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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mesh/alarm_clock_015_collision.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mesh/alarm_clock_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1498eb04da8086012ba385dbceef204b0c90be5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mesh/alarm_clock_015_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mesh/alarm_clock_015_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mesh/alarm_clock_015_geometry_Looks_material_0.png
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+size 12422679
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mesh/material.mtl
new file mode 100644
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+# https://github.com/mikedh/trimesh
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+map_Kd alarm_clock_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/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/2037921d1ea3507eac503b6ad59e0b85/mjcf/alarm_clock_015.xml b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/alarm_clock_015.xml
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f815b53e33a895b1745d1e13621cdd49134f3db8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015.obj
@@ -0,0 +1,115190 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_015_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ede2ea2c4653f95a6995ab516a48fa032fefcc0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision.obj
@@ -0,0 +1,24944 @@
+# https://github.com/mikedh/trimesh
+
+o alarm_clock_015_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_0.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d778be2f4ace6718160541d2aab63f6aaf5a1b13
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_1.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755f9e3e8ffeedfe723c0dd011d036b242c198d5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_10.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68704cb1879afafb98fa8f60e7bdb6c5e72f641c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_10.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_11.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd5c0d5bcba53eba5f9470d0e0b27671b4451ea3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_11.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_12.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde5c053fd2685eb8f67fa97015cc0b8c2b74b61
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_12.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_13.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a6ced2737ca770ce4ea7ac718638b513656dd19
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_13.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_14.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fd1d33db77eeb135428e94cf1736e2e9903bde7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_14.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_15.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22c3b23c9a26f6fb74dca662f347d6962eae2909
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_15.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_16.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b087d2780218fb58b57bd4ac52819cb978a5c51d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_16.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.02709665 0.03532249 -0.00835303
+v 0.02333745 0.02497818 0.01164206
+v 0.02344555 0.02203762 0.01164205
+v 0.02386444 0.00794060 0.01164200
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+v 0.02538596 0.00794065 -0.00346395
+v 0.02565351 0.00794066 -0.00643504
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+v -0.00051226 0.03532249 -0.00835303
+v 0.02267533 0.03532242 0.01164210
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+v 0.02299964 0.03086199 0.01164208
+v 0.02318881 0.02792142 0.01164207
+v -0.00051226 0.00794060 0.01164200
+v -0.00051226 0.00794067 -0.00835313
+v -0.00051226 0.03532242 0.01164210
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 9 16
+f 1 16 10
+f 1 10 17
+f 1 17 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 2
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+f 2 15 4
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+f 4 16 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 10 16 15
+f 10 15 17
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_17.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aa7f58d3c452f46c62168ad1e8ab6d857e60487
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_17.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.00523585 0.05164853 0.07756631
+v 0.00523585 0.05178710 0.07746871
+v 0.00493775 0.05184490 0.07748579
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+v -0.00051141 0.05159156 0.07849841
+v 0.00523585 0.05164855 0.07080738
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+v 0.00523585 0.05372960 0.07596565
+v 0.00100303 0.05164852 0.07827637
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+v 0.00204993 0.05549442 0.07493595
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+v -0.00051141 0.05559304 0.07504331
+v -0.00083790 0.05560579 0.07505308
+v -0.00382598 0.05159159 0.07195177
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+v -0.00083790 0.05852428 0.05829729
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+v 0.00523585 0.05838994 0.06329450
+v 0.00485347 0.05825903 0.06193784
+v 0.00288478 0.05865774 0.06096427
+v -0.00083790 0.05902244 0.05978329
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+v 0.00523585 0.05717600 0.05894634
+v 0.00523585 0.05707823 0.05862913
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_18.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc28ff0cc66715ba034c647fc142e5d8914e314
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_18.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.01210219 0.01715651 0.07404778
+v -0.00672909 0.02038455 0.06473138
+v -0.01210219 0.02063454 0.06473139
+v -0.01210219 0.01361757 0.07404777
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+v -0.00672909 0.00467571 0.06980497
+v -0.01164246 0.01351914 0.07404777
+v -0.01015809 0.01372069 0.07404777
+f 1 2 3
+f 1 3 8
+f 1 8 10
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+f 1 9 17
+f 1 17 18
+f 1 18 15
+f 1 15 5
+f 1 5 2
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+f 5 16 12
+f 7 16 11
+f 7 11 10
+f 7 10 8
+f 9 11 17
+f 11 16 17
+f 15 18 16
+f 16 18 17
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_19.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..062777fb7d9108e7fba44fee311023f01b89ddf4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_19.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v -0.00051226 0.03532707 -0.00835303
+v -0.00051226 0.03532700 0.01164210
+v -0.00051226 0.05059527 -0.00835297
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+v -0.00051226 0.05473972 0.01139360
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+v 0.00205315 0.05468078 0.01139360
+v 0.02804808 0.03554951 -0.00835303
+v 0.03065451 0.03711226 -0.00835302
+v 0.02899157 0.04479096 0.01164213
+v -0.00051226 0.05231199 -0.00346379
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+v 0.01360540 0.05141464 -0.00346379
+v 0.01360540 0.05044886 -0.00611976
+v 0.01155749 0.04993557 -0.00780691
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+v 0.00995450 0.04981199 -0.00835298
+v 0.00782770 0.04997739 -0.00835298
+v -0.00051226 0.05454961 0.00842252
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+v 0.00494043 0.05459523 0.01139360
+v 0.00205315 0.05447547 0.00842252
+v 0.03172423 0.03958186 -0.00835301
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+v -0.00051226 0.05277587 -0.00188626
+v 0.00494043 0.05269031 -0.00105835
+v 0.00782770 0.05260476 -0.00074519
+v 0.01360540 0.05231768 -0.00049075
+v 0.01649267 0.05212567 -0.00049075
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_2.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d41145c8585ff3c496107de9b9fdaa657997493d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_2.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_20.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35168ddaff6ff89f0790d21a26285558cad78f02
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_20.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_21.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4b197a1cb588d4edcc400fc9e799d614742bbc5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_21.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_22.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c674598ab811c2f2c87a3ba4ddecdf54a3ffbdc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_22.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_23.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f4be162ab330e49dc28fcb60c4a6be0086fbf04
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_23.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_24.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a53a32f06c8c65a50b3e853ab80d99c27f41d7a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_24.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_25.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9de1047da26edc51ab5a27ee6dec885489dd268
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_25.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_26.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a7de1e08c1271c068aea89d7e9914dc74066ff9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_26.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02679675 0.04624791 -0.00835299
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_27.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..771d90dbb10e152da04b6d14ffe12970a755010e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_27.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.02617219 -0.04282626 0.00843732
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_28.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62947e859933919d013dda8db16e71fe0f71c16a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_28.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_29.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8165136eb33f9e62adfbcf5783567d78150d9052
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_29.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_3.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..276d68daef2fd84fde873d318e744e88b05d44b3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_3.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_30.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45bdee7f0af04d1892ee8d9490c319853a6781fd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_30.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_31.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94ac118c877474d63def4682346c70a3c5b72002
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_31.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_32.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a8a344b30492c8810de928dea97f48938e690ea
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_32.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+v -0.00780354 0.00301142 0.07404864
+v -0.00815877 0.00047070 0.07404863
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+f 1 13 22
+f 1 22 29
+f 1 29 39
+f 1 39 47
+f 1 47 50
+f 1 50 54
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+f 1 24 23
+f 1 23 14
+f 1 14 7
+f 1 7 2
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+f 3 8 4
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_33.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cd40b55eecb36cec53839552c9861a24f036ce4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_33.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+v -0.02085543 -0.01646794 0.07152685
+v -0.02028788 -0.02425313 0.07152682
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+v -0.02070688 -0.04429161 0.07152675
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+v -0.02051474 0.00200262 0.07140382
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+v -0.02394832 0.00200262 0.07130123
+v -0.02394832 0.00144525 0.07132688
+v -0.02776618 -0.03105045 0.07152680
+v -0.02708802 -0.02796447 0.07152681
+v -0.02604092 -0.02490567 0.07152682
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+v -0.02647203 -0.04429161 0.07152675
+v -0.02099591 -0.04429158 0.06191596
+v -0.02028788 -0.04237924 0.05405942
+v -0.02028788 -0.04216173 0.05429025
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+v -0.02810042 -0.03384641 0.07152679
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+v -0.02028788 0.00200268 0.05405959
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+v -0.02225938 -0.04429156 0.05732514
+v -0.02105969 -0.04248347 0.05405942
+v -0.02712839 0.00200263 0.06785769
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+v -0.02807458 -0.03699130 0.07152677
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+v -0.02638807 -0.01515373 0.05405952
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_34.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89eac7bd953d0c152b57be8a75938980e71d2556
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_34.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00672909 -0.02768064 0.09088907
+v -0.00672909 -0.02731571 0.08926519
+v -0.00943852 -0.02731570 0.08846067
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+v -0.00693055 -0.03379321 0.07405016
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+v -0.00950427 -0.05601134 0.07405007
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_35.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd8a7117d37f4c8f8f8f2f7f18e1795e85ba34b9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_35.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
+v -0.00051226 -0.05452235 0.00843728
+v -0.00051226 -0.03762586 0.00843734
+v -0.00049731 -0.05452235 0.00843728
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+v 0.00167665 -0.05091999 0.03473536
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_36.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9708febae7940b0cd3711ad168fe35be632be3d3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_36.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_37.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a566188411906c83253236ac316525ecb7bee3b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_37.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_38.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85e6ea58eed8ebf31148e296ad1c8876b8585ef9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_38.obj
@@ -0,0 +1,607 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_39.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5bf7282b8ce1067909007ffb23a5176a1d2170c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_39.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_4.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b9e9d031e85237e9fd707b76dae76e771885ba4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_4.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_40.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21c58a97f5c5f053a288921cca6896f5f91abcd4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_40.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_41.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53122997a7c2d76b1a07b90a5a3a4423b5ec4056
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_41.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_42.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a14648e8172e43ced5d338ae359a7fb3c4511204
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_42.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00036561 -0.04461692 0.08765974
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_43.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b06db262bd7dea03bab39261e71aef9690a224b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_43.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01694106 0.02276548 0.08466381
+v -0.01707682 0.02276548 0.08460153
+v -0.01694106 0.02269848 0.08464117
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_44.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80551a81cc08a61668affa484ac32c5cc5e1d141
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_44.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_45.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16cfa8d02b5191ce70bb44e533262cf97fc76a5c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_45.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v 0.00061524 0.00293848 0.05265111
+v 0.01419455 0.00293848 0.05265111
+v 0.00061524 0.00293841 0.06991038
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_46.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5bc2ebba50071c22ef1a21c057f2190bc46508a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_46.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_47.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b01ec1837f7cb0b2da0fbbbf5fb94e693ee7ee7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_47.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_48.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..868c2e63cb64d7bfb8b7050ecd3fae09b80a3b9b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_48.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v -0.01210219 -0.05765268 0.00843761
+v -0.01210219 -0.05757337 0.00546598
+v -0.00672962 -0.05512691 0.01123565
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_49.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39a45bb382eb479ebd89bcc596012d3eb1759138
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_49.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.02386657 -0.02043154 0.00843740
+v 0.02381168 -0.02208584 0.00843740
+v -0.00051226 -0.02043154 0.00843740
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_5.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c10aa87862c20218871e48b0a0a0eaa7ebf86d9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_5.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01147989 -0.03256963 -0.03512054
+v 0.01186814 -0.03604942 -0.03615418
+v 0.01180155 -0.03538315 -0.03512055
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_50.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c72410de91aa38477cfe88a8d211eefd25a104c9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_50.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.02657995 0.00200268 0.05574215
+v -0.01694109 0.00200268 0.05574215
+v -0.02659092 0.00200267 0.05597177
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_51.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72685bab55924cd9f35599aa8503b422af62bd00
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_51.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_52.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28381092ae99cb02bd8e2cbf5b523ec308b48a83
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_52.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_53.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d9c9500c98cae7da81bddd3ceffb964929adcb3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_53.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_54.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..809ff51f06576c7a2e427aef781f955ac7bf8c3a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_54.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_55.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d07865f3955ac578ebd97201f022c169234b864
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_55.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00672909 0.04973082 0.08107385
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+f 1 24 22
+f 1 22 14
+f 1 14 7
+f 1 7 8
+f 1 8 2
+f 2 8 15
+f 2 15 21
+f 2 21 23
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+f 2 16 9
+f 2 9 4
+f 2 4 3
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+f 4 10 5
+f 5 10 11
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+f 12 18 19
+f 12 13 20
+f 12 20 18
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+f 14 23 21
+f 18 22 24
+f 18 24 19
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_56.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..123fb329ef73211f53c53ccbe12522e6c4ef6235
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_56.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01081409 -0.02708534 0.06249221
+v 0.01081409 -0.02200357 0.06249223
+v 0.01190290 -0.02720815 0.06249221
+v 0.01695604 -0.02818339 0.06779128
+v 0.01529772 -0.02818340 0.07059435
+v 0.01529096 -0.02818340 0.07061043
+v 0.01526008 -0.02818340 0.07070448
+v 0.01522726 -0.02809145 0.07070448
+v 0.01418574 -0.02501395 0.07070449
+v 0.01081409 -0.02595707 0.06312566
+v 0.01081409 -0.02200358 0.06499868
+v 0.02067422 -0.02200357 0.06249223
+v 0.01195503 -0.02721239 0.06249221
+v 0.01697245 -0.02818339 0.06779208
+v 0.01360562 -0.02734488 0.06249221
+v 0.02020510 -0.02818340 0.07070448
+v 0.01371084 -0.02251420 0.07070450
+v 0.01081409 -0.02201023 0.06501797
+v 0.01081409 -0.02208464 0.06498501
+v 0.01081409 -0.02439987 0.06390139
+v 0.01081409 -0.02448699 0.06385959
+v 0.01082278 -0.02200358 0.06502119
+v 0.01864814 -0.02200358 0.06402118
+v 0.01632090 -0.02201509 0.07070450
+v 0.01657669 -0.02216029 0.07070450
+v 0.01858733 -0.02451363 0.07070449
+v 0.02023116 -0.02818340 0.07059516
+v 0.02022730 -0.02818340 0.07057908
+v 0.01932575 -0.02818339 0.06802118
+v 0.01905065 -0.02477374 0.06249222
+v 0.01649271 -0.02705449 0.06249221
+v 0.01371084 -0.02245975 0.07070450
+v 0.01091737 -0.02200358 0.06502681
+v 0.01649947 -0.02200358 0.06494804
+v 0.01360562 -0.02200358 0.06517713
+f 1 2 12
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+f 1 15 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
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+f 11 18 22
+f 12 23 24
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+f 12 27 28
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+f 12 29 30
+f 14 15 29
+f 15 31 29
+f 17 32 18
+f 18 32 22
+f 22 32 24
+f 22 24 33
+f 23 34 24
+f 24 34 35
+f 24 35 33
+f 29 31 30
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_57.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db145fac921ae6fda52c01ddcaa9022f468318d5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_57.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.02570765 0.03053792 0.05265121
+v 0.02561002 0.03053793 0.05035607
+v 0.01947440 0.03053792 0.05265121
+v 0.02551116 0.02826558 0.05265120
+v 0.02548981 0.03053793 0.05003417
+v 0.02449151 0.02525505 0.05265119
+v 0.01947440 0.03053795 0.04356671
+v 0.01947440 0.01919846 0.05265117
+v 0.02449090 0.03053794 0.04760387
+v 0.02442195 0.02509409 0.05265119
+v 0.01968126 0.03053795 0.04356671
+v 0.01947440 0.02983305 0.04356671
+v 0.02398016 0.02906818 0.04824234
+v 0.02402775 0.02589779 0.05111370
+v 0.02290497 0.02326024 0.05265119
+v 0.02437984 0.03053794 0.04741891
+f 1 2 5
+f 1 5 9
+f 1 9 16
+f 1 16 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 10
+f 1 10 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 12
+f 3 12 8
+f 5 6 9
+f 6 10 9
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+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 9 10 14
+f 9 14 16
+f 10 15 14
+f 11 16 12
+f 12 16 13
+f 13 16 14
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_58.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdd614ec6972ce80dbce49790f24971360e7ead2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_58.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.00672930 0.01141553 0.07500239
+v -0.00672930 0.01147042 0.07496912
+v -0.00382844 0.01336258 0.08012039
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+v -0.00853015 0.01155276 0.07512053
+v -0.01694009 0.01649633 0.07133030
+v -0.00672930 0.01320923 0.07413720
+v -0.00672930 0.01342232 0.07975102
+v -0.00672930 0.01208554 0.07729850
+v -0.00382844 0.01924738 0.08012041
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+v -0.00661635 0.01448948 0.08154964
+v -0.00661635 0.01362252 0.08012039
+v -0.00853015 0.01155276 0.07556477
+v -0.01465790 0.01422151 0.07438678
+v -0.01694009 0.01597485 0.07186439
+v -0.01694009 0.01805108 0.07126875
+v -0.01694009 0.01880989 0.07126875
+v -0.00672930 0.01332870 0.07413887
+v -0.00825675 0.01462994 0.08132169
+v -0.00382844 0.02408760 0.08299223
+v -0.00672930 0.01556960 0.07442339
+v -0.00382844 0.01531609 0.08317190
+v -0.00672930 0.01449917 0.08153467
+v -0.00661635 0.01548400 0.08303713
+v -0.00933366 0.01406327 0.07980759
+v -0.00949796 0.01241328 0.07664295
+v -0.01210232 0.01349175 0.07694078
+v -0.01257724 0.01369195 0.07699236
+v -0.01465790 0.01422150 0.07614380
+v -0.01694009 0.01565516 0.07526530
+v -0.01694009 0.02029359 0.07264142
+v -0.01210232 0.02790908 0.08192905
+v -0.00933366 0.01575040 0.08247309
+v -0.01018210 0.01492055 0.08084084
+v -0.00950566 0.01731482 0.08453459
+v -0.00382844 0.02408758 0.08820341
+v -0.00382844 0.01535161 0.08322348
+v -0.00661635 0.01695641 0.08491228
+v -0.00672930 0.01696932 0.08489731
+v -0.01173907 0.01433773 0.07886086
+v -0.01210103 0.01405681 0.07805057
+v -0.01366442 0.01476880 0.07812544
+v -0.01399430 0.01484468 0.07792245
+v -0.01548452 0.01520149 0.07699237
+v -0.01694009 0.01612336 0.07675777
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+v -0.01257724 0.01527898 0.07980927
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+v -0.01210103 0.01700162 0.08278589
+v -0.01217420 0.01696449 0.08268273
+v -0.00672930 0.01875978 0.08632490
+v -0.00930671 0.01935229 0.08612857
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+v -0.00382844 0.02203718 0.08792886
+v -0.00382844 0.01682079 0.08505538
+v -0.00382844 0.01855474 0.08649129
+v -0.00661635 0.01881951 0.08639644
+v -0.01433059 0.01732290 0.08167111
+v -0.01528814 0.01672717 0.07974105
+v -0.01694009 0.01745369 0.07913042
+v -0.01694009 0.01727932 0.07884091
+v -0.01694009 0.02601692 0.07916373
+v -0.01399430 0.02790906 0.08654788
+v -0.01210232 0.02649639 0.08714188
+v -0.00950566 0.02497393 0.08776249
+v -0.01217420 0.01909237 0.08494058
+v -0.01399430 0.01985441 0.08466771
+v -0.01449361 0.02006591 0.08459117
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+v -0.01694009 0.01833357 0.08041325
+v -0.01694009 0.02601690 0.08534825
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+v -0.01283524 0.02497554 0.08691393
+v -0.01139251 0.02497393 0.08728163
+v -0.01013589 0.02127837 0.08696716
+v -0.01538569 0.02193548 0.08511030
+v -0.01641896 0.02088768 0.08395726
+v -0.01399430 0.01848855 0.08330003
+v -0.01225121 0.02216634 0.08656284
+v -0.00672930 0.02192740 0.08770757
+v -0.00930671 0.02216795 0.08737979
+v -0.00672930 0.02408758 0.08810690
+v -0.01399430 0.02497554 0.08652292
+v -0.01528043 0.02497716 0.08608533
+v -0.00382844 0.02008688 0.08741305
+v -0.00672930 0.02204364 0.08772920
+v -0.01694009 0.01969620 0.08218192
+v -0.01694009 0.02511924 0.08531996
+v -0.01694009 0.02269429 0.08464110
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+v -0.01694009 0.02040011 0.08295727
+v -0.01694009 0.02318670 0.08478919
+f 1 2 3
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+f 99 104 100
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+f 102 110 107
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_59.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c240291e9ee988b52f7acbff206d56f58c256c54
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_59.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00382715 0.04494975 0.08011969
+v -0.00382715 0.04494976 0.07585025
+v -0.00672909 0.04494975 0.08011969
+v -0.00382715 0.03351694 0.08011964
+v -0.00623279 0.04494976 0.07580712
+v -0.00382715 0.03667961 0.06379768
+v -0.00672909 0.04494976 0.07580072
+v -0.00672909 0.03365644 0.08011964
+v -0.00657455 0.03363651 0.08011964
+v -0.00382715 0.02459316 0.06382321
+v -0.00661546 0.04494976 0.07580072
+v -0.00621745 0.03618140 0.06379768
+v -0.00525241 0.03825791 0.06629512
+v -0.00382715 0.02459316 0.06379764
+v -0.00672909 0.03573700 0.06379768
+v -0.00672909 0.02612365 0.06379765
+v -0.00610012 0.02556964 0.06379764
+v -0.00570411 0.02529264 0.06379764
+v -0.00412175 0.02459316 0.06379764
+v -0.00670040 0.03365245 0.08011964
+v -0.00400215 0.02459316 0.06380883
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 20
+f 1 20 9
+f 1 9 4
+f 1 4 10
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+f 1 6 2
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+f 9 21 10
+f 10 21 19
+f 10 19 14
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_6.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27944ed188d29914746c6cdfc7a7b5bcd29d560a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_6.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01021256 0.02735178 -0.03338111
+v 0.01649426 0.03318041 -0.04408213
+v 0.01649426 0.02929350 -0.03780506
+v 0.01362586 0.02735178 -0.03395421
+v 0.01021256 0.02735177 -0.03027502
+v 0.01021256 0.03058447 -0.03280530
+v 0.01276208 0.03968756 -0.04408210
+v 0.01286270 0.03668801 -0.04408212
+v 0.01371564 0.03388680 -0.04408213
+v 0.01385496 0.03384331 -0.04408213
+v 0.01652058 0.03318563 -0.04408213
+v 0.01822645 0.02926741 -0.03784561
+v 0.01649426 0.02735179 -0.03426104
+v 0.02602517 0.02735177 -0.03027502
+v 0.01021256 0.03328475 -0.03027500
+v 0.01021256 0.03091157 -0.03259038
+v 0.01365527 0.04258445 -0.04408209
+v 0.01938588 0.03381373 -0.04408213
+v 0.02251435 0.02735178 -0.03230249
+v 0.02009486 0.02735178 -0.03365820
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_60.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba3b7cbc3c1f9840e904e7511bee50f1c64f131c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_60.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_61.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0731c8e6e04fa5a5e83e764cc026261a92cc918
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_61.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_62.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc9ac96e7f4d820b6fc1d22dbd88b7b1dc7eaf32
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_62.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_63.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe4f0b54aeee3ed4d9871f205a4dc1496eba0d91
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_63.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_64.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e203de2a5325858bafad84b8f0ddd22769b3e856
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_64.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_65.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d93467c7d8f47ce95b714b8b59da5177cb72e98
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_65.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+v -0.01107473 0.02896410 0.09827470
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_66.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edd554c40882a93c10e3b3663b78f9f2016fa924
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_66.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.00268293 0.02905506 0.08937352
+v -0.00051146 0.02905507 0.08835468
+v -0.00382687 0.02905506 0.08937352
+v -0.00356549 0.02789501 0.08937351
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+v 0.00658181 0.02705213 0.08723207
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+v -0.00051146 0.02905509 0.08258842
+v -0.00382687 0.02905509 0.08254506
+v -0.00382687 0.02784157 0.08937351
+v -0.00083845 0.02203616 0.08788548
+v 0.00206320 0.02192757 0.08753709
+v 0.00303465 0.02087439 0.08706947
+v 0.00514157 0.02192757 0.08680779
+v 0.00698394 0.02440452 0.08692548
+v 0.00698394 0.02185345 0.08591746
+v 0.00698394 0.02547839 0.08704471
+v 0.00698394 0.02662982 0.08708807
+v 0.00698394 0.02811740 0.08188544
+v -0.00195170 0.02905509 0.08256519
+v 0.00698394 0.01864914 0.07413565
+v -0.00382687 0.01540858 0.07454442
+v -0.00382687 0.02197755 0.08791335
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+v 0.00206320 0.01927996 0.08628132
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+v 0.00493734 0.01435021 0.07881800
+v 0.00493734 0.01525860 0.08030448
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_67.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79f2cdc463e323d7bd8666e9a39906b449f0539b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_67.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00673119 0.03625270 0.06473144
+v -0.00672909 0.03485554 0.06220256
+v -0.00672909 0.03454027 0.05733309
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+v -0.00693844 0.03608269 0.06473144
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+v -0.01210219 0.00467726 0.06473133
+v -0.01210219 0.02505680 0.06283546
+v -0.01210219 0.02232118 0.06405862
+v -0.01210219 0.02225626 0.06408613
+v -0.01210219 0.02063344 0.06473139
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_68.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70ab0d2872f601491c3e9047fff16a2b40cab48c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_68.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00382715 -0.04422295 0.08012271
+v -0.00382715 -0.04422294 0.07584119
+v -0.00672909 -0.04422295 0.08012271
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_69.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..860b5e81880f0fc3a4064e3e72762b5bfbb3a112
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_69.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01419589 0.02270737 0.06310723
+v 0.01929508 0.02270737 0.06310723
+v 0.01419589 0.02270736 0.06480765
+v 0.01419589 0.02622298 0.06310725
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+v 0.01846685 0.02270737 0.06386021
+v 0.02082173 0.03782024 0.06310729
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+v 0.02119211 0.03380350 0.06556481
+v 0.02104396 0.03175466 0.06605852
+v 0.01440753 0.02270736 0.06479455
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+v 0.01419589 0.02605915 0.06320172
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+v 0.01525481 0.04239593 0.06310731
+v 0.02140234 0.03380349 0.06785823
+v 0.02093884 0.03086417 0.06995995
+v 0.02089863 0.03086417 0.07015095
+v 0.01649363 0.02270736 0.06460975
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+v 0.02115966 0.03667535 0.06472633
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_7.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afa372e6b96997e52d4124a74708b571e5d9afa1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_7.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_70.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa071e810d964a6801b6a409dbbcbb8acdd6ce2b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_70.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_71.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d4379046b70279646a0ad3b1d4d409d5c848ea5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_71.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_72.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffb27633f866fafa82de0346e05842b03eeb6942
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_72.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_73.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc8cf2fb0b64e5cd70c95e6ea69b99a39955b162
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_73.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_74.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c53505fc5138a7e874dff582f7dfab8fa372d426
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_74.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00382687 -0.03668748 0.07886138
+v -0.00382687 -0.03398153 0.07886139
+v -0.00051226 -0.03668748 0.07886138
+v -0.00382687 -0.03668752 0.08946415
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+v -0.00382687 -0.02419266 0.08298566
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+v -0.00051226 -0.03388492 0.08792844
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_75.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..546b0e96ce6c758eb8036fb30d76ff7e1df6d444
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_75.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00672909 0.02198643 0.10362711
+v -0.00667085 0.02198643 0.10363091
+v -0.00672909 0.02198640 0.11150746
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_76.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8869361e3e22440a9006081c3db57c94bde3eb1b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_76.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00639164 0.03562662 0.09209452
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+v -0.00942106 0.04852409 0.08107532
+v -0.00840693 0.04752535 0.08810503
+v -0.00672941 0.04849285 0.08869339
+v -0.01210219 0.04639402 0.08107531
+v -0.01210219 0.04534589 0.08184180
+v -0.01210219 0.04293493 0.08339471
+v -0.01210219 0.02498153 0.08184992
+v -0.00672941 0.02408943 0.08810730
+v -0.00657389 0.02756149 0.09209449
+v -0.00402074 0.02841716 0.09209449
+v -0.00661601 0.02408943 0.08812253
+v -0.00382715 0.02408945 0.08299381
+v -0.00382715 0.03351741 0.08012124
+v -0.01112370 0.04722108 0.08107531
+v -0.00672941 0.03366045 0.08012124
+v -0.01210219 0.03177745 0.08107526
+v -0.00672941 0.02408945 0.08273948
+v -0.00670106 0.03365525 0.08012124
+v -0.00657470 0.03363704 0.08012124
+f 1 2 3
+f 1 3 12
+f 1 12 30
+f 1 30 49
+f 1 49 50
+f 1 50 33
+f 1 33 15
+f 1 15 6
+f 1 6 5
+f 1 5 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 15
+f 2 15 34
+f 2 34 52
+f 2 52 53
+f 2 53 35
+f 2 35 16
+f 2 16 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 11 12
+f 3 10 13
+f 3 13 14
+f 3 14 11
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 13 10
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+f 11 21 22
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+f 11 26 12
+f 11 14 27
+f 11 27 28
+f 11 28 21
+f 12 29 30
+f 12 26 31
+f 12 31 29
+f 13 20 14
+f 14 20 32
+f 14 32 27
+f 15 33 34
+f 16 35 36
+f 16 36 17
+f 17 36 35
+f 17 35 37
+f 17 37 38
+f 17 38 39
+f 17 39 40
+f 17 40 41
+f 17 41 42
+f 17 42 43
+f 17 43 18
+f 18 43 20
+f 18 20 19
+f 20 44 45
+f 20 45 46
+f 20 46 32
+f 20 43 42
+f 20 42 44
+f 21 28 27
+f 21 27 32
+f 21 32 46
+f 21 46 45
+f 21 45 44
+f 21 44 56
+f 21 56 47
+f 21 47 29
+f 21 29 25
+f 21 25 24
+f 21 24 23
+f 21 23 22
+f 25 29 31
+f 25 31 26
+f 29 47 57
+f 29 57 48
+f 29 48 49
+f 29 49 30
+f 33 50 34
+f 34 51 48
+f 34 48 57
+f 34 57 52
+f 34 50 49
+f 34 49 51
+f 35 53 59
+f 35 59 58
+f 35 58 55
+f 35 55 40
+f 35 40 39
+f 35 39 38
+f 35 38 37
+f 40 44 54
+f 40 54 41
+f 40 55 56
+f 40 56 44
+f 41 54 42
+f 42 54 44
+f 47 53 52
+f 47 52 57
+f 47 56 55
+f 47 55 58
+f 47 58 59
+f 47 59 53
+f 48 51 49
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_77.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a221f624beaa9bf8adb43be1972a98d4cd68205
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_77.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00057332 -0.05906376 0.07070616
+v -0.00057332 -0.05906376 0.08914188
+v -0.00057332 -0.04226115 0.07070616
+v -0.00057332 -0.04226115 0.08914188
+v 0.00042668 -0.05906376 0.07070616
+v 0.00042668 -0.05906376 0.08914188
+v 0.00042668 -0.04226115 0.07070616
+v 0.00042668 -0.04226115 0.08914188
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_78.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2430fe9a189cd5fbac8b6f553c7dc4e80a0f3898
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_78.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00075597 -0.03702772 0.06276695
+v -0.00075597 -0.03702772 0.07070445
+v -0.00075597 -0.02819011 0.06276695
+v -0.00075597 -0.02819011 0.07070445
+v 0.00024403 -0.03702772 0.06276695
+v 0.00024403 -0.03702772 0.07070445
+v 0.00024403 -0.02819011 0.06276695
+v 0.00024403 -0.02819011 0.07070445
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_79.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e2e10b88754d1eb1e7ddb2eae2c0a1aa4b3ac5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_79.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00382687 0.02739325 0.10107970
+v -0.00382687 0.02781907 0.10362140
+v -0.00382687 0.02784399 0.08937530
+v -0.00356568 0.02789814 0.08937530
+v -0.00051226 0.02905564 0.08259396
+v -0.00051226 0.02905562 0.08835811
+v -0.00382687 0.02792150 0.10356094
+v -0.00051226 0.03088914 0.08853947
+v -0.00051226 0.04233957 0.08793761
+v -0.00382687 0.02905564 0.08254928
+v -0.00195186 0.02905564 0.08257031
+v -0.00372694 0.03415677 0.07677201
+v -0.00191454 0.03487086 0.07677201
+v -0.00083671 0.03674390 0.07677201
+v -0.00051226 0.03798333 0.07677202
+v -0.00373115 0.04233956 0.09085517
+v -0.00382687 0.04233956 0.09084466
+v -0.00088246 0.04233956 0.08854741
+v -0.00211798 0.04233956 0.09035051
+v -0.00360137 0.04233956 0.09083677
+v -0.00369579 0.04233956 0.09085517
+v -0.00051226 0.04233961 0.07677204
+v -0.00382687 0.03417579 0.07677201
+v -0.00382687 0.04233961 0.07677204
+f 1 2 7
+f 1 7 17
+f 1 17 24
+f 1 24 23
+f 1 23 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 11
+f 3 11 5
+f 3 5 4
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 22
+f 5 22 9
+f 5 9 8
+f 5 8 6
+f 7 16 17
+f 7 9 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 16
+f 9 22 24
+f 9 24 17
+f 9 17 16
+f 9 16 21
+f 9 21 20
+f 9 20 19
+f 9 19 18
+f 10 23 12
+f 10 12 11
+f 12 23 24
+f 12 24 22
+f 12 22 15
+f 12 15 14
+f 12 14 13
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_8.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bfb7c3d2f4f8132a3bcc3f4ac47837b94c9bb75
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_8.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.00051226 -0.04564495 -0.01780287
+v -0.00051226 -0.04518337 -0.01851715
+v 0.01649481 -0.03768259 -0.03027525
+v 0.01271923 -0.04417103 -0.01780286
+v -0.00051226 0.00794071 -0.01780267
+v -0.00051226 -0.04505748 -0.01869664
+v 0.01613491 -0.03761440 -0.03027525
+v 0.01946231 -0.03686958 -0.03027525
+v 0.02242641 -0.04293315 -0.01780286
+v 0.01950645 -0.04334753 -0.01780286
+v 0.01731647 -0.04363077 -0.01780286
+v 0.01649481 -0.04373043 -0.01780286
+v 0.01522836 -0.04388254 -0.01780286
+v -0.00051226 -0.04335276 -0.02111052
+v -0.00051226 -0.04331080 -0.02116425
+v -0.00051226 -0.04178967 -0.02310561
+v -0.00051226 -0.04163230 -0.02329608
+v -0.00051226 -0.04046785 -0.02461353
+v -0.00051226 -0.03900966 -0.02617639
+v -0.00051226 -0.03884181 -0.02635099
+v -0.00051226 -0.03747279 -0.02766966
+v -0.00051226 -0.03594641 -0.02904936
+v 0.02635138 0.00794071 -0.01780267
+v -0.00051226 0.00794075 -0.03027508
+v -0.00051226 -0.03460362 -0.03011529
+v -0.00051226 -0.03439906 -0.03027524
+v 0.01954040 -0.03681713 -0.03027525
+v 0.02629365 -0.04123368 -0.01780285
+v 0.02515623 -0.04194179 -0.01780285
+v 0.03246292 0.00794073 -0.02566218
+v 0.03286696 -0.03128341 -0.01780281
+v 0.03399760 0.00794075 -0.03027508
+v 0.02696932 -0.03872644 -0.02036204
+v 0.01962868 -0.03672271 -0.03027524
+v 0.03178725 -0.03199151 -0.02241939
+v 0.03189590 -0.03500755 -0.01943041
+v 0.03250027 -0.03568943 -0.01780283
+v 0.03251724 0.00794073 -0.02574399
+v 0.03280584 -0.03449351 -0.01780283
+v 0.03331175 -0.02796314 -0.02129605
+v 0.03415039 0.00438446 -0.03020916
+v 0.03406890 0.00732705 -0.03020915
+v 0.03329137 0.00794074 -0.02703091
+v 0.03403155 0.00794075 -0.03020915
+v 0.03404173 0.00732705 -0.03027508
+v 0.02158437 -0.03437808 -0.03027524
+v 0.03270398 -0.03002977 -0.02322034
+v 0.03271417 -0.03304581 -0.02043772
+v 0.03271078 -0.03513343 -0.01780283
+v 0.03284319 -0.03395325 -0.01839378
+v 0.03352225 -0.02502054 -0.02426549
+v 0.03390592 -0.01620323 -0.02723735
+v 0.03417415 0.00144711 -0.03020917
+v 0.03412662 0.00438446 -0.03027509
+v 0.02809317 -0.02506248 -0.03027520
+v 0.02677918 -0.02965733 -0.02887352
+v 0.03253083 -0.02672524 -0.02589796
+v 0.03288733 -0.02502053 -0.02637292
+v 0.03296882 -0.02781102 -0.02423254
+v 0.03298240 -0.03096868 -0.02137543
+v 0.03318951 -0.02203597 -0.02734970
+v 0.03375992 -0.01914058 -0.02723736
+v 0.03406550 -0.00738068 -0.03020921
+v 0.03414699 -0.00443808 -0.03020920
+v 0.03417076 -0.00149549 -0.03020919
+v 0.03415039 0.00144711 -0.03027510
+v 0.03002170 -0.02205694 -0.03027519
+v 0.03260213 -0.02102362 -0.02891989
+v 0.03295524 -0.01914057 -0.02928496
+v 0.03330495 -0.01620322 -0.02980387
+v 0.03387876 -0.01031803 -0.03020922
+v 0.03404173 -0.00729676 -0.03027514
+v 0.03412662 -0.00435416 -0.03027513
+v 0.03414699 -0.00149549 -0.03027512
+v 0.03136284 -0.01974902 -0.03027518
+v 0.03237125 -0.01769288 -0.03027517
+v 0.03302654 -0.01572590 -0.03027517
+v 0.03333551 -0.01411036 -0.03027516
+v 0.03384481 -0.01031803 -0.03027515
+v 0.03385499 -0.01022886 -0.03027515
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 29
+f 1 29 28
+f 1 28 37
+f 1 37 49
+f 1 49 39
+f 1 39 31
+f 1 31 23
+f 1 23 5
+f 1 5 24
+f 1 24 26
+f 1 26 25
+f 1 25 22
+f 1 22 21
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+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 7 26
+f 3 26 24
+f 3 24 32
+f 3 32 45
+f 3 45 54
+f 3 54 66
+f 3 66 74
+f 3 74 73
+f 3 73 72
+f 3 72 80
+f 3 80 79
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+f 3 78 77
+f 3 77 76
+f 3 76 75
+f 3 75 67
+f 3 67 55
+f 3 55 46
+f 3 46 34
+f 3 34 27
+f 3 27 8
+f 3 8 9
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+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 3 6 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 20
+f 3 20 21
+f 3 21 22
+f 3 22 7
+f 5 23 30
+f 5 30 38
+f 5 38 43
+f 5 43 44
+f 5 44 32
+f 5 32 24
+f 7 22 25
+f 7 25 26
+f 8 27 28
+f 8 28 29
+f 8 29 9
+f 23 31 30
+f 27 33 28
+f 27 34 35
+f 27 35 36
+f 27 36 33
+f 28 33 37
+f 30 31 38
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 31 43 38
+f 32 44 45
+f 33 36 37
+f 34 46 47
+f 34 47 35
+f 35 47 48
+f 35 48 36
+f 36 48 37
+f 37 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 40 51 52
+f 40 52 53
+f 40 53 41
+f 41 53 66
+f 41 66 54
+f 41 54 42
+f 42 54 45
+f 42 45 44
+f 42 44 43
+f 46 55 56
+f 46 56 57
+f 46 57 47
+f 47 57 58
+f 47 58 59
+f 47 59 60
+f 47 60 48
+f 48 60 49
+f 49 60 50
+f 50 60 51
+f 51 60 59
+f 51 59 58
+f 51 58 61
+f 51 61 62
+f 51 62 52
+f 52 62 63
+f 52 63 64
+f 52 64 65
+f 52 65 53
+f 53 65 74
+f 53 74 66
+f 55 67 68
+f 55 68 56
+f 56 68 57
+f 57 68 58
+f 58 68 69
+f 58 69 61
+f 61 69 70
+f 61 70 62
+f 62 70 71
+f 62 71 63
+f 63 71 72
+f 63 72 73
+f 63 73 64
+f 64 73 65
+f 65 73 74
+f 67 75 68
+f 68 75 76
+f 68 76 69
+f 69 76 77
+f 69 77 70
+f 70 77 78
+f 70 78 79
+f 70 79 71
+f 71 79 80
+f 71 80 72
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_80.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a468d2a2727ead08f841bd5c44982c1339e6e61
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_80.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00382687 -0.02418798 -0.03026504
+v -0.00382687 0.00692307 -0.03026492
+v -0.00051226 -0.02418798 -0.03026504
+v -0.00382687 -0.02418832 0.06386573
+v -0.00051226 0.00692307 -0.03026492
+v -0.00382687 0.00692271 0.06916197
+v -0.00051226 -0.02418832 0.06381490
+v -0.00290737 -0.02418832 0.06390639
+v -0.00382687 -0.00155106 0.07356351
+v -0.00051226 0.00692271 0.06903999
+v -0.00382687 0.00136693 0.07356353
+v -0.00355952 0.00692271 0.06917214
+v -0.00051226 -0.01729236 0.06624444
+v -0.00363836 -0.00140790 0.07356351
+v -0.00370293 -0.00150537 0.07356351
+v -0.00083866 0.00692271 0.06906032
+v -0.00370131 0.00131515 0.07356352
+v -0.00364550 0.00128774 0.07356352
+v -0.00362830 0.00124509 0.07356352
+v -0.00051226 0.00182078 0.07053427
+v -0.00352675 0.00692271 0.06917214
+v -0.00051226 -0.01582119 0.06671204
+v -0.00051226 -0.00126474 0.07067658
+v -0.00362993 -0.00134394 0.07356352
+v -0.00051226 -0.01550746 0.06680353
+v -0.00051226 -0.01325957 0.06743379
+v -0.00362830 0.00122682 0.07356352
+v -0.00227955 -0.00002201 0.07232336
+v -0.00051226 -0.00065555 0.07067658
+v -0.00051226 0.00121465 0.07061558
+v -0.00227955 -0.00003115 0.07232336
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 21
+f 2 21 16
+f 2 16 10
+f 2 10 5
+f 3 5 10
+f 3 10 20
+f 3 20 30
+f 3 30 29
+f 3 29 23
+f 3 23 26
+f 3 26 25
+f 3 25 22
+f 3 22 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 7 15 9
+f 7 9 8
+f 9 15 14
+f 9 14 24
+f 9 24 27
+f 9 27 19
+f 9 19 18
+f 9 18 17
+f 9 17 11
+f 10 16 11
+f 10 11 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 11 16 21
+f 11 21 12
+f 13 22 14
+f 14 23 24
+f 14 22 25
+f 14 25 26
+f 14 26 23
+f 19 27 31
+f 19 31 28
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 23 29 28
+f 23 28 31
+f 23 31 24
+f 24 31 27
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_81.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4d4872ba40c31f4010aa405cdb0dcdaa6abbba1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_81.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02273951 0.02723501 0.06861995
+v -0.01694066 0.02906482 0.06323240
+v -0.01694066 0.02920598 0.06315172
+v -0.01694066 0.03211564 0.06134286
+v -0.01694066 0.03293790 0.06082099
+v -0.01704286 0.03805849 0.05733435
+v -0.02274064 0.03650396 0.06103907
+v -0.02274064 0.02723501 0.06861869
+v -0.02274064 0.02585341 0.06861994
+v -0.02118092 0.02508056 0.06861994
+v -0.01694066 0.02312197 0.06605851
+v -0.01694066 0.03799850 0.05730284
+v -0.01694066 0.03815377 0.05717678
+v -0.01760327 0.04010003 0.05574229
+v -0.01811031 0.04026236 0.05574229
+v -0.02274064 0.03952832 0.05782849
+v -0.02274064 0.02382070 0.06861994
+v -0.02094302 0.02442063 0.06861994
+v -0.01694066 0.02276731 0.06620977
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+v -0.01988409 0.04060291 0.05574229
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+v -0.02274064 0.04030294 0.05574229
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+v -0.01694066 0.02276735 0.05574222
+v -0.01975066 0.02276730 0.06811949
+v -0.02274064 0.02276735 0.05574222
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+f 1 4 5
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+f 1 6 7
+f 1 7 8
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+f 1 17 26
+f 1 26 27
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+f 1 10 2
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_82.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc07bd5e69d08e83dcdebbf583e87ec5a88467e6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_82.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.01694122 0.02792198 0.08553120
+v -0.01694122 0.02512410 0.08532261
+v -0.01694122 0.03096073 0.08521834
+v -0.01842401 0.03104901 0.08473829
+v -0.01977826 0.03019341 0.08429796
+v -0.01817143 0.02792198 0.08505776
+v -0.01964634 0.02638080 0.08422346
+v -0.01819849 0.02523201 0.08474323
+v -0.01694122 0.02319164 0.08479289
+v -0.01694122 0.03380438 0.08460421
+v -0.01749261 0.03380438 0.08446020
+v -0.01955500 0.03215421 0.08417713
+v -0.01976022 0.02792198 0.08429133
+v -0.02313063 0.03380439 0.08174704
+v -0.02086866 0.03104901 0.08350835
+v -0.02317799 0.03086264 0.08186788
+v -0.01725469 0.02285267 0.08454789
+v -0.02120468 0.02792198 0.08313422
+v -0.02289383 0.02792199 0.08164770
+v -0.02261869 0.02622059 0.08136960
+v -0.01917951 0.02442000 0.08382947
+v -0.01694122 0.02276548 0.08466377
+v -0.01694122 0.03390029 0.08457441
+v -0.01745315 0.03390029 0.08444695
+v -0.01893707 0.03380438 0.08398841
+v -0.02106711 0.03390030 0.08299023
+v -0.02105922 0.03380439 0.08301837
+v -0.02311935 0.03390030 0.08173711
+v -0.02457508 0.03380439 0.08033170
+v -0.02462244 0.03086265 0.08014464
+v -0.02011429 0.02276549 0.08187778
+v -0.01734603 0.02276548 0.08440553
+v -0.01722650 0.02276548 0.08449326
+v -0.01707653 0.02276548 0.08460086
+v -0.02546138 0.02918415 0.07838829
+v -0.02510957 0.02722336 0.07753411
+v -0.02308439 0.02513611 0.07963973
+v -0.02209211 0.02425979 0.08056011
+v -0.02016616 0.02279273 0.08184798
+v -0.01694122 0.02276551 0.07607571
+v -0.01694122 0.03390031 0.07918785
+v -0.01879499 0.03390029 0.08400828
+v -0.01880965 0.03390029 0.08400331
+v -0.01890212 0.03390029 0.08397020
+v -0.02455366 0.03390030 0.08033170
+v -0.02578162 0.03390031 0.07884022
+v -0.02578500 0.03380440 0.07884518
+v -0.02563165 0.03086265 0.07865812
+v -0.02019773 0.02276549 0.08177184
+v -0.02641646 0.03086266 0.07677430
+v -0.02574215 0.02809095 0.07663690
+v -0.02267733 0.02324943 0.07857864
+v -0.02548732 0.02623914 0.07555429
+v -0.02452209 0.02514702 0.07663689
+v -0.02139637 0.02276550 0.08000721
+v -0.02042100 0.02276554 0.06862158
+v -0.02042213 0.02276990 0.06862158
+v -0.02370345 0.03390035 0.06862162
+v -0.02677391 0.03390032 0.07677431
+v -0.02677729 0.03380441 0.07677431
+v -0.02767148 0.03380442 0.07380293
+v -0.02729261 0.03086267 0.07380292
+v -0.02655854 0.02792202 0.07380291
+v -0.02315769 0.02276551 0.07676600
+v -0.02297727 0.02276551 0.07720136
+v -0.02202896 0.02276550 0.07904379
+v -0.02574892 0.02558628 0.07380290
+v -0.02537343 0.02354918 0.07224354
+v -0.02509491 0.02411595 0.07380290
+v -0.02590453 0.02276554 0.06862158
+v -0.02845855 0.03390035 0.06862162
+v -0.02767261 0.03390033 0.07380293
+v -0.02812365 0.03380443 0.07132153
+v -0.02829956 0.03217715 0.06948407
+v -0.02794774 0.03106214 0.07061799
+v -0.02724412 0.02792203 0.07083152
+v -0.02609735 0.02470998 0.07108478
+v -0.02426950 0.02276552 0.07394856
+v -0.02590904 0.02277534 0.06862158
+v -0.02845968 0.03380444 0.06862162
+v -0.02845516 0.03390035 0.06865804
+v -0.02811012 0.03390034 0.07140099
+v -0.02812478 0.03390034 0.07131822
+v -0.02833677 0.03380443 0.06983501
+v -0.02835255 0.03183492 0.06862162
+v -0.02811125 0.03033952 0.06862161
+v -0.02741213 0.02792204 0.06862160
+v -0.02833677 0.03390034 0.06983170
+v -0.02833000 0.03390034 0.06988136
+f 1 2 9
+f 1 9 22
+f 1 22 40
+f 1 40 41
+f 1 41 23
+f 1 23 10
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+f 1 3 4
+f 1 4 5
+f 1 5 6
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+f 56 85 80
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+f 68 70 78
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+f 73 84 74
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+f 80 88 81
+f 83 89 84
+f 84 89 88
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_83.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c25562743fa59be00f856406efa80adc4c108be
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_83.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00672886 -0.00149596 0.11478101
+v -0.00672886 -0.00161101 0.11477675
+v -0.00661557 -0.00149596 0.11477037
+v -0.00661557 -0.00014523 0.11476718
+v -0.00667689 -0.00014523 0.11477250
+v -0.00672886 -0.00014523 0.11477676
+v -0.00672886 -0.00695856 0.11454367
+v -0.00512658 -0.00149596 0.11397219
+v -0.00635821 -0.00439983 0.11452984
+v -0.00514801 -0.00339637 0.11394666
+v -0.00593513 -0.00014523 0.11440216
+v -0.00672886 -0.00014521 0.10767839
+v -0.00672886 -0.00729944 0.11451919
+v -0.00462919 -0.00149595 0.11243439
+v -0.00463079 -0.00014522 0.11243440
+v -0.00490000 -0.00014523 0.11326663
+v -0.00512909 -0.00014523 0.11396902
+v -0.00522392 -0.00535643 0.11384874
+v -0.00470282 -0.01325844 0.11180008
+v -0.00467091 -0.01032048 0.11203634
+v -0.00466749 -0.00737826 0.11223643
+v -0.00475775 -0.00439982 0.11268873
+v -0.00557269 -0.00014521 0.10836694
+v -0.00640676 -0.02191037 0.10392159
+v -0.00672886 -0.02191037 0.10390882
+v -0.00672886 -0.00737827 0.11451174
+v -0.00441560 -0.01914287 0.10946196
+v -0.00440033 -0.01620065 0.10946197
+v -0.00464879 -0.00014522 0.11124779
+v -0.00534565 -0.00737827 0.11372208
+v -0.00478420 -0.01620066 0.11154146
+v -0.00508373 -0.00014521 0.10917149
+v -0.00508008 -0.02191038 0.10481448
+v -0.00672886 -0.02191040 0.11152335
+v -0.00672886 -0.00974526 0.11424141
+v -0.00464082 -0.02191039 0.10961200
+v -0.00454006 -0.02191038 0.10626502
+v -0.00467318 -0.00014521 0.10985260
+v -0.00672886 -0.01032049 0.11417118
+v -0.00562078 -0.01032049 0.11352200
+v -0.00494354 -0.01914288 0.11124985
+v -0.00454599 -0.02191038 0.10624373
+v -0.00653191 -0.02191040 0.11151696
+v -0.00672886 -0.01914288 0.11229811
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+v -0.00672886 -0.01325845 0.11365076
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+v -0.00508988 -0.02096871 0.11104232
+v -0.00639970 -0.02191040 0.11145098
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+v -0.00672886 -0.01744274 0.11273871
+v -0.00529116 -0.02191040 0.11088269
+v -0.00672886 -0.01568722 0.11312928
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 25
+f 1 25 34
+f 1 34 44
+f 1 44 51
+f 1 51 53
+f 1 53 46
+f 1 46 39
+f 1 39 35
+f 1 35 26
+f 1 26 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
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+f 4 16 15
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+f 45 48 52
+f 46 53 48
+f 46 48 47
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+f 48 51 50
+f 48 50 49
+f 48 49 52
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_84.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04f0fad18cf77db9dd186d375b161b54089bcdbb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_84.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00382687 0.02430252 0.05695323
+v -0.00382687 0.03482905 0.05695327
+v -0.00051258 0.02430252 0.05695323
+v -0.00382687 0.02430250 0.06387116
+v -0.00372664 0.03483965 0.05695327
+v -0.00382687 0.03959791 0.06926046
+v -0.00382652 0.04233988 0.07425978
+v -0.00051258 0.03474077 0.05695327
+v -0.00022142 0.03975679 0.07629867
+v -0.00051258 0.02430250 0.06373924
+v -0.00382687 0.03007954 0.06926042
+v -0.00372664 0.02430250 0.06388086
+v -0.00372629 0.03415629 0.07677201
+v -0.00382652 0.03417571 0.07677201
+v -0.00088632 0.03475843 0.05695327
+v -0.00380181 0.04233988 0.07425590
+v -0.00364688 0.04233988 0.07423844
+v -0.00382652 0.04233987 0.07677204
+v -0.00114325 0.04233987 0.07575355
+v -0.00051293 0.04233987 0.07645194
+v -0.00051293 0.04233987 0.07677204
+v -0.00051293 0.03798235 0.07677202
+v -0.00098938 0.02430250 0.06377028
+v -0.00083727 0.03674466 0.07677201
+v -0.00191474 0.03487136 0.07677201
+f 1 2 5
+f 1 5 15
+f 1 15 8
+f 1 8 3
+f 1 3 10
+f 1 10 23
+f 1 23 12
+f 1 12 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 4 12 13
+f 4 13 14
+f 4 14 11
+f 5 7 16
+f 5 16 17
+f 5 17 15
+f 6 18 7
+f 6 11 14
+f 6 14 18
+f 7 18 21
+f 7 21 20
+f 7 20 19
+f 7 19 17
+f 7 17 16
+f 8 15 17
+f 8 17 19
+f 8 19 20
+f 8 20 9
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 10 22 24
+f 10 24 25
+f 10 25 13
+f 10 13 23
+f 12 23 13
+f 13 25 24
+f 13 24 22
+f 13 22 21
+f 13 21 18
+f 13 18 14
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_85.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..361b411c793af0fb1f0e8f47fc119797c518776b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_85.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.00051226 0.02986879 0.05265121
+v -0.00051226 0.03933538 0.05265124
+v 0.00061513 0.02986879 0.05265121
+v -0.00051226 0.02986875 0.06296112
+v 0.00061513 0.03938662 0.05265124
+v -0.00051226 0.03482191 0.06781266
+v 0.00061513 0.02986875 0.06189740
+v -0.00051226 0.03065979 0.06486866
+v 0.00061513 0.03935867 0.05268192
+v -0.00051226 0.03380536 0.07006624
+v -0.00018833 0.03380537 0.06785697
+v 0.00061513 0.03071105 0.06172011
+v 0.00061513 0.03106977 0.06143032
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 5 9
+f 3 9 13
+f 3 13 12
+f 3 12 7
+f 4 7 8
+f 5 6 10
+f 5 10 11
+f 5 11 9
+f 7 12 11
+f 7 11 10
+f 7 10 8
+f 9 11 13
+f 11 12 13
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_86.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f18e5f6b828fede6976ffc476dd71f937d8c36a8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_86.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00672909 0.04150902 0.07404787
+v -0.00672909 0.03636152 0.06492570
+v -0.00673122 0.03625192 0.06473144
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+v -0.00672909 0.03354015 0.07404784
+v -0.00672909 0.03284516 0.06473143
+v -0.00693820 0.03608428 0.06473144
+v -0.00767656 0.04083463 0.07404787
+v -0.00822766 0.03493148 0.07404785
+v -0.00760614 0.03283096 0.07150692
+v -0.00672909 0.03328613 0.07360368
+v -0.00672909 0.02833720 0.06473141
+v -0.00797697 0.03515716 0.06473144
+v -0.00794776 0.03801717 0.06961356
+v -0.00824178 0.03856132 0.07159449
+v -0.00838203 0.03961351 0.07404787
+v -0.00811566 0.03224683 0.06952599
+v -0.00828937 0.03503979 0.07404785
+v -0.00672909 0.02835267 0.06476060
+v -0.00791023 0.02956219 0.06473142
+v -0.00819091 0.03550918 0.06589063
+v -0.00843793 0.03371426 0.06473143
+v -0.00870527 0.03697656 0.07404786
+v -0.00835050 0.03603656 0.06785880
+v -0.00826616 0.03187547 0.06785879
+v -0.00838009 0.03082844 0.06473142
+v -0.00855670 0.03380451 0.06785879
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 23
+f 1 23 18
+f 1 18 9
+f 1 9 5
+f 1 5 11
+f 1 11 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 12
+f 3 12 20
+f 3 20 26
+f 3 26 22
+f 3 22 13
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+f 5 10 11
+f 7 13 8
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+f 8 15 16
+f 8 13 14
+f 9 17 10
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+f 23 27 26
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_87.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a33bfec55ba92b95166da229746370a4964b8df
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_87.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00672909 0.04494976 0.07580072
+v -0.00661546 0.04494976 0.07580072
+v -0.00672909 0.04494975 0.08011969
+v -0.00672909 0.05479808 0.06379775
+v -0.00623279 0.04494976 0.07580712
+v -0.00382715 0.04494975 0.08011969
+v -0.00672909 0.05031403 0.08011970
+v -0.00672909 0.05987893 0.06379777
+v -0.00382715 0.05506652 0.06379775
+v -0.00382715 0.04494976 0.07585025
+v -0.00382715 0.05066045 0.08011971
+v -0.00658108 0.05037552 0.08011971
+v -0.00672909 0.05548038 0.07494750
+v -0.00665892 0.05989243 0.06379777
+v -0.00672909 0.06005738 0.06488750
+v -0.00382715 0.06009188 0.06379777
+v -0.00382715 0.05559735 0.07505456
+v -0.00393795 0.05065296 0.08011971
+v -0.00613876 0.05049849 0.08011971
+v -0.00661546 0.05548937 0.07495549
+v -0.00661546 0.05691706 0.07346951
+v -0.00672909 0.05690657 0.07346152
+v -0.00661546 0.05989993 0.06379777
+v -0.00661546 0.06007837 0.06488750
+v -0.00672909 0.05986841 0.06786907
+v -0.00661546 0.05989091 0.06785949
+v -0.00555695 0.05997341 0.06379777
+v -0.00382715 0.06027033 0.06488750
+v -0.00382715 0.05702353 0.07356857
+v -0.00382715 0.05844373 0.07186847
+v -0.00382715 0.05849472 0.07180455
+v -0.00661546 0.05838674 0.07161761
+v -0.00672909 0.05832075 0.07168152
+v -0.00672909 0.05984892 0.06795057
+v -0.00382715 0.06007836 0.06785949
+v -0.00672909 0.05919206 0.07011405
+v -0.00661546 0.05920105 0.07013162
+v -0.00382715 0.05929253 0.07031857
+v -0.00672909 0.05838374 0.07158885
+v -0.00382715 0.06005437 0.06793778
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+f 1 22 33
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+f 32 36 39
+f 32 39 33
+f 35 37 40
+f 37 38 40
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_88.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31add43edc0f560a2ccbb2034c9dfe7e0bbfd1a5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_88.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00382646 -0.04961126 0.07350912
+v -0.00051261 -0.04961126 0.07354727
+v -0.00382646 -0.04961129 0.08252234
+v -0.00382687 -0.03970519 0.06934585
+v -0.00382687 -0.03900203 0.06797263
+v -0.00382687 -0.03885265 0.06769199
+v -0.00382687 -0.03749914 0.06516621
+v -0.00382687 -0.03723206 0.06467032
+v -0.00382687 -0.03669035 0.06368400
+v -0.00378460 -0.03669035 0.06367583
+v 0.00036561 -0.04225831 0.07670246
+v -0.00051261 -0.04961129 0.08095565
+v -0.00263758 -0.03669036 0.06478205
+v -0.00242992 -0.03669036 0.06498367
+v -0.00132517 -0.03669036 0.06662937
+v -0.00111752 -0.03669037 0.06740318
+v -0.00111013 -0.03669037 0.06743315
+v -0.00036775 -0.03666925 0.07070821
+v -0.00372674 -0.04961129 0.08252234
+v -0.00382646 -0.04960075 0.08599902
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+v -0.00051302 -0.03419768 0.08033992
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+v -0.00382687 -0.03669045 0.08946213
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+v 0.00036561 -0.04225835 0.08654125
+v -0.00189396 -0.04961129 0.08163955
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+v -0.00382646 -0.04941063 0.08840218
+v -0.00382646 -0.04778855 0.09066093
+v -0.00382646 -0.04570022 0.09146472
+v -0.00382646 -0.04562326 0.09148652
+v -0.00051302 -0.03419770 0.08777556
+v -0.00382646 -0.04246508 0.09086531
+v -0.00367462 -0.04244396 0.09087620
+v -0.00168015 -0.04327236 0.09063098
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+v -0.00051261 -0.04544671 0.08914058
+v -0.00051261 -0.04592202 0.08891715
+v -0.00188986 -0.04748375 0.09043480
+v -0.00372674 -0.04779609 0.09066638
+v -0.00372674 -0.04561572 0.09150832
+v -0.00153652 -0.04561571 0.09072634
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+f 1 27 19
+f 1 19 3
+f 1 3 21
+f 1 21 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 2
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+f 2 26 12
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+f 10 23 13
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+f 43 49 50
+f 43 50 44
+f 44 50 45
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+f 45 47 46
+f 47 50 49
+f 47 49 48
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_89.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9645d1dbd3efd3f2bd8a238ccc737a0dce2b7e31
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_89.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00352675 0.00692576 0.06917427
+v -0.00382687 0.00701421 0.06914077
+v -0.00382687 0.00692576 0.06916350
+v -0.00074165 0.00692576 0.06905822
+v -0.00051226 0.00766396 0.06888355
+v -0.00051226 0.01060488 0.06813701
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+v -0.00372694 0.01027319 0.06820760
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+v -0.00051226 0.00692576 0.06904865
+v -0.00051226 0.01727594 0.06626109
+v -0.00083866 0.01724702 0.06625272
+v -0.00083866 0.01577741 0.06671094
+v -0.00382687 0.01551037 0.06662599
+v -0.00051226 0.00692580 0.05695196
+v -0.00382687 0.02430082 0.05695202
+v -0.00051226 0.02430080 0.06373914
+v -0.00098920 0.02430080 0.06376904
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+v -0.00382687 0.01697998 0.06616897
+v -0.00051226 0.02430082 0.05695202
+v -0.00382687 0.02430080 0.06387074
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+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
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+f 2 22 24
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+f 2 11 3
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+f 5 7 6
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+f 18 24 21
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+f 18 20 19
+f 18 19 23
+f 21 24 22
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_9.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b435b821389bd036579806d62de56846b8541bdd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_9.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.02040695 -0.04198329 0.06670511
+v 0.02039261 -0.04198328 0.06488499
+v 0.02038033 -0.04198329 0.06785784
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+v 0.01801115 -0.04721280 0.06285498
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+v 0.01489456 -0.04931241 0.05782425
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_90.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9283602168ee0154648be33376a75b995406a765
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_90.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00051226 -0.00125910 0.07067944
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+v 0.00036551 -0.00134718 0.07026826
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_91.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758045ea010dd06ca3a7d7889f50c63d0dd2d9c8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_91.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.00633080 -0.03564279 0.09227862
+v -0.00613990 -0.03564279 0.09227862
+v -0.00568280 -0.03537258 0.09327516
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+v -0.00672909 -0.03560515 0.09227862
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+v -0.00672909 -0.03054644 0.10583451
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diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_92.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfce5cdc2e63fd566e1a1d31a80ef0db94d92aac
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_92.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_93.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..955b8a62481c9693c8dced79ce9d4d49193804ab
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_93.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00661546 -0.04422294 0.07580162
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+v -0.00667426 -0.04422294 0.07580784
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+v -0.00642739 -0.02756312 0.06441034
+v -0.00441805 -0.03353825 0.08012394
+f 1 2 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 11
+f 4 11 12
+f 4 12 8
+f 4 8 13
+f 4 13 14
+f 4 14 9
+f 4 9 5
+f 4 6 7
+f 6 10 15
+f 6 15 16
+f 6 16 12
+f 6 12 11
+f 6 11 7
+f 8 12 16
+f 8 16 17
+f 8 17 13
+f 9 14 18
+f 9 18 15
+f 9 15 10
+f 13 17 15
+f 13 15 18
+f 13 18 14
+f 15 17 16
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_94.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11fd2d8a96addfeef6db220966ea5f5f2f92d640
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_94.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00051226 0.03088944 0.08853767
+v -0.00051226 0.02811929 0.08828016
+v 0.00518327 0.02811929 0.08735555
+v 0.00561619 0.02811929 0.08726692
+v 0.00698394 0.02811929 0.08698307
+v -0.00051226 0.04239637 0.08797840
+v -0.00051226 0.02811931 0.08282832
+v 0.00698394 0.02811931 0.08188694
+v 0.00698394 0.02843237 0.08696630
+v 0.00698394 0.03380636 0.08586326
+v 0.00698394 0.03689939 0.08487160
+v 0.00698394 0.03850251 0.08430869
+v 0.00698394 0.03953817 0.08394221
+v 0.00698394 0.03990296 0.08379130
+v 0.00698394 0.04239639 0.08273975
+v -0.00051226 0.04239641 0.07644475
+v 0.00698394 0.02996560 0.08677110
+v 0.00698394 0.03084053 0.08658066
+v 0.00698394 0.03288671 0.08610399
+v -0.00051226 0.03864789 0.07630220
+v 0.00698394 0.04239641 0.07712623
+v -0.00051226 0.04053473 0.07630221
+v -0.00022095 0.03975763 0.07630221
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 22
+f 1 22 20
+f 1 20 7
+f 1 7 2
+f 2 7 8
+f 2 8 5
+f 2 5 4
+f 2 4 3
+f 5 8 21
+f 5 21 15
+f 5 15 14
+f 5 14 13
+f 5 13 12
+f 5 12 11
+f 5 11 10
+f 5 10 19
+f 5 19 18
+f 5 18 17
+f 5 17 9
+f 5 9 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 21
+f 6 21 16
+f 6 9 17
+f 6 17 18
+f 6 18 19
+f 6 19 10
+f 7 20 8
+f 8 20 21
+f 16 21 22
+f 20 22 23
+f 20 23 21
+f 21 23 22
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_95.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d6ff4eccb581104791b52c487be33014a385307
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_95.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00382687 -0.03668708 -0.03017910
+v -0.00382687 -0.03657454 -0.03027524
+v -0.00051226 -0.03594698 -0.02904671
+v -0.00051226 -0.03668709 -0.02837367
+v -0.00382687 -0.03668748 0.07886138
+v -0.00051226 -0.03440317 -0.03027524
+v -0.00051226 -0.03581487 -0.02915354
+v -0.00382687 -0.02419225 -0.03027520
+v -0.00051226 -0.03668748 0.07886138
+v -0.00382687 -0.03398153 0.07886139
+v -0.00051226 -0.02419225 -0.03027520
+v -0.00382687 -0.02419259 0.06386261
+v -0.00051226 -0.03653334 0.07886138
+v -0.00375776 -0.03397541 0.07886139
+v -0.00051226 -0.02419259 0.06381988
+v -0.00372694 -0.03397297 0.07886139
+v -0.00372694 -0.02419259 0.06387329
+v -0.00138925 -0.03463722 0.07886138
+v -0.00290737 -0.02419259 0.06390534
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 12
+f 1 12 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 11
+f 2 11 6
+f 3 7 6
+f 3 6 11
+f 3 11 15
+f 3 15 13
+f 3 13 9
+f 3 9 4
+f 5 9 13
+f 5 13 18
+f 5 18 16
+f 5 16 14
+f 5 14 10
+f 8 12 17
+f 8 17 19
+f 8 19 15
+f 8 15 11
+f 10 14 12
+f 12 14 16
+f 12 16 17
+f 13 15 18
+f 15 19 16
+f 15 16 18
+f 16 19 17
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_96.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51cef1e0265d0858392887651b72f2e0548e557
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_96.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00672909 0.05634380 0.07404884
+v -0.00672909 0.05685185 0.07351991
+v -0.00793837 0.05616174 0.07404884
+v -0.00672909 0.04839712 0.07404881
+v -0.00950427 0.05668209 0.07324767
+v -0.00672909 0.05690720 0.07346148
+v -0.00950427 0.05591940 0.07404884
+v -0.01210219 0.04731460 0.07404880
+v -0.01209640 0.05309011 0.06769978
+v -0.00672909 0.05456627 0.06769978
+v -0.01210219 0.05634380 0.07288469
+v -0.01164141 0.05538183 0.07404883
+v -0.00672909 0.05832064 0.07168077
+v -0.00977832 0.05828005 0.07078326
+v -0.01210219 0.05307043 0.06785888
+v -0.01210219 0.05526128 0.07404883
+v -0.01210219 0.05362645 0.06769978
+v -0.00672909 0.05987923 0.06769980
+v -0.01210219 0.05652463 0.07261557
+v -0.00672909 0.05838338 0.07158691
+v -0.01210219 0.05776831 0.07053091
+v -0.01210219 0.05759855 0.07082552
+v -0.00899931 0.05901198 0.06976083
+v -0.01092447 0.05880040 0.06931581
+v -0.01210219 0.05864540 0.06769980
+v -0.00974150 0.05930722 0.06769980
+v -0.00672909 0.05986939 0.06786886
+v -0.00672909 0.05919157 0.07011387
+v -0.01210219 0.05854822 0.06836920
+v -0.00672909 0.05984971 0.06794904
+v -0.00977832 0.05927031 0.06813861
+v -0.01067725 0.05910917 0.06769980
+v -0.01186286 0.05875366 0.06769980
+v -0.01210219 0.05863310 0.06789931
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 16
+f 1 16 8
+f 1 8 4
+f 1 4 10
+f 1 10 18
+f 1 18 27
+f 1 27 30
+f 1 30 28
+f 1 28 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 7
+f 5 6 13
+f 5 13 14
+f 5 14 11
+f 8 15 9
+f 8 16 11
+f 8 11 19
+f 8 19 22
+f 8 22 21
+f 8 21 29
+f 8 29 34
+f 8 34 25
+f 8 25 17
+f 8 17 15
+f 9 15 17
+f 9 17 25
+f 9 25 33
+f 9 33 32
+f 9 32 26
+f 9 26 18
+f 9 18 10
+f 11 14 19
+f 11 16 12
+f 13 20 14
+f 14 21 22
+f 14 22 19
+f 14 20 23
+f 14 23 24
+f 14 24 21
+f 18 26 27
+f 20 28 23
+f 21 24 29
+f 23 28 30
+f 23 30 24
+f 24 30 27
+f 24 27 31
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 29
+f 25 34 33
+f 26 32 31
+f 26 31 27
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_97.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96c03fd45bea9eb60ea3da7f28da14d6d3156bf5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_97.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00372694 -0.06032368 0.06488662
+v -0.00382687 -0.06031634 0.06488662
+v -0.00382687 -0.06029956 0.06478555
+v -0.00382687 -0.05981832 0.06191642
+v -0.00372694 -0.05982461 0.06191642
+v -0.00083866 -0.06018319 0.06488662
+v -0.00083866 -0.06004061 0.06785962
+v -0.00372694 -0.06014964 0.06785962
+v -0.00382687 -0.06014964 0.06775575
+v -0.00382687 -0.05979840 0.06184343
+v -0.00372694 -0.05914520 0.05954981
+v -0.00083866 -0.05906237 0.05979125
+v -0.00083866 -0.05966524 0.06191642
+v -0.00051226 -0.06012762 0.06488662
+v -0.00051226 -0.06011818 0.06522350
+v -0.00051226 -0.05999238 0.06785962
+v -0.00051226 -0.05966943 0.06225050
+v -0.00051226 -0.05993681 0.06809263
+v -0.00083866 -0.05931404 0.07029361
+v -0.00382687 -0.06014335 0.06785962
+v -0.00372694 -0.05935913 0.07035537
+v -0.00382687 -0.05935598 0.07034976
+v -0.00382687 -0.05914206 0.05955823
+v -0.00382687 -0.05912528 0.05950770
+v -0.00372694 -0.05864823 0.05806471
+v -0.00083866 -0.05857379 0.05830334
+v -0.00051226 -0.05903931 0.05986143
+v -0.00051226 -0.05960863 0.06191923
+v -0.00051226 -0.05929098 0.07025150
+v -0.00051226 -0.05920920 0.07041994
+v -0.00083866 -0.05854763 0.07178151
+v -0.00372694 -0.05856755 0.07184047
+v -0.00382687 -0.05859166 0.07178432
+v -0.00382687 -0.05864508 0.05807314
+v -0.00372694 -0.05787762 0.05597324
+v -0.00083866 -0.05772245 0.05597324
+v -0.00051226 -0.05863985 0.05864584
+v -0.00051226 -0.05852981 0.07173660
+v -0.00051226 -0.05836415 0.07197523
+v -0.00051226 -0.05705884 0.07360631
+v -0.00083866 -0.05707772 0.07361754
+v -0.00372694 -0.05709659 0.07360912
+v -0.00382687 -0.05709344 0.07360351
+v -0.00382687 -0.05856335 0.07183485
+v -0.00382687 -0.05787133 0.05597324
+v -0.00382687 -0.05783044 0.05590025
+v -0.00372694 -0.05661213 0.05384525
+v -0.00083866 -0.05653036 0.05392667
+v -0.00051226 -0.05766164 0.05597324
+v -0.00051226 -0.05649995 0.05395474
+v -0.00051226 -0.05690996 0.07377195
+v -0.00372694 -0.04961280 0.08252255
+v -0.00382687 -0.04961280 0.08252535
+v -0.00382687 -0.05660899 0.05384806
+v -0.00372694 -0.05455613 0.05384526
+v -0.00083866 -0.05453831 0.05392668
+v -0.00051226 -0.05473227 0.05395475
+v -0.00051226 -0.05569273 0.07509142
+v -0.00189410 -0.04961280 0.08163822
+v -0.00382687 -0.04961277 0.07350809
+v -0.00382687 -0.05454145 0.05385088
+v -0.00051226 -0.05449217 0.05396036
+v -0.00051226 -0.04961280 0.08095603
+v -0.00051226 -0.05314284 0.05597325
+v -0.00382687 -0.05328752 0.05597325
+v -0.00051226 -0.04961277 0.07354177
+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 2
+f 2 9 20
+f 2 20 22
+f 2 22 33
+f 2 33 44
+f 2 44 43
+f 2 43 53
+f 2 53 60
+f 2 60 65
+f 2 65 61
+f 2 61 54
+f 2 54 46
+f 2 46 45
+f 2 45 34
+f 2 34 24
+f 2 24 23
+f 2 23 10
+f 2 10 4
+f 2 4 3
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 6 13 17
+f 6 17 14
+f 7 16 18
+f 7 18 19
+f 7 19 8
+f 8 20 9
+f 8 19 21
+f 8 21 22
+f 8 22 20
+f 10 23 11
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 11 23 24
+f 12 26 27
+f 12 27 13
+f 13 28 17
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+f 14 17 28
+f 14 28 27
+f 14 27 37
+f 14 37 49
+f 14 49 50
+f 14 50 57
+f 14 57 62
+f 14 62 64
+f 14 64 66
+f 14 66 63
+f 14 63 58
+f 14 58 51
+f 14 51 40
+f 14 40 39
+f 14 39 38
+f 14 38 30
+f 14 30 29
+f 14 29 18
+f 14 18 16
+f 14 16 15
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 24 34 25
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 26 37 27
+f 26 36 37
+f 30 38 31
+f 31 38 39
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 33
+f 34 45 35
+f 35 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 36 49 37
+f 36 48 50
+f 36 50 49
+f 40 51 52
+f 40 52 41
+f 41 52 53
+f 41 53 42
+f 42 53 43
+f 46 54 47
+f 47 54 55
+f 47 55 56
+f 47 56 48
+f 48 56 57
+f 48 57 50
+f 51 58 52
+f 52 59 63
+f 52 63 66
+f 52 66 60
+f 52 60 53
+f 52 58 59
+f 54 61 55
+f 55 61 56
+f 56 62 57
+f 56 61 62
+f 58 63 59
+f 60 64 65
+f 60 66 64
+f 61 65 64
+f 61 64 62
+
diff --git a/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_98.obj b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32529cdec9399626a0d912963f0e78e280161c36
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mjcf/mesh/alarm_clock_015_collision_98.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.01694122 0.03390029 0.08457528
+v -0.01694122 0.03514964 0.08427074
+v -0.01745312 0.03390029 0.08444721
+v -0.01694122 0.03390031 0.07918709
+v -0.01694122 0.03530937 0.08422701
+v -0.01880954 0.03390029 0.08400367
+v -0.02370416 0.03390035 0.06862153
+v -0.01694122 0.05014625 0.06862159
+v -0.01694122 0.03547784 0.08417548
+v -0.01795374 0.03651495 0.08350546
+v -0.01890200 0.03390029 0.08397087
+v -0.02845897 0.03390035 0.06862153
+v -0.01694122 0.05625295 0.06862162
+v -0.01694122 0.03968756 0.08255747
+v -0.01817135 0.03968756 0.08225136
+v -0.01962813 0.04117103 0.08123619
+v -0.02029112 0.03968756 0.08153449
+v -0.02130364 0.03697007 0.08206237
+v -0.02106686 0.03390030 0.08299006
+v -0.02833607 0.03390034 0.06983192
+v -0.02832366 0.03674693 0.06975072
+v -0.02844995 0.03498998 0.06862154
+v -0.01714981 0.05613699 0.06862162
+v -0.01694122 0.05607353 0.06966958
+v -0.01817135 0.04162394 0.08144079
+v -0.01694122 0.04206154 0.08155948
+v -0.02173549 0.03968756 0.08087073
+v -0.01817135 0.04309428 0.08074580
+v -0.01839122 0.04582272 0.07923086
+v -0.01950072 0.04697361 0.07821726
+v -0.02105897 0.04484906 0.07868579
+v -0.02077821 0.04234380 0.08011796
+v -0.02242892 0.03809908 0.08119402
+v -0.02311897 0.03390030 0.08173750
+v -0.02284724 0.03613863 0.08148918
+v -0.02833043 0.03390034 0.06988034
+v -0.02814889 0.03674693 0.07123599
+v -0.02828194 0.03823259 0.06937277
+v -0.02836200 0.03749524 0.06862155
+v -0.02839357 0.03674694 0.06862154
+v -0.01699647 0.05603196 0.06973049
+v -0.01800561 0.05554623 0.06862161
+v -0.01694122 0.05604508 0.06976173
+v -0.01694122 0.04282515 0.08122058
+v -0.01694122 0.04345530 0.08092384
+v -0.02257099 0.04418391 0.07830940
+v -0.01694122 0.04560830 0.07975719
+v -0.01757602 0.04749873 0.07854211
+v -0.01839122 0.04849209 0.07755507
+v -0.01817135 0.05076542 0.07592768
+v -0.01991678 0.05021842 0.07549818
+v -0.02095185 0.04846365 0.07619630
+v -0.02105897 0.04631721 0.07775028
+v -0.02551047 0.03858482 0.07840621
+v -0.02307725 0.04263043 0.07870765
+v -0.02407737 0.03961537 0.07924802
+v -0.02455432 0.03390030 0.08033188
+v -0.02568636 0.03674690 0.07865452
+v -0.02812522 0.03390034 0.07131875
+v -0.02770239 0.03674692 0.07380202
+v -0.02798315 0.03940316 0.07055037
+v -0.02829435 0.03829167 0.06862155
+v -0.02802825 0.03970512 0.06862156
+v -0.02816468 0.03902246 0.06862155
+v -0.01694122 0.05526616 0.07129697
+v -0.01907000 0.05474323 0.06862161
+v -0.02014792 0.05337792 0.07083155
+v -0.01974426 0.05302564 0.07245581
+v -0.02285062 0.04745279 0.07564342
+v -0.02367259 0.04515539 0.07648523
+v -0.02542929 0.04417079 0.07534667
+v -0.02452162 0.04263044 0.07733639
+v -0.02512711 0.04054527 0.07796111
+v -0.01694122 0.04764095 0.07862645
+v -0.01694122 0.04804792 0.07837345
+v -0.01694122 0.04895594 0.07772999
+v -0.01694122 0.04998212 0.07697251
+v -0.01694122 0.05114394 0.07609948
+v -0.01694122 0.05208041 0.07539355
+v -0.01694122 0.05257709 0.07492032
+v -0.01817135 0.05223577 0.07452519
+v -0.02184260 0.04941325 0.07459702
+v -0.02668536 0.03674691 0.07677255
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