01868901 0.04324205 0.06325954
+v -0.01868901 0.04426302 0.06027711
+v -0.02108990 0.04674346 0.04522253
+v -0.02137023 0.04019826 0.05245449
+v -0.02137023 0.03905231 0.05353520
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 14
+f 1 14 20
+f 1 20 23
+f 1 23 22
+f 1 22 19
+f 1 19 12
+f 1 12 11
+f 1 11 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 6
+f 3 7 6
+f 3 6 13
+f 3 13 18
+f 3 18 17
+f 3 17 26
+f 3 26 25
+f 3 25 21
+f 3 21 15
+f 3 15 8
+f 3 8 14
+f 3 14 9
+f 3 9 10
+f 3 10 4
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 8 15 24
+f 8 24 20
+f 8 20 14
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 12 19 16
+f 15 21 16
+f 15 16 22
+f 15 22 23
+f 15 23 24
+f 16 21 25
+f 16 25 26
+f 16 26 17
+f 16 19 22
+f 20 24 23
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_44.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae0fb4395cc8dc995fa4bb227c80c16ad21f8580
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_44.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.00815916 0.00262153 0.11069660
+v 0.00561795 0.00262154 0.11018002
+v 0.00535595 0.00001921 0.10999102
+v 0.00894836 0.00262153 0.11044461
+v 0.01019787 0.00443102 0.10995897
+v 0.00815916 0.00443101 0.11060612
+v 0.00567688 0.00443102 0.11013422
+v 0.00535595 0.00148022 0.10998759
+v 0.00411759 0.00148022 0.10875742
+v 0.00411680 0.00001921 0.10875741
+v 0.00535595 0.00001923 0.10365804
+v 0.01145772 0.00262154 0.10799572
+v 0.01071312 0.00262154 0.10924078
+v 0.01023848 0.00262154 0.11000248
+v 0.01127376 0.00738501 0.10799574
+v 0.01004974 0.00738501 0.10982038
+v 0.01142109 0.00443102 0.10799573
+v 0.00982676 0.01033900 0.10963942
+v 0.00967306 0.01204618 0.10952373
+v 0.00815916 0.00738500 0.11033238
+v 0.00642786 0.01269836 0.10963141
+v 0.00613161 0.01033900 0.10981009
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_45.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d148e5f22db12280869a79567bb96e4047fd1e90
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_45.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_46.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..235344c215354aa7067315ca40b5051f0768b7b4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_46.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_47.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b68ede516c6def807ffcdda9ecdcf5c87faf908c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_47.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_48.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe2b2c012ff64d3701846ac75523df234224cdcd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_48.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_49.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..423447c4d2b12da36be0beb34763515301ec89d8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_49.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.02508615 -0.03655910 0.07555153
+v 0.02567778 -0.03655910 0.07518542
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_5.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b362ff45ddd2b8132895ed8256d4a155491769f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_5.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.00010218 -0.03411791 0.08046758
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_50.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef11d9c200a9400d4a793cef0326f0d8a682e045
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_50.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_51.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fc4d4298bf8d146c4c25bbd5051bde3129359af
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_51.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00535575 -0.05262745 0.07315986
+v 0.00803207 -0.05279847 0.07315986
+v 0.00812084 -0.05260334 0.08141135
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_52.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fd2ec7393e8c378a809e51fc22b3fc62aa48ddd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_52.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02832986 -0.00758121 0.04231866
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+v 0.03655120 -0.02827926 0.03936319
+v 0.03666637 -0.02825294 0.04231859
+v 0.03665821 -0.02485898 0.04231860
+v 0.03666801 -0.02485897 0.04211556
+v 0.03667373 -0.02623278 0.04231859
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 13
+f 1 13 17
+f 1 17 20
+f 1 20 18
+f 1 18 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 16
+f 3 16 13
+f 3 13 6
+f 3 6 12
+f 3 12 10
+f 3 10 4
+f 3 8 7
+f 3 7 9
+f 4 10 5
+f 5 10 11
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+f 13 16 17
+f 14 18 19
+f 14 19 16
+f 14 16 15
+f 16 19 20
+f 16 20 17
+f 18 20 19
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_53.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..746f57cab8dfac931ff631aad04814456b509908
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_53.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00523410 -0.06334890 0.05729667
+v 0.00535575 -0.06334781 0.05729667
+v 0.00523410 -0.06297048 0.06027898
+v 0.00304587 -0.06274954 0.06027898
+v 0.00304587 -0.06312031 0.05729667
+v 0.00304587 -0.06312031 0.05729504
+v 0.00523388 -0.06334781 0.05729504
+v 0.00535575 -0.06334781 0.05729504
+v 0.00535575 -0.06296938 0.06027898
+v 0.00304587 -0.06220377 0.06218616
+v 0.00535575 -0.06231315 0.06241946
+v 0.00523410 -0.06231315 0.06242109
+v 0.00304587 -0.05825970 0.05729506
+v 0.00535575 -0.05855173 0.05729505
+v 0.00304587 -0.06146987 0.06367731
+v 0.00535575 -0.06228252 0.06248145
+v 0.00523410 -0.06157596 0.06391224
+v 0.00304587 -0.05217632 0.06689133
+v 0.00535575 -0.05217632 0.06706100
+v 0.00304587 -0.05999332 0.06596952
+v 0.00535575 -0.06157596 0.06391061
+v 0.00535575 -0.06151472 0.06400197
+v 0.00535575 -0.06009941 0.06609515
+v 0.00523410 -0.06009941 0.06609515
+v 0.00304587 -0.05217634 0.07329317
+v 0.00535575 -0.05217634 0.07396207
+v 0.00523410 -0.05892802 0.06758630
+v 0.00304587 -0.05969801 0.06634476
+v 0.00535575 -0.05892802 0.06758630
+v 0.00304587 -0.05566976 0.07036633
+v 0.00348315 -0.05217634 0.07342369
+v 0.00531098 -0.05217634 0.07395555
+v 0.00304587 -0.05734427 0.06887516
+v 0.00304587 -0.05881974 0.06746068
+v 0.00523410 -0.05217634 0.07394413
+v 0.00304587 -0.05692537 0.06925040
+f 1 2 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 14
+f 2 14 19
+f 2 19 26
+f 2 26 29
+f 2 29 23
+f 2 23 22
+f 2 22 21
+f 2 21 16
+f 2 16 11
+f 2 11 9
+f 3 10 4
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+f 4 13 6
+f 4 6 5
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+f 6 14 8
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+f 11 16 12
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+f 13 18 19
+f 13 19 14
+f 15 17 20
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 17 24 20
+f 18 25 31
+f 18 31 35
+f 18 35 32
+f 18 32 26
+f 18 26 19
+f 20 24 27
+f 20 27 28
+f 23 29 27
+f 23 27 24
+f 25 30 31
+f 26 32 33
+f 26 33 27
+f 26 27 29
+f 27 33 34
+f 27 34 28
+f 30 35 31
+f 30 36 35
+f 32 35 33
+f 33 35 36
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_54.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42f985ecd5c5bc42314432c52d70e145c8303c0a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_54.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00535575 0.02818411 0.07641989
+v 0.01433483 0.02818411 0.07543566
+v 0.00535575 0.02818409 0.08138251
+v 0.00535575 0.03776938 0.07239387
+v 0.00540848 0.03772257 0.07239387
+v 0.01433483 0.02818409 0.08045389
+v 0.00815951 0.03725247 0.07239387
+v 0.00840913 0.03725442 0.07239387
+v 0.01108106 0.03788252 0.07239387
+v 0.01290922 0.03874859 0.07239387
+v 0.01433483 0.03948006 0.07239388
+v 0.00541112 0.02818409 0.08138604
+v 0.00535575 0.02829137 0.08141164
+v 0.00535575 0.04811148 0.07239391
+v 0.01433483 0.03100856 0.08053953
+v 0.01286439 0.03402224 0.08141166
+v 0.01198899 0.03101636 0.08141165
+v 0.01400875 0.02818409 0.08053863
+v 0.01433483 0.04811148 0.07239391
+v 0.00706789 0.02818409 0.08141164
+v 0.00561415 0.02825236 0.08141164
+v 0.00551044 0.02825821 0.08141164
+v 0.00535575 0.04811145 0.08141172
+v 0.01433483 0.03407296 0.08041597
+v 0.01283803 0.04707958 0.08141171
+v 0.01284945 0.04588386 0.08141171
+v 0.01107491 0.02951245 0.08141165
+v 0.01108282 0.02818409 0.08109827
+v 0.01433483 0.04811147 0.07623548
+v 0.00824038 0.02818409 0.08141164
+v 0.01271058 0.04811145 0.08141172
+v 0.01433483 0.03411587 0.08041331
+v 0.01433483 0.04281947 0.07895069
+v 0.01433483 0.04595994 0.07805475
+f 1 2 6
+f 1 6 18
+f 1 18 28
+f 1 28 30
+f 1 30 20
+f 1 20 12
+f 1 12 3
+f 1 3 13
+f 1 13 23
+f 1 23 14
+f 1 14 4
+f 1 4 5
+f 1 5 2
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+f 2 15 6
+f 3 12 13
+f 4 14 19
+f 4 19 11
+f 4 11 10
+f 4 10 9
+f 4 9 8
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+f 4 7 5
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+f 14 29 19
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+f 15 26 16
+f 17 27 18
+f 18 27 28
+f 24 32 25
+f 25 32 33
+f 25 33 34
+f 25 34 31
+f 27 30 28
+f 29 31 34
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_55.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec676bf23a8d2b70dc4f01ee2d6e47264f008ee
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_55.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.03226940 0.04203284 0.05772024
+v 0.02742970 0.04203284 0.05772024
+v 0.03274243 0.03970516 0.05772024
+v 0.03229082 0.04203284 0.05740295
+v 0.02738516 0.04203285 0.05431405
+v 0.02844342 0.02832399 0.05772019
+v 0.03298148 0.03783696 0.05772023
+v 0.03305252 0.03856195 0.05621199
+v 0.03278020 0.03967489 0.05724206
+v 0.03229871 0.04203284 0.05728244
+v 0.02738459 0.04203285 0.05424162
+v 0.02964658 0.03151149 0.05537228
+v 0.03102451 0.02797868 0.05772019
+v 0.02847950 0.04203286 0.05117195
+v 0.02965447 0.03762237 0.05244429
+v 0.03304011 0.03717112 0.05772023
+v 0.03312074 0.03673777 0.05724204
+v 0.03313709 0.03691387 0.05535564
+v 0.03305252 0.03856196 0.05549601
+v 0.03229533 0.04203285 0.05504669
+v 0.03105778 0.03151149 0.05537228
+v 0.03314385 0.03449264 0.05551395
+v 0.03298373 0.03302751 0.05729588
+v 0.03290424 0.03273998 0.05772021
+v 0.02863511 0.04203286 0.05117195
+v 0.03090160 0.03762237 0.05244429
+v 0.03309480 0.03641448 0.05772022
+v 0.03312187 0.03450363 0.05729589
+v 0.03273341 0.03967490 0.05442750
+v 0.03228405 0.04203285 0.05434225
+v 0.03184316 0.03369060 0.05486463
+v 0.03131431 0.03986613 0.05189690
+v 0.03110570 0.04203286 0.05131425
+v 0.03143947 0.04203286 0.05190459
+v 0.03299670 0.03359705 0.05772021
+v 0.03295329 0.03318984 0.05772021
+v 0.03309762 0.03467422 0.05772022
+f 1 2 6
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+f 1 24 36
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+f 1 27 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
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+f 22 28 23
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+f 22 34 29
+f 23 35 36
+f 23 36 24
+f 23 28 37
+f 23 37 35
+f 25 33 26
+f 26 33 32
+f 27 37 28
+f 29 34 30
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_56.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9678c688e467e13dc045901a0473216170f4830c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_56.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00535575 -0.00147710 0.10999587
+v 0.00535575 0.00001379 0.10999104
+v 0.00411615 0.00001379 0.10875808
+v 0.00411474 -0.00147710 0.10875807
+v 0.00420126 -0.00443237 0.10869189
+v 0.00535575 -0.00443237 0.10983610
+v 0.00535575 0.00001381 0.10365679
+v 0.00355106 0.00001380 0.10726691
+v 0.00355141 -0.00147709 0.10726690
+v 0.00354769 -0.00443236 0.10720072
+v 0.00354432 -0.00738432 0.10710550
+v 0.00356454 -0.01033959 0.10696993
+v 0.00437007 -0.00738433 0.10859667
+v 0.00362323 -0.01329155 0.10679239
+v 0.00535575 -0.00513474 0.10977316
+v 0.00521425 0.00001381 0.10379074
+v 0.00535575 -0.02779288 0.09351060
+v 0.00529635 -0.02783595 0.09351060
+v 0.00371401 -0.02947262 0.09351059
+v 0.00355106 0.00001380 0.10597101
+v 0.00354432 -0.00738432 0.10581605
+v 0.00360815 -0.03028434 0.09606850
+v 0.00360142 -0.02214742 0.10403596
+v 0.00535575 -0.00738433 0.10954721
+v 0.00369876 -0.01560409 0.10663262
+v 0.00463603 -0.01033960 0.10846109
+v 0.00491867 0.00001381 0.10407154
+v 0.00535575 -0.03383264 0.09351058
+v 0.00368564 -0.03015843 0.09351059
+v 0.00448993 0.00001381 0.10447984
+v 0.00367766 -0.03073159 0.09351059
+v 0.00360815 -0.02902536 0.09606850
+v 0.00367766 -0.03092044 0.09351059
+v 0.00378742 -0.03231193 0.09351058
+v 0.00364379 -0.02988346 0.09852311
+v 0.00365160 -0.02752787 0.10121014
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+v 0.00535575 -0.00856047 0.10939066
+v 0.00378884 -0.01757206 0.10639377
+v 0.00535575 -0.01033960 0.10913406
+v 0.00535575 -0.03367362 0.09423518
+v 0.00527135 -0.03380945 0.09351058
+v 0.00383423 -0.03214960 0.09419161
+v 0.00377713 -0.02949915 0.10051134
+v 0.00442025 -0.02214743 0.10552713
+v 0.00395923 -0.01919547 0.10602581
+v 0.00385214 -0.02620264 0.10319675
+v 0.00535575 -0.02214743 0.10649704
+v 0.00535575 -0.01919547 0.10739756
+v 0.00535575 -0.01880784 0.10748471
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+v 0.00535575 -0.01352348 0.10851757
+v 0.00535575 -0.03310377 0.09606849
+v 0.00410658 -0.03176197 0.09606849
+v 0.00535575 -0.03178186 0.09915250
+v 0.00535575 -0.03079126 0.10082119
+v 0.00535575 -0.02990666 0.10205739
+v 0.00422290 -0.02832965 0.10213324
+v 0.00510272 -0.02517228 0.10502038
+v 0.00535575 -0.02419161 0.10567720
+v 0.00535575 -0.02622583 0.10474925
+v 0.00535575 -0.02813086 0.10368090
+v 0.00535575 -0.02496356 0.10536251
+f 1 2 3
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+f 1 38 40
+f 1 40 52
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+f 1 7 2
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+f 44 58 47
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+f 47 62 61
+f 50 52 51
+f 53 55 54
+f 57 62 58
+f 59 61 63
+f 59 63 60
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_57.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..852b6652d1907f608d0d3687c93e27ba43dc668a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_57.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00961286 -0.04432771 -0.06649769
+v 0.00961286 -0.04432771 -0.06642955
+v 0.00961286 -0.04425335 -0.06649769
+v 0.01214510 -0.04281928 -0.06972179
+v 0.01217310 -0.04501417 -0.06970117
+v 0.01108119 -0.04565419 -0.06789905
+v 0.01193875 -0.04779198 -0.06731270
+v 0.01181328 -0.04791017 -0.06498427
+v 0.00961286 -0.04425335 -0.06642955
+v 0.01033665 -0.04549619 -0.06525593
+v 0.01056582 -0.04215009 -0.06128406
+v 0.01064152 -0.04309017 -0.06768117
+v 0.01086135 -0.03905361 -0.06128405
+v 0.01171166 -0.03710569 -0.06128405
+v 0.01190764 -0.04069478 -0.06796538
+v 0.01238464 -0.04117544 -0.06956667
+v 0.01400955 -0.04281928 -0.07044354
+v 0.01398674 -0.04590780 -0.07000602
+v 0.01299644 -0.04698201 -0.06930040
+v 0.01398674 -0.04813854 -0.06816983
+v 0.01400955 -0.04896048 -0.06498427
+v 0.01217725 -0.04758885 -0.06315345
+v 0.01075766 -0.03989943 -0.06128406
+v 0.01147938 -0.04493188 -0.06128408
+v 0.01190972 -0.03676976 -0.06128405
+v 0.01219592 -0.03638734 -0.06128404
+v 0.01302444 -0.03575264 -0.06128404
+v 0.01428123 -0.03928861 -0.06768294
+v 0.01400955 -0.04077444 -0.06985627
+v 0.01693377 -0.04083153 -0.06982220
+v 0.01693377 -0.04281928 -0.07036285
+v 0.01687466 -0.04578962 -0.06997015
+v 0.01586052 -0.04739628 -0.06959000
+v 0.01494488 -0.04739628 -0.06959000
+v 0.01687466 -0.04808676 -0.06809093
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+v 0.01693377 -0.04788230 -0.06284145
+v 0.01400955 -0.04795931 -0.06276434
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_58.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..939136416e3782fd9bf812c56a7ffc836ec8884b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_58.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_59.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94845ddb1fba77a17ec33302b3a5b63191be2f4a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_59.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.00304587 0.03041108 0.04846227
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+v 0.00535575 0.03041108 0.04846227
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_6.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1cccb2f792cb48f9a71e7e182060b21224c9e1b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_6.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.00303864 -0.03024566 0.08128746
+v 0.00230863 -0.03024566 0.08121161
+v 0.00010116 -0.03398751 0.08045308
+v 0.00304487 -0.03024566 0.08123437
+v 0.00535575 -0.02379927 0.08056499
+v 0.00304487 -0.02805266 0.08110922
+v 0.00230863 -0.02805266 0.08103337
+v -0.00061764 -0.02805266 0.08057447
+v -0.00319262 -0.03100586 0.07995816
+v 0.00010116 -0.03100587 0.08070340
+v -0.00343305 -0.03398750 0.07950115
+v 0.00010116 -0.03398749 0.07516242
+v -0.00270054 -0.03331018 0.07981782
+v 0.00304487 -0.03024564 0.07612006
+v 0.00523366 -0.02379927 0.08056499
+v 0.00304487 -0.02509945 0.08075083
+v 0.00535575 -0.02379925 0.07519469
+v 0.00535575 -0.02247778 0.08016868
+v 0.00230863 -0.02509945 0.08067877
+v 0.00010116 -0.02732797 0.08060101
+v -0.00313531 -0.02805265 0.07997144
+v -0.00070360 -0.02499287 0.08009282
+v -0.00262455 -0.02590701 0.07984060
+v -0.00465513 -0.03100586 0.07954856
+v -0.00646396 -0.03395671 0.07862885
+v -0.00606657 -0.03398750 0.07873883
+v -0.00737087 -0.03398748 0.07297220
+v -0.00737087 -0.01966186 0.06258625
+v 0.00535575 -0.01525455 0.06423794
+v 0.00523366 -0.02247778 0.08016868
+v 0.00304487 -0.02274776 0.08005111
+v 0.00230863 -0.02284012 0.08001129
+v 0.00535575 -0.02100472 0.07948980
+v 0.00523366 -0.02100236 0.07948980
+v 0.00021577 -0.02327825 0.07981975
+v -0.00459783 -0.02805265 0.07951823
+v 0.00010116 -0.02331614 0.07980648
+v -0.00173384 -0.02394136 0.07956754
+v -0.00357631 -0.02499287 0.07921104
+v -0.00646396 -0.03100586 0.07889244
+v -0.00737087 -0.03187501 0.07843922
+v -0.00737087 -0.03398750 0.07824959
+v -0.00648763 -0.03398750 0.07861368
+v -0.00647268 -0.03398750 0.07861937
+v -0.00737087 -0.01832854 0.06191497
+v 0.00535575 -0.01329126 0.06396678
+v 0.00304487 -0.02237594 0.07988044
+v 0.00230863 -0.02136470 0.07929259
+v 0.00535575 -0.01854883 0.07747595
+v 0.00509663 -0.01891592 0.07777556
+v 0.00304487 -0.01927590 0.07779263
+v 0.00230863 -0.01940852 0.07780022
+v -0.00070360 -0.02223622 0.07898350
+v -0.00646396 -0.02805265 0.07871799
+v -0.00361243 -0.02200886 0.07769402
+v -0.00581866 -0.02289932 0.07716305
+v -0.00666204 -0.02492182 0.07769401
+v -0.00737087 -0.02881997 0.07834062
+v -0.00737087 -0.03093955 0.07846578
+v -0.00737087 -0.01782410 0.06191497
+v -0.00737087 -0.01723440 0.06197566
+v 0.00535575 -0.01152692 0.06448258
+v 0.00010116 -0.01975901 0.07749491
+v -0.00061764 -0.01987269 0.07739252
+v 0.00535575 -0.01768442 0.07671744
+v 0.00403151 -0.01774600 0.07665107
+v 0.00304487 -0.01869567 0.07730718
+v 0.00304487 -0.01785020 0.07652591
+v 0.00230863 -0.01793072 0.07643109
+v 0.00010116 -0.01939430 0.07715737
+v -0.00268684 -0.02033450 0.07698292
+v -0.00737087 -0.02525810 0.07744180
+v -0.00737087 -0.02805265 0.07824961
+v -0.00463644 -0.02093130 0.07645194
+v -0.00737087 -0.02363111 0.07668518
+v -0.00737087 -0.02421370 0.07696962
+v -0.00737087 -0.01634631 0.06315515
+v -0.00583735 -0.01434040 0.06417916
+v -0.00354018 -0.01388095 0.06382076
+v 0.00073649 -0.01178979 0.06472151
+v 0.00230863 -0.01167138 0.06460204
+v 0.00304487 -0.01163349 0.06457170
+v 0.00523366 -0.01152692 0.06448258
+v 0.00535575 -0.01079039 0.06523730
+v 0.00304487 -0.00979337 0.06888577
+v 0.00535575 -0.01079041 0.06961964
+v -0.00592704 -0.02002662 0.07446464
+v -0.00737087 -0.02053579 0.07385971
+v -0.00737087 -0.02125337 0.07456513
+v -0.00684766 -0.02180755 0.07551328
+v -0.00737087 -0.02294905 0.07611061
+v -0.00737087 -0.01568557 0.06639402
+v -0.00583735 -0.01434040 0.06569809
+v 0.00252166 -0.00979337 0.06712222
+v 0.00280320 -0.00979336 0.06661970
+v 0.00304487 -0.00979336 0.06657040
+v 0.00523366 -0.01079039 0.06523730
+v -0.00667325 -0.01524034 0.06651538
+v -0.00737087 -0.01616160 0.06724546
+v -0.00737087 -0.01707575 0.06874163
+v -0.00737087 -0.01793070 0.07012592
+v -0.00737087 -0.01802069 0.07026624
+v -0.00737087 -0.01816989 0.07048431
+v -0.00669443 -0.01903905 0.07243371
+v -0.00737087 -0.01999583 0.07312585
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 11 26
+f 3 26 44
+f 3 44 43
+f 3 43 42
+f 3 42 27
+f 3 27 12
+f 3 12 14
+f 3 14 4
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+f 4 14 17
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+f 5 30 15
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+f 13 24 25
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+f 15 32 16
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+f 18 33 34
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+f 21 36 24
+f 22 35 37
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+f 22 38 23
+f 23 38 39
+f 23 39 36
+f 24 40 25
+f 24 36 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 27 42 41
+f 27 41 59
+f 27 59 58
+f 27 58 73
+f 27 73 72
+f 27 72 76
+f 27 76 75
+f 27 75 91
+f 27 91 89
+f 27 89 88
+f 27 88 105
+f 27 105 103
+f 27 103 102
+f 27 102 101
+f 27 101 100
+f 27 100 99
+f 27 99 92
+f 27 92 77
+f 27 77 61
+f 27 61 60
+f 27 60 45
+f 27 45 28
+f 28 45 29
+f 29 45 46
+f 30 47 31
+f 30 34 47
+f 31 47 32
+f 32 47 48
+f 32 48 35
+f 33 49 34
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 48
+f 34 48 47
+f 35 48 53
+f 35 53 37
+f 36 39 54
+f 36 54 40
+f 37 53 38
+f 38 53 55
+f 38 55 56
+f 38 56 39
+f 39 56 57
+f 39 57 54
+f 40 54 58
+f 40 58 59
+f 40 59 41
+f 45 60 46
+f 46 60 61
+f 46 61 62
+f 48 52 63
+f 48 63 64
+f 48 64 53
+f 49 65 50
+f 50 65 66
+f 50 66 51
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+f 54 72 73
+f 54 73 58
+f 54 57 72
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+f 55 74 56
+f 56 75 76
+f 56 76 57
+f 56 74 75
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+f 61 77 78
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+f 61 79 80
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+f 78 94 95
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+f 84 97 96
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+f 85 93 98
+f 85 98 99
+f 85 99 100
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+f 85 101 102
+f 85 102 103
+f 85 103 104
+f 85 104 105
+f 85 105 88
+f 85 88 87
+f 89 91 90
+f 92 99 98
+f 92 98 93
+f 103 105 104
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_60.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a4ebf5f7cc0ed48453bd471df15c788fa1a9a1f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_60.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00815930 0.03267859 0.09899519
+v 0.00904978 0.03245539 0.09899519
+v 0.00989562 0.03271489 0.09805048
+v 0.00815930 0.03292599 0.09849861
+v 0.00614715 0.03284262 0.09831896
+v 0.00535575 0.03166479 0.09899519
+v 0.01057816 0.03121705 0.09899518
+v 0.01025401 0.03308869 0.09606722
+v 0.00988705 0.03565817 0.08933825
+v 0.00895682 0.03534353 0.09132656
+v 0.00815930 0.03388870 0.09606722
+v 0.00663215 0.03547260 0.09170909
+v 0.00560650 0.03328499 0.09606722
+v 0.00535575 0.03302146 0.09606722
+v 0.00535575 0.03240833 0.09742977
+v 0.00535575 0.02441356 0.09899516
+v 0.01060935 0.03116864 0.09899518
+v 0.01062953 0.03113234 0.09899518
+v 0.01140381 0.03100730 0.09606721
+v 0.01058855 0.03358350 0.09308576
+v 0.00999225 0.03577245 0.08868423
+v 0.00810609 0.03633717 0.08868423
+v 0.00805349 0.03497108 0.09285666
+v 0.00700766 0.03547260 0.09170909
+v 0.00715689 0.03627263 0.08868423
+v 0.00595511 0.03598220 0.08868423
+v 0.00535575 0.03312365 0.09579673
+v 0.00535575 0.02936830 0.08868421
+v 0.00579487 0.02890712 0.08868421
+v 0.00815930 0.02260244 0.09899515
+v 0.01160380 0.02810976 0.09899517
+v 0.01159096 0.03100731 0.09308575
+v 0.01100627 0.03408099 0.08868423
+v 0.01046256 0.03512169 0.08868423
+v 0.00535575 0.03528572 0.08868423
+v 0.00535575 0.03369374 0.09394063
+v 0.00718258 0.02856291 0.08868420
+v 0.00820333 0.02848358 0.08868420
+v 0.01010356 0.02909939 0.08868421
+v 0.00912011 0.02318867 0.09899516
+v 0.01159401 0.02805060 0.09899517
+v 0.01144295 0.03100732 0.09010328
+v 0.01139096 0.03241105 0.08868422
+v 0.01048642 0.02970444 0.08868421
+v 0.01070170 0.02504820 0.09899516
+v 0.01070598 0.02505895 0.09899516
+v 0.01111330 0.03089304 0.08868421
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 30
+f 1 30 40
+f 1 40 45
+f 1 45 46
+f 1 46 41
+f 1 41 31
+f 1 31 18
+f 1 18 17
+f 1 17 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
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+f 3 10 11
+f 3 11 4
+f 3 7 8
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
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+f 7 17 8
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+f 9 21 22
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+f 16 28 29
+f 16 29 30
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+f 19 33 20
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+f 21 33 43
+f 21 43 47
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+f 21 44 39
+f 21 39 38
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+f 21 37 29
+f 21 29 28
+f 21 28 35
+f 21 35 26
+f 21 26 25
+f 21 25 22
+f 22 24 23
+f 26 35 36
+f 26 36 27
+f 29 37 30
+f 30 38 39
+f 30 39 40
+f 30 37 38
+f 31 41 42
+f 31 42 32
+f 32 42 43
+f 32 43 33
+f 39 44 45
+f 39 45 40
+f 41 46 42
+f 42 46 45
+f 42 45 47
+f 42 47 43
+f 44 47 45
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_61.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2471311b7af2ec09361c80d8ff07188082d74bb1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_61.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01433483 0.04811203 0.07623451
+v 0.01433483 0.04908799 0.07541931
+v 0.01263412 0.04872704 0.08141172
+v 0.01271058 0.04811201 0.08141172
+v 0.01433483 0.04811206 0.06899203
+v 0.01433483 0.05385478 0.07105235
+v 0.01126299 0.05105955 0.08141173
+v 0.00535575 0.04811201 0.08141172
+v 0.00815951 0.04811206 0.06904495
+v 0.01433483 0.05385480 0.06451924
+v 0.01400875 0.05385478 0.07114165
+v 0.00805668 0.05259039 0.08141173
+v 0.01099844 0.05120178 0.08141173
+v 0.01112588 0.05113938 0.08141173
+v 0.00535575 0.05181851 0.08141173
+v 0.00535575 0.04811206 0.06910613
+v 0.00593759 0.04811206 0.06907967
+v 0.00535575 0.05385480 0.06565191
+v 0.01108369 0.05385478 0.07171542
+v 0.00547264 0.05193263 0.08141173
+v 0.01054667 0.05385478 0.07180306
+v 0.00815951 0.05385478 0.07211722
+v 0.00535575 0.05385478 0.07201967
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 17
+f 1 17 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 7 14
+f 3 14 13
+f 3 13 12
+f 3 12 20
+f 3 20 15
+f 3 15 8
+f 3 8 4
+f 3 6 7
+f 5 9 10
+f 6 10 18
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+f 6 23 22
+f 6 22 21
+f 6 21 19
+f 6 19 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 23
+f 8 23 18
+f 8 18 16
+f 9 17 10
+f 10 17 16
+f 10 16 18
+f 11 19 12
+f 12 19 21
+f 12 21 22
+f 12 22 23
+f 12 23 20
+f 15 20 23
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_62.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27ee9c866c0874e5c9f8437d5db2c400d1a0f2a5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_62.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00535575 -0.03110900 0.08420295
+v 0.00535575 -0.02380114 0.08056769
+v 0.00523410 -0.02380114 0.08056769
+v 0.00304587 -0.02380114 0.08036324
+v 0.00526757 -0.03112833 0.08420295
+v 0.00535575 -0.03614116 0.08420293
+v 0.00535575 -0.02380112 0.07519787
+v 0.00304587 -0.02380112 0.07492714
+v 0.00304587 -0.02510327 0.08075067
+v 0.00382118 -0.03270707 0.08420294
+v 0.00524360 -0.03113437 0.08420295
+v 0.00434823 -0.03614116 0.08420293
+v 0.00535575 -0.03614112 0.07470024
+v 0.00435637 -0.03614112 0.07466570
+v 0.00417345 -0.03611455 0.07466570
+v 0.00397922 -0.03614112 0.07466570
+v 0.00304587 -0.03614112 0.07470771
+v 0.00304587 -0.03397899 0.08276619
+v 0.00369592 -0.03397417 0.08420294
+v 0.00377121 -0.03530408 0.08420293
+v 0.00304587 -0.03614115 0.08220511
+v 0.00304587 -0.03534755 0.08266442
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 10
+f 1 10 19
+f 1 19 20
+f 1 20 12
+f 1 12 6
+f 1 6 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 4
+f 2 4 3
+f 4 8 17
+f 4 17 21
+f 4 21 22
+f 4 22 18
+f 4 18 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 21
+f 6 21 17
+f 6 17 16
+f 6 16 14
+f 6 14 13
+f 7 13 8
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+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 9 18 10
+f 10 18 19
+f 12 20 21
+f 14 16 15
+f 18 22 19
+f 19 22 20
+f 20 22 21
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_63.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d86ff2e82ac8e20ae361ade52864a06698c6b9b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_63.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00304587 0.03041098 0.07612325
+v 0.00535575 0.03041098 0.07627716
+v 0.00304587 0.03041096 0.08146261
+v 0.00304587 0.03977642 0.07073658
+v 0.00458699 0.03793736 0.07073657
+v 0.00495238 0.03771466 0.07073657
+v 0.00535575 0.03746994 0.07073657
+v 0.00535575 0.03041089 0.10097020
+v 0.00304587 0.03395940 0.08277082
+v 0.00362175 0.03041091 0.09592090
+v 0.00304587 0.04291128 0.07073659
+v 0.00535575 0.04291128 0.07073659
+v 0.00535575 0.04291123 0.08413234
+v 0.00516265 0.04291123 0.08410570
+v 0.00515180 0.04291123 0.08409682
+v 0.00513869 0.04291123 0.08408202
+v 0.00304587 0.04291124 0.08127324
+v 0.00522189 0.03041089 0.10076598
+v 0.00379020 0.03041090 0.09766418
+v 0.00453227 0.03041089 0.09970048
+f 1 2 8
+f 1 8 18
+f 1 18 20
+f 1 20 19
+f 1 19 10
+f 1 10 3
+f 1 3 9
+f 1 9 17
+f 1 17 11
+f 1 11 4
+f 1 4 5
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_64.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91367f4bfcfe7e75667955f7f51caa8b6edcc987
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_64.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00816101 -0.03640079 0.08868847
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+v 0.00936362 -0.03607830 0.08868847
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_65.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6783edc9ba442f4d7747d2a44e61c4942a1718b0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_65.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_66.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1da8694143d06f26c1b7913f4ff9e214f42fde3b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_66.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_67.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ada09e6f26c8e1af61735ecaa79271c373c25d5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_67.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.01433483 0.04811005 0.07239391
+v 0.01433483 0.04811007 0.06899107
+v 0.00535575 0.04811005 0.07239391
+v 0.01433483 0.03948147 0.07239388
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+v 0.01290922 0.03874893 0.07239387
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+v 0.00815951 0.03725273 0.07239387
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_68.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c55010e755f51e10fd6b62a00063171797b8e64
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_68.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01433483 -0.06218377 0.05729606
+v 0.01433483 -0.06217458 0.05722027
+v 0.01434431 -0.06217274 0.05722027
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+v 0.01954947 -0.05969933 0.06027842
+v 0.01900223 -0.05938511 0.06248332
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_69.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169616a26e5af1a188b5ba138806ffe280ee4c0a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_69.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_7.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..826c507d9ea2ed4f5e5ffe26ee470eabe52d0e73
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_7.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.01867479 -0.03690980 0.06664190
+v -0.02169010 -0.01562084 0.06234756
+v -0.01867479 -0.03958411 0.06623929
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+v -0.02137015 0.00737827 0.06388048
+v -0.02137015 0.01033409 0.06346950
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+v -0.01867479 -0.01562078 0.04522021
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_70.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66f4bd23f7134e5f93c7ef01e2b625ff0a8d22e9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_70.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_71.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cab1e400fd6a1b2ce6af7fd06db9a79ac2c03d7d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_71.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_72.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eea8138de97bdaafc33e86c766b420c253f26457
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_72.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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+f 95 111 96
+f 96 111 112
+f 96 112 101
+f 96 101 107
+f 96 107 97
+f 97 107 98
+f 100 113 104
+f 101 114 102
+f 101 112 114
+f 104 115 116
+f 104 116 110
+f 104 113 115
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_73.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b33344b6e8c39e31d231201a66cb916480c2332
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_73.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00304587 -0.05217523 0.06689266
+v 0.00521511 -0.04568200 0.06883675
+v 0.00522664 -0.04568200 0.06883269
+v 0.00535575 -0.04568200 0.06880218
+v 0.00535575 -0.05217523 0.06706347
+v 0.00304587 -0.05217525 0.07329429
+v 0.00304587 -0.04568201 0.06975592
+v 0.00304768 -0.04568201 0.06971728
+v 0.00535575 -0.04568207 0.08722823
+v 0.00535575 -0.05217525 0.07396333
+v 0.00523410 -0.05217525 0.07394706
+v 0.00535575 -0.05215812 0.08392978
+v 0.00338977 -0.05069993 0.08413721
+v 0.00304587 -0.04972483 0.08413722
+v 0.00304587 -0.04568206 0.08370408
+v 0.00520109 -0.04568207 0.08719163
+v 0.00535575 -0.04587658 0.08738481
+v 0.00535575 -0.05156569 0.08521702
+v 0.00362492 -0.05039673 0.08582302
+v 0.00304587 -0.04872749 0.08517840
+v 0.00304587 -0.04624462 0.08425517
+v 0.00312568 -0.04568206 0.08428364
+v 0.00515745 -0.04568207 0.08716316
+v 0.00519114 -0.04571513 0.08720789
+v 0.00339045 -0.04634252 0.08613418
+v 0.00535575 -0.04860927 0.08766747
+v 0.00523410 -0.05094467 0.08638632
+v 0.00535575 -0.05096056 0.08640258
+v 0.00535575 -0.04868809 0.08764103
+v 0.00337553 -0.04872750 0.08615450
+v 0.00304587 -0.04752292 0.08514587
+v 0.00319442 -0.04568206 0.08464561
+v 0.00353742 -0.04568207 0.08588405
+v 0.00535575 -0.04956911 0.08717535
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 14
+f 1 14 20
+f 1 20 31
+f 1 31 21
+f 1 21 15
+f 1 15 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 15
+f 2 15 22
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+f 2 33 23
+f 2 23 16
+f 2 16 9
+f 2 9 4
+f 2 4 3
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+f 4 26 29
+f 4 29 34
+f 4 34 28
+f 4 28 18
+f 4 18 12
+f 4 12 10
+f 4 10 5
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+f 6 13 14
+f 9 16 17
+f 10 12 11
+f 12 18 19
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+f 17 25 26
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+f 22 31 32
+f 23 33 25
+f 23 25 24
+f 25 33 32
+f 25 32 31
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+f 25 30 26
+f 27 28 34
+f 27 34 29
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_74.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe17cb0da3a4d073323f5260d30aa454a8ba57a1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_74.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.01868901 -0.01562300 0.06102674
+v -0.01473044 -0.01562300 0.06102674
+v -0.01868901 -0.01562301 0.06231628
+v -0.01868901 0.01360245 0.06102685
+v -0.01493186 -0.01562300 0.06125192
+v -0.01385624 -0.01328862 0.06102675
+v -0.01803486 -0.01562301 0.06230554
+v -0.01868901 -0.01381787 0.06274582
+v -0.01868901 0.01360244 0.06280593
+v -0.01374922 0.01360245 0.06102685
+v -0.01607722 -0.01562301 0.06198939
+v -0.01421217 -0.01328863 0.06142438
+v -0.01331212 -0.01051083 0.06102676
+v -0.01391877 -0.01096570 0.06164484
+v -0.01614336 -0.01562301 0.06202887
+v -0.01816473 -0.01328863 0.06286299
+v -0.01868901 -0.01328863 0.06286963
+v -0.01868901 0.01328776 0.06287920
+v -0.01816473 0.01360244 0.06279772
+v -0.01330971 0.01049282 0.06102684
+v -0.01402880 0.01360244 0.06134457
+v -0.01391456 0.01094767 0.06164966
+v -0.01567379 -0.01328863 0.06230176
+v -0.01299406 -0.00833094 0.06102677
+v -0.01376245 -0.00899750 0.06178824
+v -0.01503227 -0.01012178 0.06243000
+v -0.01816473 -0.01033347 0.06342077
+v -0.01868901 -0.01033347 0.06342740
+v -0.01816473 0.01328776 0.06287099
+v -0.01868901 0.01275852 0.06297869
+v -0.01796632 0.01360244 0.06277403
+v -0.01319548 0.00965176 0.06102684
+v -0.01376485 0.00897947 0.06178514
+v -0.01573091 0.01360244 0.06226649
+v -0.01566477 0.01328776 0.06230312
+v -0.01502986 0.01011233 0.06242566
+v -0.01524029 0.00738031 0.06287823
+v -0.01524029 -0.00738118 0.06288102
+v -0.01816473 -0.00738118 0.06382946
+v -0.01275537 -0.00559034 0.06102678
+v -0.01369871 -0.00738118 0.06186688
+v -0.01524029 -0.00442888 0.06313748
+v -0.01868901 -0.00738118 0.06383736
+v -0.01868901 0.01033547 0.06343253
+v -0.01816473 0.01033547 0.06342369
+v -0.01291891 0.00741751 0.06102683
+v -0.01524029 0.00442801 0.06313531
+v -0.01370052 0.00738031 0.06186599
+v -0.01816473 0.00738031 0.06383394
+v -0.01816473 0.00442800 0.06410334
+v -0.01816473 -0.00442889 0.06410551
+v -0.01868901 -0.00442889 0.06411372
+v -0.01267360 -0.00442887 0.06102678
+v -0.01360552 -0.00442888 0.06198564
+v -0.01524029 -0.00147658 0.06327425
+v -0.01816473 -0.00147659 0.06424575
+v -0.01868901 0.00738031 0.06384247
+v -0.01267240 0.00442802 0.06102682
+v -0.01816473 0.00147570 0.06424387
+v -0.01524029 0.00147571 0.06327237
+v -0.01360612 0.00442801 0.06198505
+v -0.01868901 0.00442800 0.06411123
+v -0.01868901 -0.00200297 0.06422901
+v -0.01258401 -0.00243206 0.06102679
+v -0.01355682 -0.00147658 0.06205135
+v -0.01868901 -0.00147659 0.06425333
+v -0.01254794 0.00147572 0.06102681
+v -0.01868901 0.00147570 0.06425051
+v -0.01868901 0.00094646 0.06425144
+v -0.01355742 0.00147571 0.06204947
+v -0.01254734 -0.00147657 0.06102679
+v -0.01254674 0.00056314 0.06102680
+f 1 2 5
+f 1 5 11
+f 1 11 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 28
+f 1 28 43
+f 1 43 52
+f 1 52 63
+f 1 63 66
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+f 1 69 68
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+f 1 44 30
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+f 1 4 10
+f 1 10 20
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+f 1 72 71
+f 1 71 64
+f 1 64 53
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+f 1 13 6
+f 1 6 2
+f 2 6 5
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+f 4 31 34
+f 4 34 21
+f 4 21 10
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+f 47 61 48
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+f 65 72 70
+f 67 70 72
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_75.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a56826e1c558eedfdeff27b3dc9c8881b738a5b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_75.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01379945 0.04432877 0.06102541
+v -0.01345806 0.04432880 0.05133200
+v -0.01859288 0.04432877 0.06102541
+v -0.01338116 0.02784864 0.06102535
+v -0.01338480 0.04432881 0.04867385
+v -0.01865523 0.04432877 0.06041580
+v -0.01868901 0.04426421 0.06027810
+v -0.01868901 0.04398250 0.06102541
+v -0.01338116 0.04277941 0.04752735
+v -0.01338116 -0.01084564 0.06102521
+v -0.01338116 0.04346021 0.04522043
+v -0.01388934 0.04419383 0.04522043
+v -0.01401976 0.04432882 0.04522043
+v -0.01866926 0.04432877 0.06027810
+v -0.01868901 0.04432877 0.05980310
+v -0.01868901 -0.01561713 0.06102519
+v -0.01385608 -0.01328714 0.06102520
+v -0.01338116 -0.01561713 0.06053936
+v -0.01338116 -0.01561708 0.04522021
+v -0.01868901 0.04432882 0.04522043
+v -0.01868901 -0.01561708 0.04522021
+v -0.01473007 -0.01561713 0.06102519
+v -0.01458094 -0.01522391 0.06102519
+f 1 2 5
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+f 1 20 15
+f 1 15 14
+f 1 14 6
+f 1 6 3
+f 1 3 8
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+f 1 16 22
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+f 1 17 10
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+f 11 13 12
+f 16 21 19
+f 16 19 18
+f 16 18 22
+f 17 23 18
+f 18 23 22
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_76.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa531ea5c3d94d35da0aa777408b52bd8b5a6600
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_76.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00815951 -0.04616941 0.06874781
+v 0.01164972 -0.04616941 0.06927563
+v 0.00535575 -0.04616941 0.06888232
+v 0.00816039 -0.03734975 0.05234067
+v 0.01433483 -0.04616942 0.07009079
+v 0.00535575 -0.04616943 0.07315988
+v 0.00535575 -0.03645501 0.05234068
+v 0.00621621 -0.03868435 0.05521616
+v 0.00629883 -0.03676516 0.05234067
+v 0.01037264 -0.03636290 0.05234068
+v 0.01433483 -0.04270323 0.07119943
+v 0.01433483 -0.04616943 0.07315988
+v 0.01128321 -0.03496439 0.05234068
+v 0.01172531 -0.03396439 0.05234069
+v 0.01210588 -0.03216551 0.05234069
+v 0.00535575 -0.03744193 0.07315991
+v 0.00535575 -0.02696623 0.05234071
+v 0.01433483 -0.04063555 0.07192086
+v 0.01433483 -0.03863743 0.07315991
+v 0.01107842 -0.02820496 0.05234071
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+v 0.00672950 -0.03720885 0.07315991
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+v 0.00815951 -0.03700584 0.07315991
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+v 0.00817446 -0.02696623 0.05254858
+v 0.01106172 -0.03739870 0.07315991
+v 0.00816039 -0.02696623 0.05255061
+f 1 2 5
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+f 1 6 3
+f 1 3 4
+f 1 4 2
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+f 3 17 7
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+f 24 29 26
+f 25 26 30
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+f 26 31 27
+f 26 27 30
+f 27 31 28
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_77.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ccd4d2956efdeebe4e0f28bae3b7ba009d06e93
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_77.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02926921 -0.02385824 0.06029121
+v 0.02915428 -0.02385825 0.06347188
+v 0.02944813 -0.02406334 0.06027924
+v 0.03052426 -0.02593784 0.05834281
+v 0.02763803 -0.02385824 0.05863981
+v 0.02973806 -0.02495089 0.06353176
+v 0.03039236 -0.02583469 0.06272102
+v 0.03064050 -0.02554008 0.06027924
+v 0.02810427 -0.02385826 0.06624179
+v 0.03168659 -0.02805600 0.06027923
+v 0.03295079 -0.03326931 0.05721949
+v 0.03102576 -0.02805599 0.05772488
+v 0.02846995 -0.02501302 0.05835240
+v 0.02737945 -0.02385824 0.05863981
+v 0.03008023 -0.02661782 0.06470773
+v 0.02878077 -0.02510255 0.06624179
+v 0.03082203 -0.02778378 0.06353175
+v 0.02734027 -0.02385827 0.06812911
+v 0.03177540 -0.03100824 0.06326109
+v 0.03241011 -0.03100823 0.06027922
+v 0.03294295 -0.03320840 0.05729614
+v 0.03311142 -0.03468265 0.05721948
+v 0.03149461 -0.02995287 0.05721950
+v 0.02875465 -0.03005480 0.05721950
+v 0.02702291 -0.02385824 0.05869489
+v 0.03012463 -0.02945570 0.06781294
+v 0.03036493 -0.02876580 0.06624177
+v 0.02981250 -0.02728906 0.06624178
+v 0.02769811 -0.02520324 0.06902487
+v 0.02919738 -0.02830464 0.06897457
+v 0.03100878 -0.03100825 0.06624177
+v 0.02702161 -0.02385827 0.06879015
+v 0.02762628 -0.02542576 0.06945359
+v 0.03158342 -0.03396047 0.06624176
+v 0.03222988 -0.03396046 0.06326108
+v 0.03278101 -0.03414194 0.06001813
+v 0.03302914 -0.03524701 0.05884934
+v 0.03311011 -0.03468514 0.05729613
+v 0.03311142 -0.03655716 0.05724942
+v 0.03311142 -0.03655716 0.05722427
+v 0.02908376 -0.03655716 0.05721948
+v 0.02840726 -0.03402757 0.05721949
+v 0.02693411 -0.02510253 0.05857634
+v 0.02475964 -0.02385824 0.06076664
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+v 0.02894924 -0.02826114 0.06945358
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+v 0.03242839 -0.03655718 0.06284313
+v 0.03310097 -0.03655716 0.05746737
+v 0.02833543 -0.03655716 0.05721948
+v 0.02426598 -0.02385825 0.06153067
+v 0.02992743 -0.03100827 0.06945357
+v 0.03017165 -0.03216430 0.06945356
+v 0.01977077 -0.02385828 0.06945359
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_78.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2277f773d543228e30de655a39c664418e395e44
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_78.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_79.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..452784bef57bd6df4ee9318f1dce833cd5664879
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_79.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_8.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84ded4e4312bb843bab19c56a432c119f82af50c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_8.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+f 7 19 15
+f 8 20 21
+f 8 21 9
+f 8 16 20
+f 9 22 11
+f 9 21 22
+f 11 22 23
+f 11 23 12
+f 12 24 13
+f 12 23 24
+f 14 25 17
+f 15 19 18
+f 15 18 28
+f 15 28 34
+f 15 34 30
+f 15 30 23
+f 15 23 22
+f 15 22 21
+f 15 21 20
+f 15 20 16
+f 17 25 26
+f 17 26 18
+f 18 27 33
+f 18 33 38
+f 18 38 37
+f 18 37 36
+f 18 36 35
+f 18 35 28
+f 18 26 29
+f 18 29 27
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 27 29 33
+f 28 35 43
+f 28 43 46
+f 28 46 51
+f 28 51 48
+f 28 48 44
+f 28 44 41
+f 28 41 40
+f 28 40 39
+f 28 39 34
+f 29 36 37
+f 29 37 38
+f 29 38 33
+f 30 34 39
+f 30 39 31
+f 31 39 40
+f 31 40 32
+f 32 40 41
+f 32 41 42
+f 41 44 45
+f 41 45 42
+f 43 47 46
+f 44 48 49
+f 44 49 50
+f 44 50 45
+f 46 47 51
+f 47 52 48
+f 47 48 51
+f 48 52 49
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_80.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f76243754531086dd7731c1a9b6edff1e34217
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_80.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.03149515 -0.02995190 0.05721897
+v 0.03101462 -0.03154247 0.05536833
+v 0.02963969 -0.03154247 0.05536833
+v 0.02875614 -0.03005559 0.05721897
+v 0.03295121 -0.03326997 0.05721896
+v 0.03313309 -0.03462497 0.05552459
+v 0.03181706 -0.03376927 0.05486221
+v 0.03092317 -0.03760376 0.05243825
+v 0.02965416 -0.03760376 0.05243825
+v 0.02903567 -0.04023526 0.05177158
+v 0.02815367 -0.04023527 0.05380887
+v 0.02798522 -0.04023527 0.05431339
+v 0.02785502 -0.04023528 0.05678854
+v 0.02786122 -0.04023528 0.05721893
+v 0.03311190 -0.03468336 0.05721895
+v 0.03311242 -0.03668064 0.05721895
+v 0.03311242 -0.03671386 0.05721895
+v 0.03312895 -0.03691419 0.05533845
+v 0.03275383 -0.03967857 0.05440673
+v 0.03130242 -0.04023526 0.05179505
+v 0.03133859 -0.03986782 0.05189371
+v 0.03266857 -0.04023528 0.05721893
+v 0.03311087 -0.03675715 0.05721894
+v 0.03305300 -0.03856819 0.05621630
+v 0.03305300 -0.03856818 0.05546271
+v 0.03264532 -0.04023527 0.05439019
+v 0.03279000 -0.03965140 0.05721893
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 22
+f 1 22 27
+f 1 27 23
+f 1 23 17
+f 1 17 16
+f 1 16 15
+f 1 15 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 8
+f 6 8 7
+f 8 21 20
+f 8 20 10
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+f 10 26 22
+f 10 22 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 17 23 18
+f 18 24 25
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+f 18 23 24
+f 19 25 26
+f 19 26 20
+f 22 26 25
+f 22 25 24
+f 22 24 27
+f 23 27 24
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_81.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b4213faae0b53a0ca3c84e76e5afb053b6fa1cd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_81.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00304587 0.04872494 0.08509868
+v 0.00304587 0.04930219 0.08472230
+v 0.00272545 0.04872494 0.08413719
+v 0.00010218 0.04414326 0.07826791
+v 0.00010218 0.03492550 0.08033716
+v 0.00010218 0.03412046 0.08048673
+v 0.00010218 0.03167948 0.08077599
+v 0.00010218 0.02878033 0.08073817
+v 0.00010218 0.02805554 0.08067571
+v 0.00010218 0.02502697 0.08025658
+v 0.00304587 0.03395998 0.08276637
+v 0.00010218 0.04902524 0.07534399
+v 0.00010218 0.04805713 0.07619537
+v 0.00304587 0.04963352 0.08413719
+v 0.00010218 0.04965944 0.07466190
+v 0.00010218 0.04716668 0.07678212
+v 0.00010218 0.04577146 0.07754803
+v 0.00010218 0.02342467 0.07985884
+v 0.00019410 0.02324865 0.07983254
+v 0.00230908 0.02510203 0.08069214
+v 0.00304587 0.02510203 0.08075952
+v 0.00304587 0.04965943 0.07731794
+v 0.00010218 0.04965945 0.06959472
+v 0.00010218 0.02321500 0.07977665
+v 0.00016643 0.02321500 0.07980788
+v 0.00034191 0.02321500 0.07984568
+v 0.00230908 0.02321500 0.08014975
+v 0.00304587 0.02337549 0.08026316
+v 0.00304587 0.04965946 0.06858556
+v 0.00010564 0.04965946 0.06830944
+v 0.00010218 0.04890879 0.06875485
+v 0.00010218 0.02321502 0.07400109
+v 0.00284244 0.02321500 0.08019742
+v 0.00304587 0.02321500 0.08021550
+v 0.00304587 0.04285163 0.06926598
+v 0.00304587 0.04044687 0.06966208
+v 0.00304587 0.02321502 0.07461250
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 21
+f 1 21 28
+f 1 28 34
+f 1 34 37
+f 1 37 36
+f 1 36 35
+f 1 35 29
+f 1 29 22
+f 1 22 14
+f 1 14 2
+f 2 12 13
+f 2 13 3
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+f 2 15 12
+f 3 13 16
+f 3 16 17
+f 3 17 4
+f 4 17 16
+f 4 16 13
+f 4 13 12
+f 4 12 15
+f 4 15 23
+f 4 23 31
+f 4 31 32
+f 4 32 24
+f 4 24 18
+f 4 18 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 14 22 15
+f 15 22 29
+f 15 29 30
+f 15 30 23
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 20 27 21
+f 21 27 28
+f 23 30 31
+f 24 32 37
+f 24 37 34
+f 24 34 33
+f 24 33 27
+f 24 27 26
+f 24 26 25
+f 27 33 28
+f 28 33 34
+f 29 35 30
+f 30 35 36
+f 30 36 32
+f 30 32 31
+f 32 36 37
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_82.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf23498b3bb1699d01e53c6fdd3486661f93a53d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_82.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01338064 0.02784809 0.06102535
+v -0.01287185 0.02679544 0.06102535
+v -0.00737160 0.03599752 0.04725811
+v -0.00737160 0.03701548 0.04651544
+v -0.00737160 0.03747240 0.04618124
+v -0.00737160 0.03870435 0.04522041
+v -0.01338064 0.04278193 0.04752735
+v -0.01338064 -0.01084557 0.06102521
+v -0.01044729 0.02177510 0.06102533
+v -0.00737160 0.03523984 0.04776096
+v -0.01338064 0.04346442 0.04522043
+v -0.00737160 -0.01562294 0.04522021
+v -0.01338064 -0.01562299 0.06053936
+v -0.01243305 -0.01562299 0.06030263
+v -0.01331123 -0.01051011 0.06102521
+v -0.00995615 0.02013828 0.06102532
+v -0.00737160 0.03077473 0.05049489
+v -0.00737160 0.03178690 0.04992707
+v -0.00737160 0.03392113 0.04862275
+v -0.01338064 -0.01562294 0.04522021
+v -0.00737160 -0.01562298 0.05653357
+v -0.00737160 -0.01420017 0.05686779
+v -0.00737160 -0.01328633 0.05707357
+v -0.00737160 -0.01125043 0.05745884
+v -0.00737160 -0.01033080 0.05762903
+v -0.00737160 -0.00740419 0.05804525
+v -0.00737160 -0.00532203 0.05823866
+v -0.00737160 -0.00442553 0.05829591
+v -0.00980439 0.01917238 0.06102532
+v -0.01299360 -0.00832961 0.06102522
+v -0.00737160 0.01899311 0.05564714
+v -0.00737160 0.02210479 0.05450993
+v -0.00737160 0.02390934 0.05380131
+v -0.00737160 0.02589898 0.05293951
+v -0.00737160 0.02803320 0.05191834
+v -0.00737160 0.02975678 0.05102405
+v -0.00737160 -0.00260364 0.05838102
+v -0.00737160 0.01639617 0.05635422
+v -0.00737160 -0.00147579 0.05841970
+v -0.00737160 0.00147973 0.05841972
+v -0.00737160 0.00443526 0.05829750
+v -0.00737160 0.00740813 0.05805150
+v -0.00737160 0.00949030 0.05775598
+v -0.00737160 0.01034052 0.05762447
+v -0.00737160 0.01329026 0.05706129
+f 1 2 3
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+f 1 9 2
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+f 3 17 36
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+f 3 35 34
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+f 3 38 45
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+f 9 19 10
+f 12 21 14
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+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 15
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+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 17
+f 28 37 29
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+f 29 37 39
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 38
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_83.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecdc7634e7278111ca5c457108401352ce8b7c70
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_83.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00434832 -0.03614116 0.08420293
+v 0.00377122 -0.03530454 0.08420293
+v 0.00535575 -0.03614116 0.08420293
+v 0.00466596 -0.03614116 0.08523956
+v 0.00378742 -0.03231348 0.09350897
+v 0.00369784 -0.03262476 0.09220270
+v 0.00364453 -0.03307329 0.08712063
+v 0.00369599 -0.03397444 0.08420294
+v 0.00363256 -0.03282737 0.09010210
+v 0.00535575 -0.03110999 0.08420295
+v 0.00535575 -0.03614117 0.08687650
+v 0.00510693 -0.03614117 0.08628621
+v 0.00527140 -0.03381107 0.09350897
+v 0.00367760 -0.03092129 0.09350898
+v 0.00364453 -0.03215088 0.08712063
+v 0.00382132 -0.03270725 0.08420294
+v 0.00371404 -0.03237228 0.08523411
+v 0.00363256 -0.03178405 0.09010210
+v 0.00526752 -0.03112960 0.08420295
+v 0.00535575 -0.03002501 0.08712064
+v 0.00535575 -0.03418281 0.09256068
+v 0.00535575 -0.03407496 0.09286311
+v 0.00535575 -0.03383231 0.09350897
+v 0.00367760 -0.03073420 0.09350898
+v 0.00371387 -0.02947518 0.09350898
+v 0.00524357 -0.03113532 0.08420295
+v 0.00535575 -0.02918922 0.08937610
+v 0.00368553 -0.03016147 0.09350898
+v 0.00535575 -0.02779458 0.09350899
+v 0.00529637 -0.02783707 0.09350899
+v 0.00535575 -0.02893839 0.09010211
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+f 1 19 10
+f 1 10 3
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+f 1 11 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 3 29 23
+f 3 23 22
+f 3 22 21
+f 3 21 11
+f 4 12 13
+f 4 13 5
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+f 5 30 25
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+f 5 24 14
+f 5 14 6
+f 6 14 9
+f 7 15 8
+f 7 9 18
+f 7 18 15
+f 8 15 17
+f 8 17 16
+f 9 14 24
+f 9 24 18
+f 10 19 20
+f 11 21 13
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+f 13 21 22
+f 13 22 23
+f 15 18 25
+f 15 25 17
+f 16 17 26
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+f 18 24 28
+f 18 28 25
+f 19 26 20
+f 20 26 27
+f 25 30 31
+f 25 31 27
+f 29 31 30
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_84.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad51cd174f0da9fd92f6d774d79fea94299d781c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_84.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.01868901 0.03989914 0.06102695
+v -0.01478286 0.03989914 0.06102695
+v -0.01868901 0.03989912 0.06426807
+v -0.01868901 0.04398965 0.06102696
+v -0.01426109 0.03989912 0.06426807
+v -0.00737271 0.05297155 0.06102699
+v -0.00737271 0.05211078 0.06223162
+v -0.00737271 0.05086640 0.06426811
+v -0.01868901 0.04202483 0.06426807
+v -0.01819382 0.04577480 0.06102697
+v -0.01868901 0.04324301 0.06326078
+v -0.00737271 0.05901375 0.06102702
+v -0.00737271 0.05760096 0.06426813
+v -0.01856937 0.04282198 0.06426808
+v -0.01868901 0.04282199 0.06376713
+v -0.01796561 0.04577479 0.06326079
+v -0.01719014 0.04827289 0.06102698
+v -0.00759317 0.05890896 0.06102702
+v -0.00737271 0.05896697 0.06120183
+v -0.00737271 0.05764774 0.06419103
+v -0.00745137 0.05756166 0.06426813
+v -0.01769530 0.04574110 0.06426809
+v -0.01734634 0.04674221 0.06426809
+v -0.01694421 0.04773208 0.06426810
+v -0.01706496 0.04798845 0.06326080
+v -0.01665285 0.04937879 0.06102698
+v -0.00761975 0.05889399 0.06102702
+v -0.00737271 0.05880417 0.06159777
+v -0.00737271 0.05805942 0.06334236
+v -0.00789892 0.05728285 0.06426813
+v -0.01658860 0.04839450 0.06426810
+v -0.01627066 0.04946298 0.06326080
+v -0.01645345 0.04974742 0.06102698
+v -0.00765963 0.05886967 0.06102702
+v -0.00941441 0.05688615 0.06313583
+v -0.00889928 0.05665786 0.06426813
+v -0.01544866 0.05007300 0.06426810
+v -0.01468427 0.05180764 0.06319546
+v -0.01391323 0.05331398 0.06215803
+v -0.01476182 0.05232972 0.06102699
+v -0.01001041 0.05718369 0.06102701
+v -0.01099526 0.05623123 0.06205873
+v -0.01040590 0.05578399 0.06404667
+v -0.01004475 0.05590936 0.06426813
+v -0.01452585 0.05141467 0.06426811
+v -0.01358532 0.05271892 0.06426811
+v -0.01351996 0.05287797 0.06414596
+v -0.01399410 0.05341316 0.06102700
+v -0.01111047 0.05633976 0.06102701
+v -0.01315660 0.05430200 0.06102700
+v -0.01056875 0.05550892 0.06426812
+v -0.01336043 0.05295469 0.06426811
+v -0.01347675 0.05283493 0.06426811
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_85.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06e43824b41cb86ef228e781c522b00e7631ffc6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_85.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.01433483 -0.05597490 0.06154896
+v 0.00535575 -0.05722579 0.06154896
+v 0.01433483 -0.06140799 0.06154894
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+v 0.01284418 -0.06197933 0.06154894
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+v 0.01433483 -0.05501167 0.04534430
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+v 0.01433483 -0.06177275 0.06055929
+v 0.01233089 -0.06210229 0.06154894
+v 0.01336011 -0.06224901 0.05977789
+v 0.01433483 -0.05581990 0.04368538
+v 0.01400875 -0.05581007 0.04367470
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+v 0.00815951 -0.06256051 0.06154894
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+v 0.00535575 -0.05609041 0.04376725
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_86.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09c75db09a6722d9f62d9d30696f4665ba51c736
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_86.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00535575 -0.04568137 0.06880599
+v 0.00535575 -0.04568144 0.08722565
+v 0.00521488 -0.04568137 0.06884078
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+v 0.00515745 -0.04568144 0.08715955
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_87.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..883a53482d5c0cf07ab52c62ff875bb06a831ad4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_87.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02220009 0.02752609 0.07010815
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+v 0.02220009 0.03639777 0.07156529
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_88.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a31b955659feebc608740ede74229df74440862
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_88.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.02666083 -0.02385828 0.06945359
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+v 0.02674381 -0.02428589 0.06988634
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+f 49 72 50
+f 49 70 67
+f 51 54 65
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+f 51 73 52
+f 53 74 54
+f 54 74 75
+f 54 75 66
+f 57 76 77
+f 57 77 58
+f 57 62 78
+f 57 78 79
+f 57 79 76
+f 58 77 80
+f 58 80 59
+f 61 73 65
+f 62 63 78
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+f 74 85 75
+f 75 85 86
+f 75 86 84
+f 75 84 83
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_89.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66b8f98e001314ac9521090656887d1cbc6988da
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_89.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00010564 0.04965946 0.06831096
+v 0.00304587 0.04965946 0.06858580
+v 0.00010218 0.04965945 0.06959249
+v 0.00010218 0.05038573 0.06787999
+v 0.00010218 0.05677387 0.06070469
+v 0.00304587 0.04965943 0.07731751
+v 0.00304587 0.05738099 0.06070469
+v 0.00010218 0.04965944 0.07466011
+v 0.00010218 0.06210489 0.06070471
+v 0.00304587 0.05878406 0.06742140
+v 0.00230908 0.05874984 0.06738074
+v 0.00010218 0.05852296 0.06709937
+v 0.00010218 0.05740884 0.06827358
+v 0.00010218 0.05704634 0.06862649
+v 0.00010218 0.05579533 0.06975026
+v 0.00010218 0.05538466 0.07011619
+v 0.00304587 0.06260808 0.06070471
+v 0.00010218 0.06195532 0.06129669
+v 0.00081015 0.06202503 0.06179271
+v 0.00030186 0.06215939 0.06070471
+v 0.00304587 0.05907938 0.06704572
+v 0.00304587 0.05995015 0.06593006
+v 0.00230908 0.05991340 0.06588940
+v 0.00010218 0.05968778 0.06560805
+v 0.00230908 0.06253077 0.06070471
+v 0.00230908 0.06214798 0.06205293
+v 0.00304587 0.06235204 0.06160569
+v 0.00010218 0.06147114 0.06251805
+v 0.00230908 0.06139002 0.06354426
+v 0.00188666 0.06247500 0.06070471
+v 0.00304587 0.06032279 0.06537711
+v 0.00010218 0.06005028 0.06503233
+v 0.00304587 0.06218473 0.06213099
+v 0.00304587 0.06161817 0.06324664
+v 0.00010218 0.06116568 0.06307262
+v 0.00304587 0.06142677 0.06362232
+f 1 2 6
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+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 17
+f 2 17 27
+f 2 27 33
+f 2 33 34
+f 2 34 36
+f 2 36 31
+f 2 31 22
+f 2 22 21
+f 2 21 10
+f 2 10 6
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+f 3 15 14
+f 3 14 13
+f 3 13 12
+f 3 12 24
+f 3 24 32
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+f 3 35 28
+f 3 28 18
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+f 3 9 5
+f 3 5 4
+f 5 9 20
+f 5 20 30
+f 5 30 25
+f 5 25 17
+f 5 17 7
+f 6 10 11
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+f 6 12 13
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+f 6 16 8
+f 9 18 19
+f 9 19 20
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 17 25 26
+f 17 26 27
+f 18 28 19
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+f 19 26 25
+f 19 25 30
+f 19 30 20
+f 22 31 23
+f 23 31 29
+f 23 29 32
+f 23 32 24
+f 26 33 27
+f 26 29 34
+f 26 34 33
+f 28 35 29
+f 29 35 32
+f 29 31 36
+f 29 36 34
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_9.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42ec112098b278118bfaa70205bffc9863322774
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_9.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00535575 -0.05215664 0.08393225
+v 0.00535575 -0.05215420 0.08378053
+v 0.00663801 -0.05318104 0.08257384
+v 0.00663801 -0.05318104 0.08277685
+v 0.00549138 -0.05225688 0.08391800
+v 0.00535575 -0.05156497 0.08521870
+v 0.00535575 -0.05183145 0.08141135
+v 0.00547745 -0.05194637 0.08141135
+v 0.00712188 -0.05318104 0.08257384
+v 0.00812041 -0.05260405 0.08141135
+v 0.00712188 -0.05318104 0.08277685
+v 0.00812188 -0.05286077 0.08391800
+v 0.00815927 -0.05133761 0.08678438
+v 0.00535575 -0.05096109 0.08640329
+v 0.00535575 -0.02834816 0.08141144
+v 0.01112554 -0.05115422 0.08141135
+v 0.01130003 -0.05128625 0.08414594
+v 0.01046939 -0.05091953 0.08635342
+v 0.00834035 -0.04860176 0.08833297
+v 0.00655443 -0.04753579 0.08866991
+v 0.00535575 -0.04956750 0.08717687
+v 0.00535575 -0.02944595 0.08868849
+v 0.00585281 -0.02894474 0.08868849
+v 0.00814754 -0.02854622 0.08868850
+v 0.00815927 -0.02820391 0.08141144
+v 0.01126264 -0.05107109 0.08141135
+v 0.01264021 -0.05034251 0.08240362
+v 0.01264021 -0.05034252 0.08315725
+v 0.01241953 -0.04978264 0.08514463
+v 0.01130003 -0.04877046 0.08675874
+v 0.00748625 -0.04753579 0.08866991
+v 0.01101557 -0.03408882 0.08868847
+v 0.00535575 -0.04860665 0.08766695
+v 0.00544152 -0.04860176 0.08773249
+v 0.00816073 -0.03640415 0.08868847
+v 0.00590853 -0.03602274 0.08868847
+v 0.00535575 -0.03547264 0.08868847
+v 0.00535575 -0.04868733 0.08764273
+v 0.00925897 -0.02882005 0.08868849
+v 0.01005443 -0.02882247 0.08141143
+v 0.01241660 -0.04956014 0.08141136
+v 0.01274798 -0.04836703 0.08141136
+v 0.01281909 -0.04872643 0.08184231
+v 0.01283669 -0.04877045 0.08414595
+v 0.01266587 -0.04781450 0.08580851
+v 0.01002071 -0.03580759 0.08868847
+v 0.00936381 -0.03607897 0.08868847
+v 0.01107496 -0.03090311 0.08868849
+v 0.01006836 -0.02913300 0.08868849
+v 0.01106983 -0.02959016 0.08141143
+v 0.01283009 -0.04715191 0.08141137
+v 0.01283889 -0.04617150 0.08141137
+v 0.01283889 -0.04649913 0.08413813
+v 0.01266587 -0.04691967 0.08580852
+v 0.01284549 -0.03269030 0.08141142
+v 0.01187701 -0.03020628 0.08141143
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 21
+f 1 21 38
+f 1 38 33
+f 1 33 37
+f 1 37 22
+f 1 22 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 11
+f 3 11 4
+f 3 8 10
+f 3 10 9
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 6
+f 4 6 5
+f 7 15 25
+f 7 25 40
+f 7 40 50
+f 7 50 56
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+f 7 55 52
+f 7 52 51
+f 7 51 42
+f 7 42 41
+f 7 41 26
+f 7 26 16
+f 7 16 10
+f 7 10 8
+f 9 10 12
+f 9 12 11
+f 10 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 13
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+f 15 22 23
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+f 18 29 30
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+f 22 35 47
+f 22 47 46
+f 22 46 32
+f 22 32 48
+f 22 48 49
+f 22 49 39
+f 22 39 24
+f 22 24 23
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+f 27 44 28
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+f 29 45 30
+f 30 45 32
+f 31 32 46
+f 31 46 47
+f 31 47 35
+f 32 45 48
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+f 39 49 40
+f 40 49 50
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+f 44 53 45
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+f 45 54 48
+f 48 55 56
+f 48 56 49
+f 48 54 55
+f 49 56 50
+f 52 55 53
+f 53 55 54
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_90.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6db579fa255e91e35e751af40cf1c807c687c1db
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_90.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.02828085 0.03855343 0.04231977
+v 0.02828085 0.02840769 0.04231973
+v 0.02828085 0.03926654 0.04169222
+v 0.02750442 0.03867163 0.04231977
+v 0.00535799 0.02840769 0.04231973
+v 0.02828085 0.02840781 0.01079770
+v 0.02570694 0.03945878 0.04186378
+v 0.02570694 0.03894310 0.04231977
+v 0.02828085 0.04056544 0.04047324
+v 0.02570694 0.04093563 0.04049130
+v 0.00535799 0.04098887 0.04231978
+v 0.00535799 0.02840786 -0.00380303
+v 0.02658885 0.02840786 -0.00380303
+v 0.02679754 0.02871310 -0.00380302
+v 0.02722391 0.02943139 -0.00380302
+v 0.02731592 0.03100826 -0.00380302
+v 0.02776248 0.04167746 -0.00380298
+v 0.02828085 0.02951057 0.01079771
+v 0.02278296 0.03963672 0.04201729
+v 0.02278296 0.03929900 0.04231977
+v 0.02489909 0.03904182 0.04231977
+v 0.02278296 0.04111358 0.04066738
+v 0.02048955 0.04124737 0.04079830
+v 0.02828085 0.04074339 0.04030620
+v 0.02828085 0.04167731 0.03935810
+v 0.02744607 0.04167730 0.03948000
+v 0.02570694 0.04167730 0.03972831
+v 0.00646430 0.04090315 0.04231978
+v 0.00786458 0.04167730 0.04151615
+v 0.00535799 0.04167730 0.04169223
+v 0.00535799 0.04167746 -0.00380298
+v 0.02828085 0.04167741 0.01121762
+v 0.02224888 0.03936135 0.04231977
+v 0.01853948 0.04135907 0.04090666
+v 0.02408226 0.04167730 0.03992696
+v 0.02278296 0.04167730 0.04008046
+v 0.02124354 0.04167730 0.04026105
+v 0.01886262 0.04167730 0.04053645
+v 0.00816079 0.04076676 0.04231978
+v 0.00816079 0.04167730 0.04149358
+v 0.00912124 0.04068623 0.04231978
+v 0.01969965 0.03965230 0.04231978
+v 0.01757005 0.04167730 0.04067189
+v 0.01695519 0.04167730 0.04073510
+v 0.01693274 0.04144090 0.04098341
+v 0.01693274 0.03995625 0.04231978
+v 0.01701802 0.03994715 0.04231978
+v 0.01738829 0.03990689 0.04231978
+v 0.01098380 0.04167730 0.04127687
+v 0.01108478 0.04051477 0.04231978
+v 0.01401101 0.04167730 0.04101953
+v 0.01401101 0.04158119 0.04111885
+v 0.01416584 0.04023031 0.04231978
+v 0.01183429 0.04167730 0.04120915
+v 0.01183429 0.04044853 0.04231978
+f 1 2 6
+f 1 6 18
+f 1 18 32
+f 1 32 25
+f 1 25 24
+f 1 24 9
+f 1 9 3
+f 1 3 4
+f 1 4 8
+f 1 8 21
+f 1 21 20
+f 1 20 33
+f 1 33 42
+f 1 42 48
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+f 1 53 55
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+f 1 50 41
+f 1 41 39
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+f 22 36 23
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+f 34 48 42
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+f 45 52 46
+f 46 52 53
+f 49 50 54
+f 50 55 54
+f 51 54 52
+f 52 54 55
+f 52 55 53
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_91.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..627eee88a3e99cc0c2bca8e0f0f4e1c78885b709
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_91.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01867450 -0.04333379 0.05730309
+v -0.01416485 -0.04333379 0.05730309
+v -0.01867450 -0.04333381 0.06233748
+v -0.01867450 -0.01562299 0.05730319
+v -0.01394689 -0.04333381 0.06233748
+v -0.01015086 -0.01562299 0.05730319
+v -0.00737271 -0.01832736 0.06191475
+v -0.00737271 -0.01888613 0.06233757
+v -0.01867450 -0.02934549 0.06233753
+v -0.01867450 -0.01562301 0.06231589
+v -0.01192330 -0.01562300 0.05973809
+v -0.00737271 -0.01695755 0.06233758
+v -0.00737271 -0.01723151 0.06197094
+v -0.00737271 -0.01782284 0.06191475
+v -0.01846981 -0.02805706 0.06233754
+v -0.01583218 -0.02166372 0.06233756
+v -0.01454766 -0.01995485 0.06233757
+v -0.01135904 -0.01738341 0.06233758
+v -0.01803500 -0.01562301 0.06230506
+v -0.01767211 -0.02518182 0.06233755
+v -0.01243445 -0.01562300 0.06030283
+v -0.01614307 -0.01562301 0.06202860
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 8
+f 3 8 12
+f 3 12 18
+f 3 18 17
+f 3 17 16
+f 3 16 20
+f 3 20 15
+f 3 15 9
+f 4 10 19
+f 4 19 22
+f 4 22 21
+f 4 21 11
+f 4 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 13
+f 7 13 12
+f 7 12 8
+f 9 15 10
+f 10 16 17
+f 10 17 18
+f 10 18 12
+f 10 12 19
+f 10 15 20
+f 10 20 16
+f 11 21 12
+f 12 21 22
+f 12 22 19
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_92.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0b995a0cb46c7483ab482051813e444a6ac500e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_92.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.01433483 -0.03655724 0.07963172
+v 0.01985888 -0.03655724 0.07800911
+v 0.01433483 -0.03655722 0.07417268
+v 0.01433483 -0.04308899 0.07894410
+v 0.02217521 -0.03691514 0.07706367
+v 0.02226887 -0.03655723 0.07708321
+v 0.02508615 -0.03655720 0.06914209
+v 0.01433483 -0.04007079 0.07216069
+v 0.01433483 -0.04566851 0.07817316
+v 0.02163638 -0.03879850 0.07681364
+v 0.02363805 -0.03691514 0.07640343
+v 0.02371066 -0.03655723 0.07643600
+v 0.02248041 -0.03655723 0.07699075
+v 0.02508615 -0.03655723 0.07555307
+v 0.02508615 -0.04341192 0.06632919
+v 0.01433483 -0.05192086 0.06632916
+v 0.02413162 -0.04417577 0.07364264
+v 0.02482936 -0.04220730 0.07406457
+v 0.02268036 -0.03981765 0.07601144
+v 0.01433483 -0.04618572 0.07787885
+v 0.02508615 -0.03969979 0.07472873
+v 0.02508615 -0.03691514 0.07550357
+v 0.02508615 -0.03666199 0.07553875
+v 0.02508615 -0.05280908 0.06632916
+v 0.01433483 -0.05884979 0.06632913
+v 0.02508615 -0.04351452 0.07329754
+v 0.02508615 -0.04243644 0.07378719
+v 0.02300766 -0.04593910 0.07324153
+v 0.02481147 -0.04786610 0.07111885
+v 0.02508615 -0.04725286 0.07127904
+v 0.02508615 -0.04198470 0.07397863
+v 0.02508615 -0.04151113 0.07414792
+v 0.01433483 -0.04745147 0.07701546
+v 0.02185107 -0.05058748 0.07099383
+v 0.02280876 -0.04880014 0.07165277
+v 0.02508615 -0.05237262 0.06696987
+v 0.02402428 -0.05298367 0.06753505
+v 0.02303081 -0.05461823 0.06632915
+v 0.01635334 -0.05817763 0.06632914
+v 0.01433483 -0.05840242 0.06689953
+v 0.02508615 -0.04813234 0.07068781
+v 0.02508615 -0.04770460 0.07101077
+v 0.02380117 -0.04983457 0.07044559
+v 0.01433483 -0.05690970 0.06850781
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+v 0.01714474 -0.05452878 0.06980486
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+v 0.02508615 -0.05090608 0.06850522
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_93.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae331c6c68102d339ff770185e481ea728f95d75
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_93.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01868901 0.01360503 0.06102685
+v -0.01374817 0.01360503 0.06102685
+v -0.01868901 0.01360502 0.06280572
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+v -0.00737271 0.01601948 0.06426798
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+v -0.00737271 0.01727564 0.06187680
+v -0.00737271 0.01651886 0.06273054
+v -0.00737271 0.01632581 0.06314552
+v -0.01863251 0.01360502 0.06280508
+v -0.00855031 0.01630006 0.06426798
+v -0.01096645 0.01761798 0.06426798
+v -0.01407830 0.02037996 0.06426799
+v -0.01629503 0.02443154 0.06426801
+v -0.01696747 0.02584728 0.06426801
+v -0.01715691 0.02631061 0.06426802
+v -0.01774072 0.02807127 0.06426802
+v -0.01804537 0.02905199 0.06426803
+v -0.01855607 0.03100571 0.06426803
+v -0.01867350 0.03160289 0.06426804
+v -0.01868901 0.03168269 0.06426804
+v -0.01868901 0.03989654 0.06426807
+v -0.01478286 0.03989656 0.06102695
+v -0.01816502 0.01360502 0.06279779
+v -0.01796561 0.01360502 0.06277399
+v -0.01573115 0.01360502 0.06226670
+v -0.00737271 0.02110842 0.06426800
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+v -0.00980436 0.01917531 0.06102687
+v -0.00750676 0.01816627 0.06163949
+v -0.00737271 0.01830784 0.06183493
+v -0.01426109 0.03989654 0.06426807
+v -0.00737271 0.02104921 0.06417346
+v -0.00737271 0.02017919 0.06304781
+v -0.00737271 0.01969269 0.06257826
+v -0.00995613 0.02014574 0.06102687
+f 1 2 6
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+f 31 38 32
+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_94.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54fdfe45b3951ac1cd71c402b6a7ef9d405304e5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_94.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.03262271 0.03699069 0.02613733
+v 0.03019253 0.02963835 0.01393367
+v 0.02828085 0.03158095 0.01197511
+v 0.02828085 0.03576337 0.01675709
+v 0.02828085 0.03699072 0.01861110
+v 0.02828085 0.03699069 0.02613733
+v 0.02828085 0.03249625 0.02613731
+v 0.02894599 0.02216526 0.02140052
+v 0.03038761 0.02314834 0.02035200
+v 0.03028135 0.00692191 0.00840832
+v 0.03036253 0.00738696 0.00855246
+v 0.03084619 0.00692192 0.00658823
+v 0.03130604 0.00692193 0.00361787
+v 0.03088231 0.00692194 0.00072665
+v 0.03092056 0.01624338 0.00659674
+v 0.03016958 0.01782100 0.00502820
+v 0.02894599 0.01875992 0.00407011
+v 0.02894599 0.00692195 -0.00273548
+v 0.02828085 0.02950886 0.01079656
+v 0.02828085 0.02840507 0.02394697
+v 0.02894599 0.02036985 0.02031807
+v 0.02894599 0.00692190 0.01077952
+v 0.02916274 0.00692195 -0.00246981
+v 0.02828085 0.02840512 0.01079938
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_95.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..280d0db8d8512a3e8528b3a8684582fb280ed7c6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_95.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.01433483 0.01264099 0.06609620
+v 0.01433483 0.01326024 0.06395123
+v 0.01693400 0.01388094 0.06379125
+v 0.01917517 0.01434573 0.06416517
+v 0.01917517 0.01434573 0.06564600
+v 0.01716112 0.01380662 0.06648129
+v 0.01633733 0.01434572 0.06842719
+v 0.01433483 0.01283041 0.06653896
+v 0.02074884 0.01838028 0.06160538
+v 0.02074884 0.01743612 0.06160537
+v 0.02220009 0.01747837 0.06162583
+v 0.01433483 0.01630107 0.06398659
+v 0.02220009 0.01669594 0.06322200
+v 0.02220009 0.01671487 0.06606644
+v 0.02003360 0.01530883 0.06648130
+v 0.01828671 0.01482363 0.06763469
+v 0.01433483 0.01401351 0.06921039
+v 0.01716112 0.01531756 0.06934434
+v 0.01684161 0.01695671 0.07219623
+v 0.01580457 0.01755264 0.07393006
+v 0.01495999 0.01495184 0.07041588
+v 0.01433483 0.01430782 0.06972198
+v 0.02144405 0.02034728 0.06195698
+v 0.02220009 0.01963916 0.06152352
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+v 0.01433483 0.01635499 0.06402752
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+v 0.01690475 0.01920054 0.07518021
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+v 0.01736591 0.02752605 0.07955387
+v 0.02220009 0.02627738 0.07687500
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+
diff --git a/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_96.obj b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5110b37d6351e591fe83e07cae2cdecce08e8abb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mjcf/mesh/alarm_clock_039_collision_96.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.01433483 -0.04617079 0.07315988
+v 0.01433483 -0.04617078 0.07009170
+v 0.00535575 -0.04617079 0.07315988
+v 0.01433483 -0.05121268 0.07315986
+v 0.01165060 -0.04617077 0.06927692
+v 0.01433483 -0.05597346 0.06155074
+v 0.00535575 -0.04617077 0.06888374
+v 0.00535575 -0.05262936 0.07315986
+v 0.01404040 -0.05140061 0.07315986
+v 0.01433483 -0.05377779 0.07117576
+v 0.00815951 -0.04617077 0.06874965
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+v 0.01405534 -0.05601201 0.06155074
+v 0.00535575 -0.05722469 0.06155074
+v 0.00803207 -0.05280123 0.07315986
+v 0.00535575 -0.05572613 0.07050757
+v 0.01109160 -0.05232739 0.07315986
+v 0.01433483 -0.05504349 0.07017576
+v 0.01433483 -0.06076800 0.06327459
+v 0.01254271 -0.06201442 0.06176776
+v 0.01284418 -0.06197908 0.06155072
+v 0.00535575 -0.06257980 0.06155072
+v 0.00815951 -0.05280604 0.07315986
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