diff --git a/.gitattributes b/.gitattributes
index fea19d13b3374885d1d7b34c23b533e9dd93af8d..1edf7498a731d89fe44b4b7ac6018f271fe6c4ad 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2644,5 +2644,5 @@ dataset/bedroom_supplies/lighting_fixtures/7c90c8a94a9a5811be2c1eecd9afa7b3/7c90
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 dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/bdb512d3766b5bcc89c253c2bf391419.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/lighting_fixtures/de74d8bac02d56bc87561153781dd436/de74d8bac02d56bc87561153781dd436.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/0c4e359ce1045f17837e2306e821550e/flashlight_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/0c4e359ce1045f17837e2306e821550e/mesh/flashlight_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/alarm_clock_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/alarm_clock_014.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/alarm_clock_014.urdf b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/alarm_clock_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f692ddf19128adb8e5ca13f426d08b0b9aa6b43d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/alarm_clock_014.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_014">
+   <link name="alarm_clock_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_014.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.2000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>0266a3cf24ed5893b325696c6b66dff8</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>vintage alarm clock</name>
+         <color>brown,golden</color>
+         <shape>irregular</shape>
+         <material>metal</material>
+         <description>antique bronze twin-bell alarm clock on rectangular pedestal base</description>
+         <min_height>0.1706</min_height>
+         <max_height>0.1706</max_height>
+         <real_height>0.1706</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518164519</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040866 -0.059993 -0.056713</min>
+            <max>0.043523 0.060007 0.113900</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>17</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/alarm_clock_014.usd b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/alarm_clock_014.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/alarm_clock_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/alarm_clock_014.glb b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/alarm_clock_014.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/alarm_clock_014.glb
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/alarm_clock_014.mtl b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/alarm_clock_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..992810628977498ebf91e1ce1f94e891bef616b3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/alarm_clock_014.mtl
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+newmtl alarm_clock_014_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/alarm_clock_014.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/alarm_clock_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac9d51b1350d990f14510b0fda30dfc67ef67ae
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/alarm_clock_014.obj
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+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/alarm_clock_014_collision.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/alarm_clock_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37fd73db5470e06ba1871afad5537bbdda7d6f62
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/alarm_clock_014_collision.obj
@@ -0,0 +1,19890 @@
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1160be440c55cce0913a13335ab4d585b2f4a065
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+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl alarm_clock_014_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/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/0266a3cf24ed5893b325696c6b66dff8/mjcf/alarm_clock_014.xml b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/alarm_clock_014.xml
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index 0000000000000000000000000000000000000000..f44498d18950e0b9fade98d67e1f3de312e87c33
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+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/alarm_clock_014.xml
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+    <mesh name="collision_mesh_0_53" file="mesh/alarm_clock_014_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/alarm_clock_014_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_85" file="mesh/alarm_clock_014_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/alarm_clock_014_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_87" file="mesh/alarm_clock_014_collision_87.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_88" file="mesh/alarm_clock_014_collision_88.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_89" file="mesh/alarm_clock_014_collision_89.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_90" file="mesh/alarm_clock_014_collision_90.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_91" file="mesh/alarm_clock_014_collision_91.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_92" file="mesh/alarm_clock_014_collision_92.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_93" file="mesh/alarm_clock_014_collision_93.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_94" file="mesh/alarm_clock_014_collision_94.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_95" file="mesh/alarm_clock_014_collision_95.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_96" file="mesh/alarm_clock_014_collision_96.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="alarm_clock_014">
+      <joint type="free" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adba491227c1dcb1e94997b1c253c039b7daba64
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014.obj
@@ -0,0 +1,115392 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_014_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bb2ac0ed2f10d51613cfc0f4b8ae38914918a38
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision.obj
@@ -0,0 +1,19890 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_0.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33c2912d0e245f626b1e86c7586ad38324d1b71f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_0.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_1.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..506caab66249a99d7bc20f741e06a496e8253cf9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_1.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_10.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eff63f2f599c856d2f4308fadd706652cd8fb41b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_10.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_11.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d763ea6118bac2dc98f8395fcd2806e89a59f709
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_11.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_12.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dd604eec285243475ed5e8111647f45a08111b8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_12.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_13.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e55f2d2a047932539915d209507bb337ad2bbf0a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_13.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_14.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43cc8e5da7c08fb1b9027018138e38fc979b48d9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_14.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.01651638 0.02109353 0.07090891
+v 0.00554631 0.01991993 0.07090890
+v 0.01686547 0.02101711 0.07090891
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+v 0.01686547 0.01749634 0.05824167
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_15.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..536d294244bdfcef2fdb70cb0c3cd5a9ff5ffc7e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_15.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.01651878 -0.04858752 0.02406839
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_16.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe2bf0a0776decffe79e3ebecc28864912bf8040
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_16.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.02669737 -0.02385301 -0.01243938
+v 0.02668102 -0.02385302 -0.00998225
+v 0.02672644 -0.02669370 -0.00998226
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_17.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0523f336c0eaf9dae95299922d8d784f50d92d11
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_17.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_18.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07e90c2d164fd0381e9dfa9c3c91d17ace89879b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_18.obj
@@ -0,0 +1,574 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_19.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24821d31364806df5a0cf1cf6ac7297ae0625fb3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_19.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_2.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df5539daf83b18b611f48552bccd793a8b380967
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_2.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_20.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b93c9d40f45b413a5d2068d1016e311d674134d6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_20.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_21.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..508fe197f03187243285727f89691dc6387e8286
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_21.obj
@@ -0,0 +1,172 @@
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+v -0.01662762 -0.00695737 0.07749163
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+v -0.00328590 -0.00163631 0.07777091
+v -0.00328590 -0.00744215 0.07670969
+v -0.01662762 -0.00766722 0.07737992
+v -0.01711531 -0.00766722 0.07724896
+v -0.00328590 -0.00457097 0.07756290
+v -0.00328590 -0.00691120 0.07696391
+f 1 2 5
+f 1 5 14
+f 1 14 21
+f 1 21 20
+f 1 20 36
+f 1 36 18
+f 1 18 17
+f 1 17 7
+f 1 7 3
+f 1 3 6
+f 1 6 16
+f 1 16 33
+f 1 33 32
+f 1 32 31
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+f 1 30 13
+f 1 13 4
+f 1 4 2
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+f 11 13 12
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+f 12 32 33
+f 12 33 16
+f 14 34 21
+f 15 35 55
+f 15 55 56
+f 15 56 50
+f 15 50 25
+f 15 25 24
+f 15 24 23
+f 15 23 22
+f 18 36 19
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+f 21 34 37
+f 21 37 38
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+f 21 39 40
+f 21 40 41
+f 21 41 42
+f 21 42 43
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+f 21 44 45
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+f 21 49 22
+f 25 50 26
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_22.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..981a6e5745126d2aabfa691792b8cd139171675f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_22.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.02252638 0.03326319 0.05824001
+v 0.01709569 0.03326319 0.05824001
+v 0.02510506 0.03155623 0.05824001
+v 0.02569419 0.03324883 0.05621157
+v 0.02568222 0.03326319 0.05619781
+v 0.01709569 0.03326325 0.04068022
+v 0.01561579 0.02379504 0.05823998
+v 0.02607860 0.03087596 0.05824000
+v 0.02650548 0.03139110 0.05718453
+v 0.02571053 0.03326319 0.05617375
+v 0.02195903 0.03326324 0.04330688
+v 0.01561579 0.01492818 0.05823994
+v 0.01561579 0.01533204 0.05794771
+v 0.01561579 0.01792927 0.05607056
+v 0.01561579 0.02114038 0.05397680
+v 0.01561579 0.02379506 0.05246235
+v 0.02671020 0.02932874 0.05824000
+v 0.02674069 0.02943106 0.05800449
+v 0.02673960 0.03220959 0.05516984
+v 0.02658388 0.03326320 0.05467992
+v 0.02324401 0.03326324 0.04406325
+v 0.02381246 0.03326324 0.04450504
+v 0.02263310 0.02019086 0.05823996
+v 0.02673960 0.02918336 0.05824000
+v 0.02670367 0.02595611 0.05823999
+v 0.02672654 0.03326321 0.05063506
+v 0.02672327 0.03326320 0.05399919
+v 0.02448544 0.03326323 0.04559662
+v 0.02509526 0.02274861 0.05823997
+v 0.02438416 0.02175782 0.05823997
+v 0.02382988 0.02115472 0.05823997
+v 0.02656101 0.02537815 0.05823998
+v 0.02653923 0.03326322 0.04969304
+v 0.02549491 0.03326323 0.04726922
+v 0.02628006 0.02462429 0.05823998
+v 0.02619948 0.03326322 0.04859287
+v 0.02647063 0.03281808 0.04988557
+v 0.02595664 0.03326322 0.04812530
+f 1 2 7
+f 1 7 12
+f 1 12 23
+f 1 23 31
+f 1 31 30
+f 1 30 29
+f 1 29 35
+f 1 35 32
+f 1 32 25
+f 1 25 24
+f 1 24 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 20
+f 1 20 27
+f 1 27 26
+f 1 26 33
+f 1 33 36
+f 1 36 38
+f 1 38 34
+f 1 34 28
+f 1 28 22
+f 1 22 21
+f 1 21 11
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+f 1 6 2
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+f 2 16 7
+f 3 8 4
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+f 4 10 5
+f 6 11 12
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+f 6 15 16
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+f 7 13 12
+f 8 17 9
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+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 19 26 27
+f 19 27 20
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 25 32 33
+f 25 33 26
+f 28 34 29
+f 29 34 35
+f 32 36 37
+f 32 37 33
+f 32 35 36
+f 33 37 36
+f 34 38 35
+f 35 38 36
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_23.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f04e83aaead60147d194b8f3e8b82f5f27a2b110
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_23.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.01982522 -0.00138438 0.05128207
+v -0.01974611 -0.00138439 0.05501630
+v -0.01974611 0.00139747 0.05501700
+v -0.01980005 0.00026765 0.05241713
+v -0.01979286 0.00418408 0.05241715
+v -0.01982162 0.00026765 0.05128208
+v -0.01981803 -0.00417098 0.05128206
+v -0.01980005 -0.00417098 0.05220455
+v -0.01974251 -0.00417099 0.05501629
+v -0.01967779 -0.00138440 0.05824092
+v -0.01968498 0.00139746 0.05783011
+v -0.01967779 0.00418406 0.05783012
+v -0.01967779 0.00026763 0.05824093
+v -0.01972813 0.00697068 0.05501702
+v -0.01977847 0.00717957 0.05241716
+v -0.01976409 0.00996617 0.05241717
+v -0.01974970 0.01254390 0.05241718
+v -0.01972813 0.01532576 0.05241719
+v -0.01969577 0.01811236 0.05241720
+v -0.01965621 0.02089897 0.05241721
+v -0.01961306 0.02379476 0.05241722
+v 0.01513051 0.00026765 0.05128208
+v -0.01980724 -0.00787380 0.05128205
+v -0.01979286 -0.00695759 0.05220454
+v -0.01967060 -0.00695761 0.05782939
+v -0.01967419 0.00026763 0.05824161
+v -0.01967060 -0.00376274 0.05824092
+v -0.01966700 0.00459232 0.05824163
+v -0.01967419 0.00139746 0.05824162
+v -0.01965621 0.00697067 0.05824164
+v -0.01971015 0.00975728 0.05501703
+v -0.01964542 0.00975727 0.05783014
+v -0.01962025 0.01254388 0.05783015
+v -0.01966340 0.01532575 0.05501705
+v -0.01963464 0.01811235 0.05501706
+v -0.01954833 0.02368556 0.05501708
+v -0.01954474 0.02379475 0.05501708
+v 0.01558719 0.02379476 0.05241722
+v 0.01678462 -0.01161459 0.05128204
+v -0.01980005 -0.00974419 0.05128204
+v -0.01978207 -0.00974419 0.05220453
+v -0.01965981 -0.00695761 0.05824090
+v -0.01972094 -0.00974420 0.05501627
+v -0.01964542 -0.00933595 0.05824090
+v -0.01964183 -0.00974421 0.05824089
+v -0.01961666 -0.01252607 0.05824088
+v -0.01958789 -0.01490916 0.05824088
+v -0.01955193 -0.01769102 0.05824087
+v -0.01950878 -0.02047763 0.05824085
+v -0.01950159 -0.02088589 0.05824085
+v -0.01945124 -0.02367249 0.05824084
+v -0.01942967 -0.02470263 0.05824084
+v 0.01497948 0.00026763 0.05824161
+v -0.01963464 0.00975727 0.05824165
+v -0.01963104 0.01016553 0.05824165
+v -0.01960587 0.01294739 0.05824166
+v -0.01955912 0.01811234 0.05783017
+v -0.01958070 0.01532574 0.05824167
+v -0.01950159 0.02089895 0.05824169
+v -0.01946203 0.02379474 0.05783019
+v 0.01561236 0.02379476 0.05246355
+v 0.01687092 -0.01252605 0.05128203
+v -0.01978207 -0.01252605 0.05128203
+v -0.01976409 -0.01252605 0.05220452
+v -0.01965262 -0.00974421 0.05782938
+v -0.01962744 -0.01252607 0.05782937
+v -0.01966700 -0.01531267 0.05501625
+v -0.01963104 -0.01809927 0.05501624
+v -0.01959149 -0.02088588 0.05501623
+v -0.01954474 -0.02367248 0.05501622
+v -0.01946563 -0.02367249 0.05782933
+v -0.01947282 -0.02470263 0.05679238
+v 0.01691048 -0.02470263 0.05824084
+v 0.01561236 0.01492697 0.05824166
+v -0.01954474 0.01811234 0.05824168
+v -0.01945124 0.02368555 0.05824170
+v -0.01945844 0.02379474 0.05793647
+v 0.01691048 -0.01241212 0.05208938
+v 0.01691048 -0.01252605 0.05191428
+v 0.01561236 0.02379474 0.05824170
+v 0.01691048 -0.02470262 0.05312696
+v 0.01615174 -0.02470261 0.05224876
+v 0.01523479 -0.02470261 0.05128199
+v -0.01977488 -0.01344226 0.05128203
+v -0.01975690 -0.01531266 0.05128202
+v -0.01972094 -0.01809926 0.05128201
+v -0.01965981 -0.02088587 0.05220449
+v -0.01963464 -0.02367247 0.05128199
+v -0.01961666 -0.02458393 0.05128199
+v -0.01954833 -0.02470262 0.05398064
+v 0.01691048 -0.01761507 0.05824087
+v -0.01944765 0.02379474 0.05824170
+v 0.01691048 -0.01252605 0.05247908
+v -0.01960946 -0.02470261 0.05128199
+v -0.01959149 -0.02470261 0.05220448
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+f 86 88 87
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+f 89 95 90
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_24.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..461c599cbd604a48255a379cc811f50cdc41c83c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_24.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01010411 0.00538214 0.07479815
+v 0.00554520 0.00538214 0.07479815
+v 0.01161146 0.00139714 0.07479814
+v 0.01391878 0.00139714 0.07470089
+v 0.01391878 0.00418164 0.07454530
+v 0.01391878 0.00538214 0.07441078
+v 0.00554520 0.00538220 0.05824327
+v 0.00554520 -0.01038698 0.07479809
+v 0.01167867 -0.00139153 0.07479812
+v 0.01391878 -0.00115810 0.07470412
+v 0.01391878 0.00538220 0.05824327
+v 0.00554520 -0.03704810 0.05824149
+v 0.01093442 -0.01407186 0.07359382
+v 0.01243685 -0.01396348 0.07349333
+v 0.00711320 -0.00967835 0.07479809
+v 0.00554520 -0.02889889 0.06877349
+v 0.01391878 -0.00139153 0.07470411
+v 0.00969839 -0.00696887 0.07479810
+v 0.01391878 -0.03656874 0.05824312
+v 0.00756319 -0.03704810 0.05824149
+v 0.00554520 -0.03720234 0.05824149
+v 0.01391878 -0.01999933 0.07091299
+v 0.01391878 -0.01340074 0.07322104
+v 0.01391878 -0.01226276 0.07350954
+v 0.01391878 -0.01202933 0.07355493
+v 0.00812629 -0.00885717 0.07479810
+v 0.00554520 -0.03072049 0.06753682
+v 0.01391878 -0.02651039 0.06696793
+v 0.01391878 -0.02523069 0.06779131
+v 0.01391878 -0.00418020 0.07454202
+v 0.01391878 -0.03595599 0.05896113
+v 0.01369092 -0.03658958 0.05824312
+v 0.00589437 -0.03717733 0.05824149
+v 0.01391878 -0.00696054 0.07422757
+v 0.01391878 -0.00673127 0.07425514
+v 0.01391878 -0.03007854 0.06443298
+v 0.01391878 -0.02868212 0.06547192
+v 0.01391878 -0.02852372 0.06558700
+v 0.01391878 -0.03583928 0.05908269
+v 0.01391878 -0.03456374 0.06039716
+v 0.01391878 -0.03315899 0.06180403
+v 0.01391878 -0.03177091 0.06302612
+f 1 2 8
+f 1 8 15
+f 1 15 26
+f 1 26 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 7
+f 1 7 2
+f 2 7 12
+f 2 12 21
+f 2 21 27
+f 2 27 16
+f 2 16 8
+f 3 9 10
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+f 4 19 11
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+f 9 17 10
+f 9 18 17
+f 11 19 20
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+f 13 16 14
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+f 16 28 29
+f 16 29 22
+f 17 18 30
+f 18 26 30
+f 19 31 27
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+f 19 32 20
+f 20 32 33
+f 21 33 27
+f 25 34 26
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+f 26 35 30
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+f 27 38 28
+f 27 33 32
+f 27 31 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 36
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_25.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..983c258fa4bd810f95b3e83ad7cb9ce77e8f16e7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_25.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.01709566 0.03326498 0.05824173
+v -0.01935979 0.03326498 0.05824173
+v 0.01709566 0.02379567 0.05824170
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+v -0.01973305 0.02647568 0.04376270
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_26.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07f8b898299988fa8f1f545e2b3dd722af66220c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_26.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.01669778 0.03831859 -0.02381863
+v 0.01642641 0.03489117 -0.01027594
+v 0.01671045 0.03831718 -0.02381863
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_27.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80d8fe6ebfef54f57528ee283704bb74fe392008
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_27.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00734636 -0.02644749 0.08963084
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+v -0.00835948 -0.02646261 0.08937824
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_28.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4c36f96931723a89b1cea88295c7850d2dcae28
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_28.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v -0.00009009 0.00485711 0.11366967
+v -0.00182476 0.00485711 0.11299978
+v 0.00272141 0.00485711 0.11337670
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_29.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a6ed527a314f0606e41c70298bf6cdd75e1e1f1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_29.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_3.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a9e992ce6f44518c3e9bcce907530e2ce1e91ef
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_3.obj
@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_30.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f9afc8df3372f4aae020f78837847d388e4fa0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_30.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_31.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..442081a453b20e1bd9bd0ba458fd8dee4a9ae52f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_31.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.02201433 0.02345572 0.07468535
+v 0.02113209 0.02129765 0.07468534
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_32.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00b0cdc5f0ddc1a46a30c5451a05c5bb4d74d399
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_32.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_33.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4b382b1fc471f03fb20e086bac58534390a548f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_33.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v 0.01759205 0.01811559 0.03813402
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_34.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5e4211277641f884c1b3f52bacd5546324a2654
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_34.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00554520 0.04042272 0.08272185
+v 0.00554520 0.04042273 0.07869482
+v 0.00123401 0.04042272 0.08272185
+v 0.00554520 0.03221597 0.08272182
+v 0.00381017 0.03254816 0.06543046
+v 0.00362067 0.03266862 0.06543046
+v 0.00526074 0.04042273 0.07859156
+v 0.00554520 0.03107683 0.06543045
+v 0.00515354 0.03168601 0.06543046
+v 0.00123401 0.04042273 0.07789923
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+v 0.00537512 0.03210756 0.08272182
+v 0.00554520 0.02284425 0.06959626
+v 0.00273438 0.03285275 0.06543046
+v 0.00266601 0.04042273 0.07799064
+v 0.00554520 0.02284427 0.06543042
+v 0.00123401 0.03292502 0.06543046
+v 0.00123401 0.02284425 0.07017518
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+v 0.00266601 0.03082725 0.08272181
+v 0.00324885 0.03091501 0.08272181
+v 0.00184471 0.03289577 0.06543046
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+f 13 21 20
+f 13 20 19
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+f 13 23 16
+f 14 22 15
+f 15 22 17
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_35.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7483a9027fbd227cab7d30a44f8a31462230dd4e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_35.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00113783 -0.02886577 0.07506356
+v -0.00113783 -0.02363051 0.06997260
+v -0.00328590 -0.02363051 0.06982184
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+v -0.00113783 -0.03727982 0.07506353
+v -0.00113783 -0.02363049 0.06458624
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+v -0.00328590 -0.03203390 0.07499792
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+v -0.00113783 -0.03668387 0.07358363
+v -0.00113783 -0.03289170 0.06458621
+v -0.00328590 -0.03243608 0.07470973
+v -0.00300729 -0.03481988 0.07506354
+v -0.00197216 -0.03681616 0.07506353
+v -0.00187439 -0.03279817 0.06458621
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+f 1 13 6
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+f 11 15 14
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_36.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e953c80fd701ac6699edfee23bf24b4c4a072df0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_36.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.01668898 0.01162924 -0.01027383
+v 0.02195940 0.02787003 -0.00137069
+v 0.01668898 0.02590682 -0.00137069
+v 0.01668898 0.03479509 -0.01027374
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+v 0.02461059 0.02944060 -0.00137068
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+v 0.01790723 0.03624640 -0.00830487
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_37.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..426b6d4e7a834ed65b1a69e44692de401653228c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_37.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.00009699 -0.02591497 0.09616675
+v -0.00208346 -0.02710925 0.09616675
+v 0.00261043 -0.02617112 0.09616675
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_38.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4af8752ef4111eccf5373d27cbf99076ff4f236
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_38.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_39.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ddbf2148c1fe9ef53e1fcf3860a9ad7157d750
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_39.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_4.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bacae875025e6ec1d9bc90ad4f0451420eba3ad
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_4.obj
@@ -0,0 +1,646 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_40.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..076c80458115d98dd85a7f4937c9884ba8611b19
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_40.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_41.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a98ef0a8b9872e9f4f0f23510b9bb83bb858a9f5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_41.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_42.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebed9bd49d54f4b25570a080257d5114c149893d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_42.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_43.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02545213f609b526cbe48f54a8f74ae9fff0ff25
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_43.obj
@@ -0,0 +1,361 @@
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+f 92 110 111
+f 92 111 112
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+f 93 112 95
+f 93 95 94
+f 95 112 96
+f 96 112 114
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+f 98 116 99
+f 102 117 104
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+f 112 118 114
+f 114 118 115
+f 115 117 121
+f 118 120 119
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_44.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eb617c605d8bf1ccbfdb125fdd86a9ac4b95659
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_44.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00113783 -0.02362924 0.08695589
+v -0.00113783 -0.02362924 0.08583435
+v -0.00328590 -0.02362924 0.08695589
+v -0.00113783 -0.04415878 0.08695582
+v -0.00328590 -0.02362923 0.08551266
+v -0.00113783 -0.03149861 0.08245384
+v -0.00328590 -0.04350769 0.08695582
+v -0.00262945 -0.04415878 0.08695582
+v -0.00113783 -0.04415876 0.08245380
+v -0.00244631 -0.03191659 0.08245384
+v -0.00263723 -0.03199296 0.08245384
+v -0.00277096 -0.03204721 0.08245384
+v -0.00328590 -0.03291936 0.08245384
+v -0.00328590 -0.04415877 0.08514417
+v -0.00325394 -0.04353984 0.08695582
+v -0.00328590 -0.04415876 0.08245380
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 5
+f 3 5 13
+f 3 13 16
+f 3 16 14
+f 3 14 7
+f 4 8 14
+f 4 14 16
+f 4 16 9
+f 5 6 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 6 9 16
+f 6 16 13
+f 6 13 12
+f 6 12 11
+f 6 11 10
+f 7 14 15
+f 8 15 14
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_45.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9609ae46a6dd213165d9429413d849e4b319f8d3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_45.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.02089204 0.02911760 0.07791741
+v -0.02076928 0.02810316 0.07791740
+v -0.02086628 0.02911760 0.07804128
+v -0.01369477 0.02911760 0.07791741
+v -0.02056620 0.02703034 0.07791740
+v -0.02068896 0.02865234 0.07862297
+v -0.02040707 0.02911760 0.07946454
+v -0.00540934 0.02911758 0.08443260
+v -0.00540934 0.01537708 0.07827925
+v -0.00627320 0.01539898 0.07791736
+v -0.02042374 0.02636074 0.07791740
+v -0.01969174 0.02647385 0.08033767
+v -0.02014337 0.02911760 0.08010574
+v -0.00540934 0.02911756 0.08988399
+v -0.00540934 0.01526032 0.07825375
+v -0.00540934 0.01250345 0.07791735
+v -0.01976903 0.02407826 0.07791739
+v -0.01873998 0.02350169 0.08053197
+v -0.01829593 0.02430449 0.08223940
+v -0.01858237 0.02647385 0.08264744
+v -0.01873089 0.02911759 0.08274460
+v -0.01127598 0.02911757 0.08795433
+v -0.01111684 0.02647382 0.08850929
+v -0.00540934 0.02755941 0.09013293
+v -0.00540934 0.01229363 0.07791735
+v -0.01964476 0.02366409 0.07791739
+v -0.01830654 0.02167170 0.07972196
+v -0.01794584 0.02244712 0.08159819
+v -0.01762152 0.02647384 0.08405370
+v -0.01741540 0.02350168 0.08316719
+v -0.01760636 0.02911758 0.08414965
+v -0.01180944 0.02911757 0.08777095
+v -0.01305976 0.02647383 0.08768230
+v -0.01111684 0.02368777 0.08862951
+v -0.00836009 0.02368777 0.08963623
+v -0.00836009 0.02647382 0.08935451
+v -0.01281424 0.02856474 0.08752928
+v -0.00658237 0.02368777 0.09010620
+v -0.00540934 0.02368777 0.09032236
+v -0.00540934 0.01072819 0.07850267
+v -0.00760990 0.01203820 0.07791734
+v -0.01858540 0.02094919 0.07791738
+v -0.01795494 0.01960634 0.07791737
+v -0.01784279 0.01981434 0.07851849
+v -0.01613933 0.01595364 0.07791736
+v -0.01558616 0.01903890 0.08234746
+v -0.01614690 0.02083970 0.08323154
+v -0.01555130 0.02172459 0.08490254
+v -0.01593473 0.02368779 0.08526565
+v -0.01624390 0.02647384 0.08545632
+v -0.01622723 0.02911758 0.08534218
+v -0.01267027 0.02911757 0.08746493
+v -0.01443738 0.02647383 0.08686379
+v -0.01300975 0.02368778 0.08769321
+v -0.01345683 0.02911757 0.08707025
+v -0.01274605 0.02178844 0.08754384
+v -0.01124567 0.02087618 0.08809516
+v -0.00836009 0.02090171 0.08943949
+v -0.00652175 0.02090171 0.09007097
+v -0.00540934 0.02090171 0.09031385
+v -0.00540934 0.01070447 0.07868605
+v -0.00742803 0.01099275 0.07872126
+v -0.01072584 0.01212213 0.07791734
+v -0.01509058 0.01424770 0.07791735
+v -0.01503450 0.01986723 0.08422247
+v -0.01225198 0.01993107 0.08717708
+v -0.01438585 0.02368778 0.08667191
+v -0.01385087 0.02911757 0.08683587
+v -0.01041364 0.01878527 0.08778063
+v -0.00850103 0.01796059 0.08832953
+v -0.00555635 0.01821966 0.08963621
+v -0.00540934 0.01837474 0.08973458
+v -0.00540934 0.01048734 0.08043963
+v -0.00540934 0.01048004 0.08050399
+v -0.00742803 0.01099275 0.07967577
+v -0.01349017 0.01274429 0.07791735
+v -0.01374933 0.01296871 0.07791735
+v -0.01239293 0.01682574 0.08443012
+v -0.01319767 0.01868311 0.08530085
+v -0.01140328 0.01780550 0.08625536
+v -0.00951493 0.01692790 0.08720986
+v -0.00767810 0.01626195 0.08775754
+v -0.00560333 0.01571094 0.08819472
+v -0.00540934 0.01582406 0.08831981
+v -0.00540934 0.01817222 0.08965443
+v -0.00540934 0.01051471 0.08090473
+v -0.00687487 0.01120073 0.08155079
+v -0.00839798 0.01302160 0.08320844
+v -0.00934064 0.01419112 0.08418359
+v -0.01055610 0.01604849 0.08533363
+v -0.00850861 0.01522562 0.08608412
+v -0.00560333 0.01431700 0.08693539
+v -0.00540934 0.01427504 0.08698519
+v -0.00540934 0.01566351 0.08821294
+v -0.00540934 0.01070811 0.08143178
+v -0.00540934 0.01122628 0.08272267
+v -0.00750381 0.01364741 0.08495837
+v -0.00560333 0.01321865 0.08552914
+v -0.00540934 0.01331534 0.08575865
+v -0.00540934 0.01166415 0.08336873
+v -0.00581551 0.01172071 0.08319507
+v -0.00540934 0.01317304 0.08556192
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 31
+f 1 31 51
+f 1 51 68
+f 1 68 55
+f 1 55 52
+f 1 52 32
+f 1 32 22
+f 1 22 14
+f 1 14 8
+f 1 8 4
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+f 1 16 25
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+f 1 41 63
+f 1 63 76
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+f 98 100 102
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_46.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d050ea5428f3900270fa7c9f377e2bf357135821
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_46.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00554520 -0.02474113 0.09083539
+v 0.00554520 -0.02474111 0.08566497
+v 0.00667129 -0.02474113 0.09064862
+v 0.00554520 -0.02088830 0.09058944
+v 0.00555046 -0.02474111 0.08534799
+v 0.00554520 -0.01628872 0.07934370
+v 0.00938593 -0.02474113 0.08971213
+v 0.00938593 -0.02367441 0.08984892
+v 0.00877946 -0.02367441 0.09001859
+v 0.00867193 -0.02088830 0.08993837
+v 0.00729393 -0.02088830 0.09029481
+v 0.00691756 -0.01939910 0.09021591
+v 0.00554520 -0.02076619 0.09057761
+v 0.00938593 -0.01975697 0.07986586
+v 0.00938593 -0.02060334 0.08065634
+v 0.00938593 -0.02343718 0.08341187
+v 0.00675250 -0.02474111 0.08513885
+v 0.00938593 -0.01755756 0.07821124
+v 0.00554520 -0.01622556 0.07929898
+v 0.00938593 -0.02474111 0.08472059
+v 0.00938593 -0.02088830 0.08967926
+v 0.00797296 -0.01832255 0.08941753
+v 0.00554520 -0.01759128 0.08984500
+v 0.00554520 -0.01898504 0.09033560
+v 0.00554520 -0.01494689 0.07852297
+v 0.00554520 -0.01483320 0.07845983
+v 0.00938593 -0.01675190 0.07777850
+v 0.00938593 -0.01822570 0.08876908
+v 0.00938593 -0.01697089 0.08809961
+v 0.00938593 -0.01629436 0.08771817
+v 0.00817825 -0.01595049 0.08799702
+v 0.00554520 -0.01748461 0.08978319
+v 0.00554520 -0.01267590 0.07807051
+v 0.00938593 -0.01540726 0.07743258
+v 0.00938593 -0.01496657 0.08625690
+v 0.00817825 -0.01455813 0.08663175
+v 0.00625845 -0.01410337 0.08716576
+v 0.00554520 -0.01494271 0.08808910
+v 0.00554520 -0.01519536 0.08829296
+v 0.00554520 -0.01040350 0.07766541
+v 0.00938593 -0.01366120 0.07739971
+v 0.00938593 -0.01398406 0.08515468
+v 0.00554520 -0.01040352 0.08306863
+v 0.00554520 -0.01324438 0.08632529
+v 0.00577343 -0.01040350 0.07765225
+v 0.00938593 -0.01164005 0.07836778
+v 0.00938593 -0.01372861 0.08483112
+v 0.00622273 -0.01040351 0.08249911
+v 0.00630432 -0.01040350 0.07793241
+v 0.00938593 -0.01105055 0.07882549
+v 0.00938593 -0.01262678 0.08302785
+v 0.00908815 -0.01135093 0.08101940
+v 0.00938593 -0.01121898 0.08007897
+v 0.00692847 -0.01040351 0.08128115
+v 0.00681191 -0.01040350 0.07820073
+v 0.00938593 -0.01103652 0.07912012
+v 0.00938593 -0.01145900 0.08086815
+v 0.00938593 -0.01103652 0.07934767
+v 0.00694726 -0.01040350 0.08025259
+f 1 2 5
+f 1 5 17
+f 1 17 20
+f 1 20 7
+f 1 7 3
+f 1 3 4
+f 1 4 13
+f 1 13 24
+f 1 24 23
+f 1 23 32
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+f 1 39 38
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+f 1 44 43
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+f 1 6 2
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+f 16 20 17
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+f 21 28 22
+f 22 28 29
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+f 22 30 31
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+f 26 34 27
+f 30 35 36
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+f 40 59 55
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+f 40 49 45
+f 40 45 41
+f 41 45 46
+f 42 47 43
+f 43 47 48
+f 45 49 50
+f 45 50 46
+f 47 51 48
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+f 48 53 54
+f 48 51 52
+f 49 55 50
+f 50 55 56
+f 51 57 52
+f 52 57 53
+f 53 58 54
+f 54 58 59
+f 55 59 56
+f 56 59 58
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_47.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b6c3b9ff8b239c938ea4e1b4a4e66b778b66966
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_47.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.00123359 0.03292609 0.06542976
+v 0.00184471 0.03289738 0.06542976
+v 0.00123359 0.03750641 0.05824175
+v 0.00123359 0.02284398 0.06542972
+v 0.00273396 0.03285432 0.06542976
+v 0.00539073 0.03717771 0.05824175
+v 0.00123359 0.02284401 0.05824169
+v 0.00554520 0.02284398 0.06542972
+v 0.00554520 0.03716479 0.05824175
+v 0.00357425 0.03267920 0.06542976
+v 0.00554520 0.02284401 0.05824169
+v 0.00554520 0.03107732 0.06542975
+v 0.00362067 0.03266915 0.06542976
+v 0.00381017 0.03254858 0.06542976
+v 0.00515354 0.03168736 0.06542976
+v 0.00554520 0.03714182 0.05826919
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 15
+f 1 15 14
+f 1 14 13
+f 1 13 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 9
+f 3 9 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 9 6
+f 5 10 9
+f 8 11 9
+f 8 9 16
+f 8 16 12
+f 9 10 13
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 12 16 15
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_48.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de6b1d08c53bef0ceeeabe53850792aee31f8b9e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_48.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01686657 0.00538903 0.07091008
+v 0.01686657 0.00551460 0.06540109
+v 0.01687048 0.00538905 0.06540109
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_49.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27e0101b37d475d9c5885bfe4e6188992c40d012
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_49.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_5.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45ca9205184c9cac81c5e5b8624f35779d30b7b1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_5.obj
@@ -0,0 +1,643 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_50.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f519a28ac16107a053afbf1122cc6b280f4d0184
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_50.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00328590 0.02926227 0.09284556
+v -0.00540934 0.03006795 0.08986285
+v -0.00540934 0.02756319 0.09013320
+v -0.00540934 0.02369172 0.09032317
+v -0.00540934 0.02290733 0.09031585
+v -0.00526156 0.02290733 0.09034800
+v -0.00518694 0.02290733 0.09036408
+v -0.00349126 0.02290733 0.09065343
+v -0.00328590 0.02290733 0.09068412
+v -0.00328590 0.04040603 0.09161072
+v -0.00540934 0.03204888 0.08956327
+v -0.00328590 0.04042996 0.09160780
+v -0.00540934 0.02290735 0.08462810
+v -0.00328590 0.02290735 0.08528865
+v -0.00540934 0.03243975 0.08948728
+v -0.00328590 0.04048314 0.09159026
+v -0.00540934 0.03761944 0.08828458
+v -0.00540934 0.03750511 0.08831234
+v -0.00328590 0.03443668 0.07791743
+v -0.00540934 0.04212910 0.07791745
+v -0.00540934 0.03918824 0.08775993
+v -0.00328590 0.04232582 0.09067982
+v -0.00328590 0.05007145 0.07791748
+v -0.00540934 0.04968856 0.07791748
+v -0.00540934 0.04036883 0.08694740
+v -0.00540934 0.04090860 0.08649291
+v -0.00495456 0.04977365 0.07791748
+v -0.00540934 0.04951307 0.07810600
+v -0.00540934 0.04945723 0.07816445
+v -0.00540934 0.04941735 0.07820537
+f 1 2 3
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+f 1 6 7
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+f 1 9 14
+f 1 14 19
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+f 1 12 10
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+f 22 29 30
+f 22 30 26
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_51.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af511e70a0434bfb0a2419964831577c25bdd5c4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_51.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00299390 -0.00417109 0.08695596
+v -0.00233361 -0.00645102 0.08695596
+v -0.00198094 -0.00616768 0.08778747
+v -0.00222719 -0.00417109 0.08798902
+v -0.00292787 0.00418592 0.08695600
+v -0.00009017 -0.00800118 0.08695595
+v -0.00009017 -0.00417110 0.08891326
+v -0.00009017 -0.00661082 0.08814728
+v -0.00218602 0.00418592 0.08794250
+v -0.00194210 0.00627311 0.08774613
+v -0.00272513 0.00526493 0.08695600
+v 0.00266519 -0.00762723 0.08695595
+v 0.00266519 -0.00647244 0.08803654
+v 0.00266519 -0.00417110 0.08868929
+v 0.00266519 0.00418591 0.08859258
+v -0.00009017 0.00418591 0.08880217
+v 0.00012967 0.00710997 0.08795746
+v -0.00064249 0.00812968 0.08713304
+v -0.00096098 0.00795506 0.08695601
+v -0.00233516 0.00654492 0.08695600
+v 0.00307613 -0.00739990 0.08695595
+v 0.00432524 -0.00598318 0.08763975
+v 0.00445730 -0.00417109 0.08776524
+v 0.00443089 0.00418592 0.08773310
+v 0.00429883 0.00604578 0.08760990
+v 0.00242360 0.00697324 0.08787584
+v 0.00134305 0.00838666 0.08738958
+v 0.00119390 0.00838666 0.08738958
+v 0.00076976 0.00882815 0.08695601
+v -0.00047858 0.00841961 0.08695601
+v 0.00446895 -0.00633571 0.08695596
+v 0.00481852 -0.00524352 0.08695596
+v 0.00494203 -0.00417109 0.08695596
+v 0.00488766 0.00418592 0.08695600
+v 0.00445342 0.00640161 0.08695600
+v 0.00306836 0.00776561 0.08695601
+v 0.00242360 0.00824993 0.08695601
+v 0.00169573 0.00874743 0.08695601
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_52.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8233e9085f8971152eeb4973c5164d2c8fc1db30
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_52.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00554520 0.00538629 0.07468528
+v 0.00554520 0.01062607 0.07468530
+v 0.01048519 0.00538629 0.07468528
+v 0.00554520 0.00538628 0.07709912
+v 0.00644611 0.01072039 0.07468530
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+v 0.01112660 0.01207747 0.08031013
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+v 0.00817855 0.01207747 0.07805918
+v 0.00554520 0.01207745 0.08508589
+v 0.00823592 0.01207745 0.08336535
+v 0.00665591 0.01207745 0.08442821
+f 1 2 5
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+f 1 7 3
+f 1 3 4
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+f 1 13 17
+f 1 17 6
+f 1 6 2
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+f 12 18 13
+f 13 18 19
+f 13 19 17
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_53.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ab9a184cc108590f5ba83eb3a076484302a5295
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_53.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.00554532 0.04621503 0.06345895
+v 0.00554532 0.04622317 0.06356565
+v 0.00554532 0.04646122 0.06077403
+v 0.01703947 0.03327106 0.07090896
+v 0.00554532 0.04655683 0.06626161
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+v 0.01736123 0.03327107 0.06919301
+v 0.02340996 0.03327106 0.07090896
+v 0.01583113 0.03715302 0.07091020
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+v 0.01779141 0.03327107 0.06787202
+v 0.02339947 0.03327106 0.06978421
+v 0.02337149 0.03367595 0.06908385
+v 0.02338198 0.03377156 0.07090896
+v 0.02274720 0.03715302 0.07091020
+v 0.00554532 0.05381209 0.07091026
+v 0.00554532 0.04712449 0.05897836
+v 0.01922009 0.03327108 0.06619165
+v 0.01865002 0.03327107 0.06678407
+v 0.01785786 0.03327107 0.06772115
+v 0.02335925 0.03327107 0.06789655
+v 0.02334701 0.03349894 0.06765370
+v 0.02314241 0.03506963 0.06908386
+v 0.02317563 0.03516524 0.07090897
+v 0.02325607 0.03467491 0.07090897
+v 0.02265103 0.03762300 0.07091020
+v 0.00770671 0.05325461 0.07091026
+v 0.00554532 0.05405421 0.06908271
+v 0.00818060 0.04687221 0.05883853
+v 0.01920261 0.03549690 0.06454808
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+v 0.00554532 0.04867891 0.05838595
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+v 0.02146192 0.04106753 0.07091021
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+v 0.00554532 0.05373479 0.06626777
+v 0.00680263 0.05339502 0.06626777
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+v 0.01249812 0.04696579 0.05914394
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+v 0.00837820 0.04896781 0.05873061
+v 0.00554532 0.05069313 0.05862513
+v 0.01779316 0.04451820 0.06214653
+v 0.01249812 0.04751513 0.05914394
+v 0.02049839 0.04164130 0.06524233
+v 0.02068899 0.04200752 0.06711895
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+v 0.02004023 0.04367383 0.06908267
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+f 92 112 93
+f 92 104 117
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+f 99 122 100
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+f 100 115 101
+f 101 115 114
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+f 101 113 102
+f 102 113 117
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+f 122 128 124
+f 122 124 123
+f 124 128 125
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_54.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73a9af5e91adf52fd14e94048663a2cfe9453ccd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_54.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01951555 -0.02013531 0.05824154
+v -0.01954599 -0.01810325 0.05824154
+v -0.01089054 -0.02013531 0.05824154
+v -0.01977471 -0.02013536 0.07189807
+v -0.01958339 -0.01531696 0.05824155
+v -0.01089054 -0.00766838 0.05824158
+v -0.01089054 -0.02013542 0.08798891
+v -0.01926075 -0.02013537 0.07473129
+v -0.01953121 -0.00766844 0.07470804
+v -0.01955121 -0.00766844 0.07399464
+v -0.01965644 -0.00766838 0.05824158
+v -0.01964687 -0.00933796 0.05824158
+v -0.01964339 -0.00974559 0.05824157
+v -0.01962165 -0.01212425 0.05824157
+v -0.01961730 -0.01253188 0.05824156
+v -0.01089054 -0.00766845 0.07616978
+v -0.01089054 -0.02005365 0.08796270
+v -0.01092359 -0.02013542 0.08797434
+v -0.01844504 -0.02013538 0.07715394
+v -0.01790934 -0.02013539 0.07868558
+v -0.01891986 -0.00766845 0.07623384
+v -0.01164973 -0.00766845 0.07648135
+v -0.01089054 -0.01622507 0.08511784
+v -0.01089054 -0.01912244 0.08759872
+v -0.01222282 -0.01995967 0.08715029
+v -0.01203498 -0.02013542 0.08732501
+v -0.01772411 -0.02013539 0.07912817
+v -0.01869375 -0.00766845 0.07669682
+v -0.01675882 -0.02013540 0.08119558
+v -0.01387251 -0.00766845 0.07716563
+v -0.01089054 -0.01760298 0.08646894
+v -0.01711537 -0.00766845 0.07724716
+v -0.01227065 -0.02013542 0.08718524
+v -0.01590136 -0.02013540 0.08284659
+v -0.01529001 -0.02013541 0.08392980
+v -0.01507608 -0.02013541 0.08427340
+v -0.01254545 -0.02013542 0.08692899
+v -0.01662751 -0.00766845 0.07738111
+f 1 2 5
+f 1 5 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
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+f 4 15 5
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+f 25 28 33
+f 28 29 34
+f 28 34 35
+f 28 35 36
+f 28 36 37
+f 28 37 33
+f 30 38 31
+f 31 38 32
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_55.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e81a6a1e75badf2fc8927563d35ae241748814
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_55.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00554520 -0.02747013 0.08695588
+v 0.00554520 -0.02747012 0.08512297
+v 0.00123420 -0.02598462 0.08695461
+v 0.00123420 -0.02747013 0.08695588
+v 0.00554520 -0.04326820 0.08695582
+v 0.00200089 -0.02756410 0.07392521
+v 0.00123420 -0.02598461 0.08569312
+v 0.00554520 -0.03485471 0.07876321
+v 0.00524166 -0.03203677 0.07392519
+v 0.00509447 -0.03117448 0.07392520
+v 0.00459403 -0.02963255 0.07392520
+v 0.00330270 -0.02824105 0.07392521
+v 0.00280683 -0.02798048 0.07392521
+v -0.00113783 -0.02598462 0.08695461
+v 0.00123420 -0.04544947 0.08695581
+v 0.00525933 -0.04374904 0.08695582
+v 0.00554520 -0.05095363 0.07704631
+v 0.00196884 -0.02755873 0.07392521
+v -0.00113783 -0.02598461 0.08562042
+v 0.00195052 -0.02755604 0.07392521
+v 0.00554520 -0.03586744 0.07834229
+v 0.00554520 -0.04744802 0.07392514
+v -0.00113783 -0.04526142 0.08695454
+v 0.00266553 -0.04536619 0.08695581
+v -0.00008984 -0.04554886 0.08695454
+v 0.00430620 -0.04474028 0.08695582
+v 0.00554520 -0.05228603 0.07524911
+v 0.00123420 -0.02757754 0.07392521
+v -0.00008984 -0.02799660 0.07462802
+v -0.00113783 -0.02865742 0.07462801
+v 0.00554520 -0.05305430 0.07392512
+v -0.00113783 -0.05249556 0.07543660
+v 0.00266553 -0.05252780 0.07549400
+v 0.00542156 -0.05236125 0.07517895
+v -0.00008984 -0.05254391 0.07552589
+v 0.00554520 -0.05234781 0.07514834
+v 0.00123420 -0.05342769 0.07392511
+v -0.00113783 -0.05296565 0.07462793
+v 0.00542156 -0.05308653 0.07392512
+v -0.00071916 -0.05300863 0.07462793
+v 0.00123420 -0.05336053 0.07410496
+v 0.00266553 -0.05334979 0.07408710
+v 0.00407593 -0.05326114 0.07392511
+v -0.00008984 -0.05306773 0.07462793
+v 0.00256021 -0.05341157 0.07392511
+v 0.00266553 -0.05340889 0.07392511
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+f 1 7 3
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+f 1 15 24
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+f 1 26 16
+f 1 16 5
+f 1 5 17
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+f 42 46 43
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_56.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae4728b4944cd0181a123e68661cd21352aed5dc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_56.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00554520 0.03793952 0.07911408
+v 0.01066034 0.03793952 0.07988975
+v 0.00554520 0.03793948 0.08987243
+v 0.00554520 0.04743619 0.07091023
+v 0.01066034 0.04453950 0.07091022
+v 0.01066034 0.03793950 0.08549444
+v 0.00554520 0.04040106 0.09077059
+v 0.00554520 0.05381391 0.07091026
+v 0.01066034 0.05207806 0.07091025
+v 0.01066034 0.04034669 0.08420360
+v 0.00554520 0.05090942 0.07698540
+v 0.01066034 0.04415405 0.08168024
+v 0.01066034 0.04679902 0.07962928
+v 0.01066034 0.04830953 0.07820236
+v 0.01066034 0.04926526 0.07717590
+v 0.00996079 0.05032821 0.07633219
+v 0.00817813 0.05060949 0.07666074
+v 0.00554520 0.05368492 0.07189784
+v 0.00753717 0.05319230 0.07189784
+v 0.00770442 0.05325446 0.07091026
+v 0.00908198 0.05278670 0.07091025
+v 0.01066034 0.05198948 0.07189783
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+v 0.01066034 0.05069341 0.07515022
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+v 0.00693277 0.05298405 0.07338697
+v 0.00891473 0.05273697 0.07189783
+v 0.00859826 0.05295920 0.07091025
+v 0.01066034 0.05092031 0.07472058
+v 0.00554520 0.05237020 0.07494026
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 23
+f 1 23 31
+f 1 31 26
+f 1 26 18
+f 1 18 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
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+f 2 22 30
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+f 2 24 15
+f 2 15 14
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+f 2 13 12
+f 2 12 10
+f 2 10 6
+f 3 6 7
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+f 4 20 29
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+f 4 21 9
+f 4 9 5
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+f 7 17 11
+f 8 18 19
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+f 9 21 22
+f 11 17 23
+f 15 24 16
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+f 17 25 23
+f 18 26 27
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+f 21 29 28
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+f 22 28 30
+f 23 25 27
+f 23 27 31
+f 24 30 25
+f 25 30 27
+f 26 31 27
+f 27 30 28
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_57.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43795dc6d42924526a834777d8c29b417085dad9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_57.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00554520 0.02926181 0.09156866
+v 0.00554520 0.02656870 0.09117100
+v 0.00863882 0.02345743 0.09004199
+v 0.00875349 0.02345743 0.09001314
+v 0.01066034 0.02345743 0.08947373
+v 0.01066034 0.02368989 0.08948126
+v 0.00554520 0.03204707 0.09148086
+v 0.00554520 0.02647373 0.09115594
+v 0.00737543 0.02345743 0.09030291
+v 0.01066034 0.02345746 0.08219924
+v 0.01066034 0.02612504 0.08927303
+v 0.00554520 0.03793793 0.08987269
+v 0.01066034 0.02646522 0.08923164
+v 0.01066034 0.02926182 0.08862826
+v 0.00554520 0.02345743 0.09061527
+v 0.00554520 0.03486356 0.07875334
+v 0.01066034 0.03793797 0.07988862
+v 0.00554520 0.02345745 0.08530649
+v 0.01066034 0.03777070 0.08558879
+v 0.01066034 0.03793795 0.08549345
+v 0.00554520 0.03793797 0.07911463
+v 0.01066034 0.03205276 0.08774389
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 21
+f 1 21 16
+f 1 16 18
+f 1 18 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 15
+f 3 15 18
+f 3 18 10
+f 3 10 5
+f 3 5 4
+f 5 10 17
+f 5 17 20
+f 5 20 19
+f 5 19 22
+f 5 22 14
+f 5 14 13
+f 5 13 11
+f 5 11 6
+f 6 11 7
+f 7 11 13
+f 7 13 14
+f 7 14 12
+f 8 15 9
+f 10 16 17
+f 10 18 16
+f 12 19 20
+f 12 20 17
+f 12 17 21
+f 12 14 22
+f 12 22 19
+f 16 21 17
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_58.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edc78ed98fe9dd189caaee6140236bd684235954
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_58.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.01391878 -0.00115638 0.07470493
+v 0.01391878 -0.00138699 0.07470492
+v 0.01644747 -0.00138699 0.07460822
+v 0.01391878 0.00139865 0.07470333
+v 0.01391878 -0.00417263 0.07454374
+v 0.01920419 -0.00138699 0.07428428
+v 0.01644747 0.00139865 0.07460502
+v 0.01644747 -0.00417263 0.07444382
+v 0.01920419 -0.00417263 0.07412471
+v 0.01391878 0.00418428 0.07454701
+v 0.01391878 -0.00695827 0.07422946
+v 0.02093094 -0.00417263 0.07358318
+v 0.02101836 -0.00138699 0.07366055
+v 0.02101836 0.00139865 0.07365896
+v 0.01920419 0.00139865 0.07428107
+v 0.01920419 0.00418428 0.07412314
+v 0.01644747 0.00418428 0.07444225
+v 0.01644747 -0.00695827 0.07412470
+v 0.01920419 -0.00695827 0.07381525
+v 0.02061929 -0.00849088 0.07333175
+v 0.02074851 -0.00695827 0.07343329
+v 0.01391878 0.00538629 0.07441163
+v 0.01391878 -0.01202547 0.07355577
+v 0.02626829 -0.00417262 0.07064670
+v 0.02635063 -0.00138698 0.07072729
+v 0.02616567 -0.00601747 0.07055161
+v 0.02634557 0.00139866 0.07072087
+v 0.02093221 0.00418428 0.07358322
+v 0.02084986 0.00538629 0.07351714
+v 0.01986677 0.00538629 0.07382336
+v 0.01920419 0.00538629 0.07398614
+v 0.01763580 0.00538629 0.07416826
+v 0.01644747 0.00538629 0.07430525
+v 0.01784610 -0.01114999 0.07330596
+v 0.01894068 -0.00955003 0.07343489
+v 0.02588696 -0.00787456 0.07038237
+v 0.01968307 -0.01035001 0.07311255
+v 0.01920672 -0.01546210 0.07180062
+v 0.02106270 -0.01546210 0.07103830
+v 0.02634557 -0.01546209 0.06794709
+v 0.01391878 0.00538635 0.05824163
+v 0.01391878 -0.01225608 0.07351062
+v 0.02674463 -0.00974388 0.06875295
+v 0.02682445 -0.00417261 0.06908337
+v 0.02685992 -0.00138697 0.06908338
+v 0.02685612 0.00139867 0.06908340
+v 0.02665469 -0.01252952 0.06839515
+v 0.02682191 0.00418430 0.06908341
+v 0.02626069 0.00418429 0.07063868
+v 0.02619481 0.00538630 0.07057905
+v 0.01391878 -0.01339686 0.07322375
+v 0.01907623 -0.01546210 0.07182964
+v 0.01894068 -0.01225812 0.07275958
+v 0.02636711 -0.01531516 0.06797127
+v 0.02684345 -0.01546208 0.06627417
+v 0.01488288 0.00538635 0.05824163
+v 0.01391878 -0.01546205 0.05824155
+v 0.02685739 -0.01531515 0.06627095
+v 0.02677757 0.00538631 0.06808256
+v 0.02673957 0.00538631 0.06917205
+v 0.02642412 0.00538630 0.07004719
+v 0.01391878 -0.01546211 0.07243562
+v 0.01645507 -0.01546211 0.07220999
+v 0.02658881 -0.01546208 0.06410323
+v 0.02405252 0.00538632 0.06437730
+v 0.02403099 -0.01546207 0.06148909
+v 0.01626504 -0.01546205 0.05824155
+v 0.02668256 0.00538631 0.06686573
+v 0.02541061 -0.01546207 0.06270752
+v 0.02619101 0.00538632 0.06626136
+v 0.02483672 0.00538632 0.06498813
+v 0.02542962 0.00538632 0.06546035
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 22
+f 1 22 41
+f 1 41 57
+f 1 57 62
+f 1 62 51
+f 1 51 42
+f 1 42 23
+f 1 23 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 6 15
+f 3 15 7
+f 3 7 4
+f 3 5 8
+f 3 8 9
+f 3 9 6
+f 4 7 10
+f 5 11 8
+f 6 9 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 10
+f 8 11 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 12
+f 10 17 22
+f 11 23 18
+f 12 24 25
+f 12 25 13
+f 12 21 26
+f 12 26 24
+f 13 25 14
+f 14 25 27
+f 14 27 28
+f 14 28 15
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 22
+f 18 23 34
+f 18 34 19
+f 19 34 35
+f 19 35 20
+f 20 36 26
+f 20 26 21
+f 20 35 34
+f 20 34 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 36
+f 22 33 32
+f 22 32 31
+f 22 31 30
+f 22 30 29
+f 22 29 50
+f 22 50 61
+f 22 61 60
+f 22 60 59
+f 22 59 68
+f 22 68 70
+f 22 70 72
+f 22 72 71
+f 22 71 65
+f 22 65 56
+f 22 56 41
+f 23 42 34
+f 24 26 43
+f 24 43 25
+f 25 43 44
+f 25 44 45
+f 25 45 46
+f 25 46 27
+f 26 36 47
+f 26 47 43
+f 27 46 48
+f 27 48 49
+f 27 49 28
+f 28 49 50
+f 28 50 29
+f 34 42 51
+f 34 51 52
+f 34 52 53
+f 34 53 37
+f 36 40 54
+f 36 54 47
+f 37 53 38
+f 38 52 63
+f 38 63 62
+f 38 62 57
+f 38 57 67
+f 38 67 66
+f 38 66 69
+f 38 69 64
+f 38 64 55
+f 38 55 40
+f 38 40 39
+f 38 53 52
+f 40 55 54
+f 41 56 67
+f 41 67 57
+f 43 47 58
+f 43 58 44
+f 44 58 45
+f 45 58 46
+f 46 58 59
+f 46 59 48
+f 47 54 55
+f 47 55 58
+f 48 59 60
+f 48 60 61
+f 48 61 49
+f 49 61 50
+f 51 62 63
+f 51 63 52
+f 55 64 58
+f 56 65 66
+f 56 66 67
+f 58 64 68
+f 58 68 59
+f 64 69 70
+f 64 70 68
+f 65 71 66
+f 66 71 72
+f 66 72 69
+f 69 72 70
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_59.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..365db0b2bb19858308e32f81f7a480c08fb07a09
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_59.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.00113783 -0.02362916 0.06458562
+v -0.00113783 -0.02362913 0.05824152
+v -0.00328590 -0.02362916 0.06458562
+v -0.00113783 -0.03289200 0.06458559
+v -0.00328590 -0.02362913 0.05824152
+v -0.00113783 -0.03775858 0.05824147
+v -0.00328590 -0.03248481 0.06458559
+v -0.00187439 -0.03279933 0.06458559
+v -0.00328590 -0.03797340 0.05824147
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 9
+f 4 9 6
+f 7 9 8
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_6.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53368fa469a2eaa7caec4914b15e59025343d003
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_6.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00554580 -0.00417170 0.08590272
+v 0.01167898 -0.00138649 0.07480082
+v 0.00554580 -0.00410833 0.08590054
+v 0.00554580 -0.01040197 0.08306718
+v 0.00622246 -0.01040196 0.08249768
+v 0.00692854 -0.01040196 0.08128044
+v 0.01161234 0.00139866 0.07480084
+v 0.00969643 -0.00696608 0.07480080
+v 0.00554580 0.00418533 0.08551368
+v 0.00554580 -0.01040195 0.07766566
+v 0.00694716 -0.01040195 0.08025339
+v 0.01010531 0.00538475 0.07480085
+v 0.00812516 -0.00885325 0.07480080
+v 0.00554580 0.00533061 0.08306180
+v 0.00577396 -0.01040195 0.07765262
+v 0.00554580 -0.01038493 0.07480079
+v 0.00681206 -0.01040195 0.07820038
+v 0.00554580 0.00538475 0.07480085
+v 0.00554580 0.00538474 0.07709949
+v 0.00711287 -0.00967241 0.07480079
+v 0.00630412 -0.01040195 0.07793193
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 19
+f 1 19 18
+f 1 18 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 13
+f 2 13 20
+f 2 20 16
+f 2 16 18
+f 2 18 12
+f 2 12 7
+f 3 7 9
+f 4 10 15
+f 4 15 21
+f 4 21 17
+f 4 17 11
+f 4 11 6
+f 4 6 5
+f 6 11 8
+f 7 12 9
+f 8 11 13
+f 9 12 14
+f 10 16 15
+f 11 17 13
+f 12 18 19
+f 12 19 14
+f 13 17 20
+f 15 16 21
+f 16 20 17
+f 16 17 21
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_60.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abc7a2c3955627061f5ed94fe8d1679d06945773
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_60.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00123359 0.04598196 0.08272356
+v 0.00123359 0.04042399 0.08272354
+v 0.00266601 0.04594904 0.08272356
+v 0.00266601 0.05108660 0.07715158
+v 0.00123359 0.05109800 0.07715416
+v 0.00123359 0.04042400 0.07789993
+v 0.00554520 0.04042399 0.08272354
+v 0.00321340 0.04590471 0.08272356
+v 0.00542196 0.05092324 0.07700001
+v 0.00266601 0.05247958 0.07540074
+v 0.00123359 0.05249097 0.07541711
+v 0.00554520 0.04733824 0.07392634
+v 0.00266601 0.04042400 0.07799121
+v 0.00123359 0.04779666 0.07392635
+v 0.00554520 0.04042400 0.07869568
+v 0.00554520 0.04539944 0.08272356
+v 0.00538946 0.04543743 0.08272356
+v 0.00542196 0.04959611 0.07840549
+v 0.00554520 0.05090931 0.07698450
+v 0.00542196 0.05231622 0.07507693
+v 0.00554520 0.04958345 0.07839085
+v 0.00266601 0.05332044 0.07399441
+v 0.00123359 0.05289368 0.07474106
+v 0.00554520 0.05296333 0.07392636
+v 0.00526074 0.04042400 0.07859320
+v 0.00123359 0.05335969 0.07392637
+v 0.00554520 0.05230356 0.07504851
+v 0.00554520 0.05237067 0.07493914
+v 0.00544686 0.05298485 0.07392636
+v 0.00542196 0.05298992 0.07392636
+v 0.00324590 0.05328245 0.07392637
+v 0.00266601 0.05334450 0.07392637
+v 0.00256767 0.05334576 0.07392637
+v 0.00123359 0.05332803 0.07400991
+f 1 2 7
+f 1 7 16
+f 1 16 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 23
+f 1 23 34
+f 1 34 26
+f 1 26 14
+f 1 14 6
+f 1 6 2
+f 2 6 13
+f 2 13 25
+f 2 25 15
+f 2 15 7
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 8 9
+f 6 12 13
+f 6 14 12
+f 7 15 12
+f 7 12 24
+f 7 24 28
+f 7 28 27
+f 7 27 19
+f 7 19 21
+f 7 21 16
+f 8 17 18
+f 8 18 9
+f 9 19 20
+f 9 20 10
+f 9 18 21
+f 9 21 19
+f 10 20 22
+f 10 22 11
+f 11 22 23
+f 12 14 26
+f 12 26 33
+f 12 33 32
+f 12 32 31
+f 12 31 30
+f 12 30 29
+f 12 29 24
+f 12 15 25
+f 12 25 13
+f 16 21 17
+f 17 21 18
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 22
+f 22 31 32
+f 22 32 33
+f 22 33 26
+f 22 26 34
+f 22 34 23
+f 24 29 28
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_61.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cf700096c7246d18c1d98f5ea30e71228d8e02e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_61.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.01066084 0.03165864 0.08785671
+v 0.01161365 0.03165864 0.08763607
+v 0.01066084 0.03205441 0.08774390
+v 0.01066084 0.03165866 0.08283994
+v 0.01330837 0.03165864 0.08716492
+v 0.01152829 0.03298788 0.08720473
+v 0.01066084 0.03777314 0.08558890
+v 0.01734683 0.03165870 0.07091018
+v 0.01066084 0.04453930 0.07091022
+v 0.01387202 0.03165864 0.08694759
+v 0.01369878 0.03205441 0.08688787
+v 0.01369125 0.03483482 0.08583110
+v 0.01522655 0.03638394 0.08463332
+v 0.01369125 0.03832082 0.08420199
+v 0.01066084 0.04034766 0.08420200
+v 0.02345536 0.03165870 0.07091018
+v 0.01066084 0.05207697 0.07091025
+v 0.01614170 0.03165864 0.08592731
+v 0.01585171 0.03483483 0.08496511
+v 0.01626598 0.03743733 0.08352678
+v 0.01507088 0.04180084 0.08174339
+v 0.01722883 0.03483483 0.08423516
+v 0.01369125 0.04040762 0.08304735
+v 0.01369125 0.04218861 0.08199555
+v 0.01066084 0.04415349 0.08168035
+v 0.02348047 0.03165870 0.07191719
+v 0.02346164 0.03211044 0.07091018
+v 0.02348549 0.03204848 0.07189894
+v 0.01066084 0.05198902 0.07189901
+v 0.01093576 0.05196104 0.07091025
+v 0.01660869 0.03165865 0.08567183
+v 0.01670409 0.03229029 0.08545616
+v 0.01779248 0.03337966 0.08453709
+v 0.01785650 0.03905441 0.08176826
+v 0.01617308 0.04015178 0.08208514
+v 0.01690746 0.04091135 0.08111961
+v 0.01614295 0.04291220 0.08013916
+v 0.01537844 0.04483510 0.07915870
+v 0.01369125 0.04537280 0.07958838
+v 0.01369125 0.04358181 0.08099353
+v 0.01832224 0.03762124 0.08215812
+v 0.01102991 0.04617833 0.07999152
+v 0.01066084 0.04679797 0.07962820
+v 0.02346541 0.03165869 0.07225064
+v 0.02344532 0.03262015 0.07091018
+v 0.02338256 0.03377149 0.07091018
+v 0.02338883 0.03382146 0.07189894
+v 0.02336875 0.03369352 0.07364253
+v 0.02339511 0.03204847 0.07388309
+v 0.02339260 0.03165869 0.07385488
+v 0.01093576 0.05187109 0.07189901
+v 0.01066084 0.05091963 0.07472094
+v 0.01090187 0.05081968 0.07474251
+v 0.01272463 0.05040992 0.07382509
+v 0.01314267 0.05068377 0.07189901
+v 0.01318660 0.05072375 0.07091025
+v 0.01789040 0.03165865 0.08493193
+v 0.02066347 0.03368749 0.08184123
+v 0.01930643 0.03470291 0.08267074
+v 0.01832224 0.03165865 0.08461174
+v 0.02060949 0.03906642 0.07897121
+v 0.01892104 0.03998789 0.08004458
+v 0.01814774 0.04216863 0.07924661
+v 0.01970061 0.03762124 0.08082762
+v 0.01622204 0.04576858 0.07730230
+v 0.01522906 0.04749558 0.07628369
+v 0.01369125 0.04676599 0.07825622
+v 0.01201159 0.04723972 0.07880369
+v 0.01721377 0.04402756 0.07832091
+v 0.02029314 0.03554443 0.08142152
+v 0.01066084 0.04830911 0.07820149
+v 0.02325702 0.03467497 0.07091019
+v 0.02319425 0.03521466 0.07189895
+v 0.02313274 0.03470694 0.07463296
+v 0.02325074 0.03204846 0.07528991
+v 0.02324447 0.03165868 0.07520862
+v 0.01066084 0.05069375 0.07515062
+v 0.01179944 0.04992219 0.07570139
+v 0.01366238 0.04932854 0.07474250
+v 0.01569856 0.04790336 0.07471264
+v 0.01451978 0.04977429 0.07189900
+v 0.01408041 0.05013209 0.07091024
+v 0.02123591 0.03470291 0.08042447
+v 0.02090449 0.03762125 0.07942080
+v 0.02081285 0.03204844 0.08205192
+v 0.02176315 0.03204844 0.08033654
+v 0.02066849 0.03165866 0.08227257
+v 0.02093588 0.03974803 0.07752459
+v 0.02058061 0.04179886 0.07611445
+v 0.02013371 0.04114123 0.07752459
+v 0.02178324 0.03762126 0.07752458
+v 0.01871014 0.04313609 0.07743999
+v 0.01806113 0.04484311 0.07644626
+v 0.01707568 0.04669006 0.07471263
+v 0.01369125 0.04798530 0.07684941
+v 0.01066084 0.04926457 0.07717623
+v 0.02317542 0.03516469 0.07091019
+v 0.02270090 0.03762128 0.07189896
+v 0.02252641 0.03483486 0.07752457
+v 0.02282267 0.03204846 0.07752456
+v 0.02253017 0.03762127 0.07471260
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_62.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d9ec4f7c7370ecd2b544d9c954836a1a862e695
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_62.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_63.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a097ab430d209bf5c7610e6141386a558ee064d5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_63.obj
@@ -0,0 +1,268 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_64.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58737a31eba423e33f30a34bec389c4f5f5aa7b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_64.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.01691048 -0.01761988 0.05824155
+v 0.01691048 -0.01802064 0.05783794
+v 0.01691048 -0.02470263 0.05824152
+v 0.02195917 -0.02003072 0.05824154
+v 0.01691048 -0.02470262 0.05312599
+v 0.02195917 -0.02470262 0.05468528
+v 0.02614051 -0.02470263 0.05824152
+v 0.02326290 -0.02088980 0.05824153
+v 0.02392064 -0.02436219 0.05584199
+v 0.02406791 -0.02470262 0.05570078
+v 0.02542314 -0.02470263 0.05717445
+v 0.02574117 -0.02395726 0.05824152
+v 0.02436787 -0.02182585 0.05824153
+v 0.02525961 -0.02314255 0.05824152
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 12
+f 1 12 14
+f 1 14 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 5 6
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+f 6 9 10
+f 7 11 12
+f 8 13 9
+f 9 13 10
+f 10 13 11
+f 11 14 12
+f 11 13 14
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_65.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2786d6213ba491d44d6499598303b0c925007e6b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_65.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.01686657 0.00538906 0.06269947
+v 0.01686657 0.00538906 0.06282772
+v 0.01686657 0.00539452 0.06268966
+v 0.01687148 0.00538906 0.06269667
+v 0.01687049 0.00538905 0.06540109
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+v 0.01686657 0.03326907 0.05824243
+v 0.02383037 0.02115363 0.05824239
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+v 0.02674118 0.01367253 0.06540112
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+v 0.01686657 0.03015489 0.06405352
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+v 0.02069406 0.02801237 0.06521405
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+v 0.02561274 0.02183047 0.06540115
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_66.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..025e0e09a69d19a79865641b709c0aac5deaeb9a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_66.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.01531786 0.02090212 0.07468535
+v 0.01577263 0.02345749 0.07468536
+v 0.01570651 0.01819970 0.07468534
+v 0.00554520 0.01207747 0.07803946
+v 0.00554520 0.01254533 0.07806130
+v 0.02201519 0.02345749 0.07468536
+v 0.00554520 0.01478769 0.07848388
+v 0.00554520 0.01617788 0.07934622
+v 0.00554520 0.02345745 0.08530607
+v 0.01654186 0.01776415 0.07468534
+v 0.01369231 0.01577576 0.07569111
+v 0.00817866 0.01207747 0.07805973
+v 0.00554520 0.01207745 0.08508459
+v 0.02202003 0.02345749 0.07471186
+v 0.02113307 0.02129756 0.07468535
+v 0.00554520 0.02345743 0.09061409
+v 0.01866249 0.01827211 0.07468534
+v 0.01644671 0.01617009 0.07570514
+v 0.01055248 0.01207747 0.07817357
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+v 0.01112819 0.01207746 0.08031143
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_67.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3a91cd761436ca34e9367db6bd3fb92b5e75a50
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_67.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.02100529 0.03178164 0.07791742
+v -0.02094576 0.02968947 0.07791741
+v -0.02077478 0.03051305 0.07896345
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+v -0.02067860 0.03483431 0.07791743
+v -0.02089080 0.02911760 0.07791741
+v -0.02014428 0.02911760 0.08010554
+v -0.01873063 0.02911759 0.08274464
+v -0.01873826 0.02926257 0.08274933
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_68.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a22bd81680da97d6e11a373449216a2ecac96655
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_68.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_69.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a36f640bda778978f97cb5c03273fc38735522f5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_69.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_7.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a0bb98d4aae4b3061f5cb257f71451f9ffa3278
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_7.obj
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_70.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3e22d1f8b0cf90c35dc78788f2ac0ace02a8241
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_70.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.00328590 -0.00766723 0.07655333
+v -0.00328590 -0.00766716 0.05824158
+v -0.00734601 -0.00766723 0.07550643
+v -0.00734601 -0.01150561 0.07518196
+v -0.00734601 -0.01424043 0.07492202
+v -0.00734601 -0.01540217 0.07459575
+v -0.00328590 -0.02816532 0.06935763
+v -0.00734601 -0.00766716 0.05824158
+v -0.00328590 -0.02816528 0.05824151
+v -0.00734601 -0.02400792 0.07002629
+v -0.00734601 -0.02673471 0.06853302
+v -0.00734601 -0.02816532 0.06753094
+v -0.00734601 -0.02816528 0.05824151
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 9
+f 1 9 2
+f 2 9 13
+f 2 13 8
+f 3 8 13
+f 3 13 12
+f 3 12 11
+f 3 11 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 7 12 13
+f 7 13 9
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_71.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fe73bb988456922c7d52dc17cda0bc0af1deaf9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_71.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01019350 -0.00766723 0.07588170
+v -0.00734636 -0.00766723 0.07550697
+v -0.01089054 -0.00766723 0.07588170
+v -0.00857355 -0.01273510 0.07588168
+v -0.00734636 -0.00766716 0.05824158
+v -0.00859645 -0.01546540 0.07588167
+v -0.00734636 -0.01150662 0.07518230
+v -0.01089054 -0.00766716 0.05824158
+v -0.01089054 -0.01998658 0.07588166
+v -0.00734636 -0.03863677 0.05824147
+v -0.00734636 -0.01540255 0.07459514
+v -0.00734636 -0.01424006 0.07492326
+v -0.01038676 -0.01912884 0.07588166
+v -0.01089054 -0.03976471 0.05824146
+v -0.01089054 -0.03334586 0.06479674
+v -0.00734636 -0.03217708 0.06472939
+v -0.00734636 -0.03129420 0.06544088
+v -0.00734636 -0.03048674 0.06607810
+v -0.00734636 -0.02916087 0.06701062
+v -0.00734636 -0.02673533 0.06853201
+v -0.01047488 -0.01927965 0.07588166
+v -0.00734636 -0.03840114 0.05853331
+v -0.01089054 -0.03938770 0.05962125
+v -0.00734636 -0.02400818 0.07002578
+v -0.00734636 -0.03425385 0.06281254
+v -0.00734636 -0.03788901 0.05911355
+v -0.00734636 -0.03700614 0.06008751
+v -0.00734636 -0.03564886 0.06149493
+v -0.00734636 -0.03513673 0.06198364
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 21
+f 1 21 13
+f 1 13 6
+f 1 6 4
+f 1 4 2
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+f 23 28 29
+f 23 29 25
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_72.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f47037e93a5faa413f9149300d2e2fe7a2beeaa
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_72.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00734601 -0.03863803 0.05824311
+v -0.00328590 -0.03797272 0.05824311
+v -0.00328590 -0.03243707 0.07470989
+v -0.00734601 -0.03840124 0.05853344
+v -0.00734601 -0.02816630 0.05824315
+v -0.00328590 -0.02816630 0.05824315
+v -0.00328590 -0.03203420 0.07499858
+v -0.00734601 -0.03049031 0.06607711
+v -0.00734601 -0.03129709 0.06544068
+v -0.00734601 -0.03217768 0.06472879
+v -0.00734601 -0.03425561 0.06281293
+v -0.00734601 -0.03513723 0.06198459
+v -0.00734601 -0.03564877 0.06149579
+v -0.00734601 -0.03700809 0.06008842
+v -0.00734601 -0.03788867 0.05911246
+v -0.00734601 -0.02816634 0.06753041
+v -0.00328590 -0.02816634 0.06935768
+v -0.00734601 -0.02916175 0.06701043
+f 1 2 3
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+f 1 10 9
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+f 3 15 4
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+f 5 17 6
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+f 7 16 18
+f 7 18 8
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_73.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3def8447c74b7fc0958f2cd9225717c1c1eedf27
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_73.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.00008984 -0.05457501 0.06908169
+v -0.00008984 -0.05419351 0.07189515
+v -0.00113783 -0.05408777 0.07189515
+v -0.00113783 -0.05446031 0.06908169
+v -0.00008984 -0.05426915 0.06627300
+v 0.00123420 -0.05455061 0.06908169
+v 0.00266553 -0.05415447 0.07189515
+v 0.00123420 -0.05417481 0.07189515
+v 0.00256021 -0.05341262 0.07392454
+v 0.00123420 -0.05342726 0.07392454
+v -0.00008984 -0.05336951 0.07411698
+v -0.00113783 -0.05331907 0.07402632
+v -0.00113783 -0.05415038 0.06627300
+v 0.00123420 -0.05423986 0.06626982
+v 0.00123420 -0.05439117 0.06762009
+v -0.00113783 -0.05383395 0.06510404
+v -0.00113783 -0.05338493 0.06346113
+v -0.00008984 -0.05349962 0.06345954
+v 0.00266553 -0.05452376 0.06908328
+v 0.00542156 -0.05378679 0.07189515
+v 0.00542156 -0.05317672 0.07377027
+v 0.00266553 -0.05341099 0.07392454
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+v 0.00123420 -0.05305470 0.07462433
+v 0.00092870 -0.05305877 0.07462433
+v -0.00008984 -0.05307179 0.07462433
+v -0.00113783 -0.05296848 0.07462433
+v 0.00266553 -0.05420814 0.06626982
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+v -0.00113783 -0.04858885 0.05848790
+v -0.00113783 -0.04801945 0.05875668
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+f 77 81 78
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_74.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..764e383c3f81a6cbd02c95cb461c886a270dab59
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_74.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00123359 0.01224296 0.07392535
+v 0.00506744 0.01221340 0.07392535
+v 0.00123359 0.01408147 0.07336040
+v 0.00123359 -0.03701869 0.07392517
+v 0.00554520 0.01219566 0.07392535
+v 0.00554520 0.01402236 0.07336501
+v 0.00123359 0.02284253 0.07017334
+v 0.00123359 -0.03755068 0.05824300
+v 0.00257865 -0.03694776 0.07392517
+v 0.00554520 -0.01214254 0.07392527
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+v 0.00256556 0.02284253 0.07012114
+v 0.00123359 0.02284258 0.05824322
+v 0.00554520 -0.03720189 0.05824300
+v 0.00347169 -0.03649256 0.07392518
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+v 0.00554520 -0.01403426 0.07337872
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+v 0.00554520 -0.03072278 0.06753719
+v 0.00488174 -0.03431117 0.07392518
+v 0.00471630 -0.03483730 0.07392518
+v 0.00396971 -0.03618516 0.07392518
+v 0.00554520 -0.02890200 0.06877611
+f 1 2 3
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+f 1 15 24
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+f 16 21 25
+f 16 25 17
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_75.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80457280c6f94f948f7dcfe40624afb2f057630b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_75.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00328590 0.02290733 0.09068531
+v -0.00349126 0.02290733 0.09065281
+v -0.00514329 0.02090237 0.09037161
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+v -0.00526156 0.02290733 0.09034786
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+v -0.00540934 0.01070358 0.07868596
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+v -0.00540934 0.01047892 0.08050442
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_76.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adb7d389da12381d12e6a8edfc0dc0e6fcedbe8e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_76.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.00113783 -0.05446168 0.06908492
+v -0.00284665 -0.05427611 0.06908492
+v -0.00113783 -0.05415105 0.06627293
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+v -0.00328590 -0.05385253 0.06628132
+v -0.00328590 -0.05375369 0.06583364
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_77.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec7d06a0b17e48c7d4cb6ed08e88381876e6d3a7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_77.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00328588 0.03559958 0.07791743
+v -0.00336123 0.03537766 0.07791743
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+v -0.00113806 0.02376270 0.06458642
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_78.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72e364e36bb0121545dab9a8ef93e78c00464fcb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_78.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.00554520 0.05296365 0.07392456
+v 0.00554520 0.04734029 0.07392454
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_79.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66344f6a84d6ffd1a91031ebe0a764286b111625
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_79.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_8.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5cb0ff4ec9c97599c15a76d13a467139f9f1530
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_8.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_80.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a2312ae3ae87dd760335d4c088f31e05ff075fe
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_80.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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+v -0.00328590 0.04199646 0.07791554
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+v -0.00815906 0.05223783 0.06641173
+v -0.00845129 0.05207392 0.06639451
+v -0.00845129 0.05145639 0.06430951
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_81.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e2cf9813032810e983132dc26fa02527fe9c390
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_81.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.01391878 -0.03657137 0.05824148
+v 0.01644842 -0.03637695 0.05824148
+v 0.02115466 -0.03705111 0.06428063
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+v 0.01920410 -0.03590781 0.05824148
+v 0.02129562 -0.03705111 0.06458557
+v 0.02155341 -0.03442219 0.05824148
+v 0.02514468 -0.03160311 0.05824149
+v 0.01391878 -0.03316482 0.06180263
+v 0.01391878 -0.03456801 0.06039655
+v 0.01391878 -0.03584442 0.05908239
+v 0.01391878 -0.03596065 0.05896129
+v 0.01391878 -0.02987449 0.06458560
+v 0.01391878 -0.02996536 0.06451853
+v 0.01391878 -0.03007948 0.06443158
+v 0.01391878 -0.03177219 0.06302487
+v 0.01391878 -0.01546208 0.06458565
+v 0.01626429 -0.01546205 0.05824155
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+v 0.02649459 -0.02863188 0.05988730
+v 0.02640823 -0.02564797 0.06245664
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_82.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69d8c1d7ac463b98fa86b6da5a38ce81b497ad52
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_82.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00328590 -0.03941547 0.07900662
+v -0.00734601 -0.03941547 0.07943804
+v -0.00328590 -0.03481950 0.07726274
+v -0.00328590 -0.03941551 0.09000621
+v -0.00734601 -0.02647740 0.08482014
+v -0.00734045 -0.02647740 0.08477458
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+v -0.00734601 -0.02647742 0.08962497
+v -0.00328590 -0.02647742 0.09116834
+v -0.00328590 -0.02924843 0.09272386
+v -0.00734601 -0.02924842 0.08910847
+v -0.00734601 -0.03211186 0.08842184
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_83.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca5b93f6379eb4752f674c17318fceadf819c424
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_83.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02684410 -0.01546209 0.06627280
+v 0.02660624 -0.01788410 0.06630824
+v 0.02662269 -0.02088962 0.06458625
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+v 0.02634560 -0.01546210 0.06794775
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+v 0.02206922 -0.02656163 0.06458623
+v 0.01392005 -0.02656163 0.06458623
+v 0.01392005 -0.01546210 0.06839896
+v 0.01909726 -0.02601509 0.06839892
+v 0.02116460 -0.02656163 0.06559650
+v 0.02126455 -0.02656163 0.06548529
+v 0.01392005 -0.02656164 0.06693109
+v 0.01392005 -0.02414289 0.06839893
+v 0.01862407 -0.02607702 0.06839892
+v 0.01919721 -0.02656163 0.06658924
+v 0.01392005 -0.02651384 0.06696991
+v 0.01674651 -0.02656164 0.06703037
+v 0.01848617 -0.02609441 0.06839892
+v 0.01392005 -0.02523600 0.06779284
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 14
+f 3 14 15
+f 3 15 9
+f 3 9 5
+f 3 5 4
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 8 13 11
+f 8 11 14
+f 9 15 20
+f 9 20 24
+f 9 24 27
+f 9 27 21
+f 9 21 16
+f 10 16 21
+f 10 21 26
+f 10 26 22
+f 10 22 17
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 14
+f 11 13 12
+f 14 19 18
+f 14 18 23
+f 14 23 25
+f 14 25 20
+f 14 20 15
+f 17 22 23
+f 17 23 18
+f 20 25 26
+f 20 26 24
+f 21 27 26
+f 22 26 23
+f 23 26 25
+f 24 26 27
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_84.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f866f498f52b802c82c4bf574275cddaa560b585
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_84.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00328590 -0.02647578 0.09116852
+v -0.01088980 -0.02644633 0.08861002
+v -0.00734578 -0.02647578 0.08962444
+v -0.00328590 -0.02647576 0.08546202
+v -0.00328590 -0.02088810 0.09065684
+v -0.00512899 -0.02088810 0.09037555
+v -0.00650685 -0.02088810 0.09006135
+v -0.00734578 -0.02215108 0.08987432
+v -0.00835889 -0.02367365 0.08964689
+v -0.01088980 -0.02623276 0.08862947
+v -0.01088980 -0.02644630 0.08185169
+v -0.00734578 -0.02647576 0.08481716
+v -0.00733982 -0.02647576 0.08477227
+v -0.01088980 -0.01998223 0.07588339
+v -0.00328590 -0.01476829 0.07848978
+v -0.00328590 -0.01884633 0.09037556
+v -0.00460420 -0.01921639 0.09027382
+v -0.00734578 -0.02088810 0.08977558
+v -0.00835889 -0.02088810 0.08942996
+v -0.01088980 -0.02367365 0.08872075
+v -0.01038659 -0.01912613 0.07588339
+v -0.01088980 -0.00766723 0.07588343
+v -0.00859634 -0.01546605 0.07588340
+v -0.00328590 -0.01253138 0.07808880
+v -0.00328590 -0.01780244 0.09003293
+v -0.00734578 -0.01991969 0.08949281
+v -0.00555478 -0.01821300 0.08960502
+v -0.00734578 -0.01806019 0.08880904
+v -0.00847575 -0.01796444 0.08830632
+v -0.01038361 -0.01880214 0.08777068
+v -0.01088980 -0.02088809 0.08824646
+v -0.01088980 -0.02344720 0.08870279
+v -0.01088980 -0.00766723 0.07617069
+v -0.01019305 -0.00766723 0.07588343
+v -0.00857327 -0.01273573 0.07588341
+v -0.00328590 -0.01001646 0.07782848
+v -0.00328590 -0.01747657 0.08989679
+v -0.00560317 -0.01574594 0.08815970
+v -0.00734578 -0.01620437 0.08779313
+v -0.00763534 -0.01627985 0.08773179
+v -0.00947249 -0.01694817 0.08717969
+v -0.01088980 -0.01912065 0.08759862
+v -0.01088980 -0.02005223 0.08796070
+v -0.00328590 -0.01039206 0.08332401
+v -0.00328590 -0.01024293 0.08304422
+v -0.01088980 -0.01622645 0.08511793
+v -0.01051909 -0.01606996 0.08530346
+v -0.00560317 -0.01435224 0.08686401
+v -0.00395882 -0.01399691 0.08728444
+v -0.00328590 -0.00969428 0.08048572
+v -0.00328590 -0.01516416 0.08838114
+v -0.00328590 -0.01472966 0.08804600
+v -0.01088980 -0.01760175 0.08646900
+v -0.00328590 -0.01391774 0.08737720
+f 1 2 3
+f 1 3 12
+f 1 12 13
+f 1 13 4
+f 1 4 15
+f 1 15 24
+f 1 24 36
+f 1 36 50
+f 1 50 45
+f 1 45 44
+f 1 44 54
+f 1 54 52
+f 1 52 51
+f 1 51 37
+f 1 37 25
+f 1 25 16
+f 1 16 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
+f 2 11 12
+f 2 12 3
+f 2 10 20
+f 2 20 32
+f 2 32 31
+f 2 31 43
+f 2 43 42
+f 2 42 53
+f 2 53 46
+f 2 46 33
+f 2 33 22
+f 2 22 14
+f 2 14 11
+f 4 13 11
+f 4 11 14
+f 4 14 15
+f 5 16 17
+f 5 17 6
+f 6 17 7
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 20 10
+f 9 19 20
+f 11 13 12
+f 14 21 15
+f 14 22 34
+f 14 34 35
+f 14 35 23
+f 14 23 21
+f 15 23 24
+f 15 21 23
+f 16 25 17
+f 17 26 19
+f 17 19 18
+f 17 25 27
+f 17 27 26
+f 19 26 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 22 33 34
+f 23 35 36
+f 23 36 24
+f 25 37 27
+f 26 27 28
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 28 40 29
+f 29 40 41
+f 29 41 30
+f 30 42 43
+f 30 43 31
+f 30 41 42
+f 33 44 45
+f 33 45 34
+f 33 46 47
+f 33 47 41
+f 33 41 40
+f 33 40 48
+f 33 48 49
+f 33 49 44
+f 34 45 50
+f 34 50 36
+f 34 36 35
+f 37 51 38
+f 38 51 52
+f 38 52 49
+f 38 49 40
+f 38 40 39
+f 40 49 48
+f 41 47 46
+f 41 46 53
+f 41 53 42
+f 44 49 54
+f 49 52 54
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_85.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ecfadf7e58bebe8d79cd75c8eb75f0809fa5ef3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_85.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00428524 -0.00707224 0.08087915
+v -0.00428524 -0.00707224 0.08656252
+v -0.00428524 0.00820341 0.08087915
+v -0.00428524 0.00820341 0.08656252
+v -0.00328524 -0.00707224 0.08087915
+v -0.00328524 -0.00707224 0.08656252
+v -0.00328524 0.00820341 0.08087915
+v -0.00328524 0.00820341 0.08656252
+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/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_86.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffff5e564d3399272d1301bd10bd84573fcea01e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_86.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.01333523 0.02436442 0.07297478
+v -0.01333523 0.02181217 0.07297477
+v -0.01248600 0.02181717 0.07297477
+v -0.00412530 0.02181218 0.07063415
+v -0.00412530 0.02867876 0.06883581
+v -0.01333523 0.03481184 0.06543811
+v -0.01333523 0.02181223 0.05824169
+v -0.01249592 0.02181217 0.07297477
+v -0.00412530 0.02181223 0.05824314
+v -0.00412530 0.03155443 0.06593564
+v -0.00412530 0.03803594 0.05824320
+v -0.01333523 0.03603380 0.06395413
+v -0.00844989 0.02181223 0.05824169
+v -0.01333523 0.03603382 0.05824174
+v -0.00844989 0.03603382 0.05824174
+v -0.00844989 0.03884113 0.05824320
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 14
+f 1 14 7
+f 1 7 2
+f 2 7 13
+f 2 13 9
+f 2 9 4
+f 2 4 8
+f 3 8 4
+f 4 9 11
+f 4 11 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 14 15
+f 7 15 13
+f 9 13 15
+f 9 15 11
+f 11 15 16
+f 11 16 12
+f 12 16 14
+f 14 16 15
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_87.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..623e7fc002b9b7f6cbbd17e6c32c7ec000b2cc8a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_87.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00113777 0.02368034 0.08695607
+v -0.00328590 0.02368034 0.08695607
+v 0.00554520 0.02338996 0.08695607
+v -0.00113777 0.02368034 0.08586423
+v -0.00328590 0.02368035 0.08554535
+v -0.00328590 -0.02362746 0.08695589
+v 0.00554520 0.02338997 0.08529408
+v 0.00554520 -0.02746756 0.08695588
+v 0.00123338 0.01224020 0.07392535
+v -0.00328590 0.01055296 0.07479398
+v -0.00328590 -0.02362745 0.08551201
+v -0.00113777 -0.02597558 0.08695461
+v 0.00123338 -0.02746756 0.08695588
+v 0.00554520 0.01219514 0.07392535
+v 0.00506630 0.01221016 0.07392535
+v 0.00554520 -0.02746755 0.08512297
+v 0.00123338 -0.01240752 0.07392526
+v -0.00328590 -0.01091053 0.07479390
+v -0.00113777 -0.02597557 0.08562042
+v 0.00123338 -0.02746755 0.08527220
+v 0.00554520 -0.01213716 0.07392527
+v 0.00542331 -0.01219223 0.07392527
+v 0.00553483 -0.01214217 0.07392527
+f 1 2 6
+f 1 6 13
+f 1 13 8
+f 1 8 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 18
+f 2 18 11
+f 2 11 6
+f 3 8 16
+f 3 16 21
+f 3 21 14
+f 3 14 7
+f 4 7 5
+f 5 7 9
+f 5 9 10
+f 6 11 19
+f 6 19 12
+f 6 12 13
+f 7 14 15
+f 7 15 9
+f 8 13 20
+f 8 20 16
+f 9 15 14
+f 9 14 21
+f 9 21 23
+f 9 23 22
+f 9 22 17
+f 9 17 18
+f 9 18 10
+f 11 18 19
+f 12 19 20
+f 12 20 13
+f 16 17 22
+f 16 22 23
+f 16 23 21
+f 16 20 17
+f 17 20 18
+f 18 20 19
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_88.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f871c77627fe930c35fd93acf28e1a9657b698
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_88.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00328545 0.02368363 0.08554673
+v -0.00113743 0.02276843 0.08557313
+v -0.00328545 0.02368362 0.08695521
+v -0.00328545 0.03222781 0.08270157
+v -0.00113743 0.03145941 0.08230356
+v 0.00554520 0.02339233 0.08529445
+v 0.00123274 0.02276843 0.08567104
+v -0.00113743 0.02276842 0.08695474
+v -0.00008979 0.03106259 0.08230355
+v 0.00123274 0.02339232 0.08695521
+v -0.00328545 0.04347856 0.08695528
+v -0.00328545 0.04545578 0.08270162
+v -0.00113743 0.04601545 0.08230361
+v 0.00554520 0.02339232 0.08695521
+v -0.00005867 0.03106259 0.08230355
+v 0.00123274 0.03114975 0.08230355
+v 0.00537491 0.03210853 0.08272388
+v 0.00554520 0.03221863 0.08272388
+v 0.00123274 0.02276842 0.08695474
+v -0.00305207 0.04380198 0.08695528
+v -0.00328545 0.04452681 0.08478951
+v -0.00195429 0.04487774 0.08695528
+v -0.00289042 0.04559799 0.08270162
+v -0.00008979 0.04544658 0.08695483
+v -0.00008979 0.04620124 0.08230361
+v 0.00554520 0.04283402 0.08695528
+v 0.00123274 0.04618289 0.08230361
+v 0.00554520 0.04539614 0.08272393
+v -0.00113743 0.04509564 0.08695529
+v 0.00123274 0.04532272 0.08695529
+v 0.00104603 0.04618977 0.08230361
+v 0.00526427 0.04345791 0.08695528
+v 0.00554520 0.04345791 0.08610919
+v 0.00202711 0.04524474 0.08695529
+v 0.00321306 0.04590306 0.08272393
+v 0.00536540 0.04543972 0.08272393
+v 0.00291658 0.04513693 0.08695529
+v 0.00406881 0.04459102 0.08695528
+v 0.00459177 0.04410933 0.08695528
+v 0.00554520 0.04355654 0.08594024
+f 1 2 8
+f 1 8 3
+f 1 3 11
+f 1 11 21
+f 1 21 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 19
+f 2 19 8
+f 2 5 9
+f 2 9 6
+f 3 8 10
+f 3 10 14
+f 3 14 26
+f 3 26 32
+f 3 32 39
+f 3 39 38
+f 3 38 37
+f 3 37 34
+f 3 34 30
+f 3 30 29
+f 3 29 22
+f 3 22 20
+f 3 20 11
+f 4 12 13
+f 4 13 5
+f 5 13 25
+f 5 25 31
+f 5 31 27
+f 5 27 16
+f 5 16 15
+f 5 15 9
+f 6 14 19
+f 6 19 7
+f 6 9 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 28
+f 6 28 40
+f 6 40 33
+f 6 33 26
+f 6 26 14
+f 8 19 14
+f 8 14 10
+f 11 20 21
+f 12 21 20
+f 12 20 22
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 16 18 17
+f 16 27 28
+f 16 28 18
+f 22 29 24
+f 22 24 23
+f 24 30 27
+f 24 27 31
+f 24 31 25
+f 24 29 30
+f 26 33 32
+f 27 30 34
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 28 39 32
+f 28 32 40
+f 32 33 40
+f 34 37 35
+f 35 37 36
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_89.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..605910638557841e7b8d0149eea0e3d170136ec1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_89.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01333571 0.02752752 0.07791740
+v -0.01333571 0.02436465 0.07297622
+v -0.01333571 0.02181215 0.07791738
+v -0.01104010 0.02181215 0.07791738
+v -0.01248631 0.02181665 0.07297621
+v -0.01333571 0.02181217 0.07297621
+v -0.01248924 0.02181217 0.07298008
+v -0.01249620 0.02181217 0.07297621
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 8
+f 2 8 6
+f 3 6 8
+f 3 8 7
+f 3 7 4
+f 4 7 5
+f 5 7 8
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_9.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1534d6e782d390b5d64de4fb0034dbaa693e704
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_9.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.01678556 -0.03417629 0.01200210
+v 0.01678556 -0.04686985 0.01200206
+v 0.02361223 -0.03602183 0.01200210
+v 0.01678556 -0.01259112 -0.00991415
+v 0.01678556 -0.04631854 0.01000282
+v 0.01903732 -0.04652360 0.01200206
+v 0.02443222 -0.03669080 0.01200210
+v 0.02292411 -0.01699823 -0.00998087
+v 0.01688967 -0.01256759 -0.00998086
+v 0.01678556 -0.01252725 -0.00998086
+v 0.01678556 -0.04538063 0.00717720
+v 0.01824410 -0.04465114 0.00558901
+v 0.01918010 -0.04500413 0.00708897
+v 0.01920390 -0.04594539 0.01000282
+v 0.02083793 -0.04479234 0.00795840
+v 0.02116117 -0.04509826 0.01000282
+v 0.02147648 -0.04536719 0.01200206
+v 0.02485957 -0.03706058 0.01200209
+v 0.02412386 -0.01831935 -0.00998088
+v 0.02642023 -0.03856659 0.01200209
+v 0.01678556 -0.03497964 -0.00998094
+v 0.01678556 -0.04472846 0.00540393
+v 0.01678556 -0.04424103 0.00426120
+v 0.01678556 -0.04294678 0.00153672
+v 0.01848405 -0.04191811 -0.00007514
+v 0.01932387 -0.04246270 0.00135595
+v 0.01918010 -0.04397881 0.00454097
+v 0.02008239 -0.04444272 0.00608397
+v 0.02611088 -0.04179712 0.00855667
+v 0.02632108 -0.04202236 0.01000284
+v 0.02652930 -0.04229465 0.01200207
+v 0.02456409 -0.01890092 -0.00998088
+v 0.02679007 -0.03977006 0.01200208
+v 0.02659474 -0.02283068 -0.00998089
+v 0.02624473 -0.02180201 -0.00998089
+v 0.02518578 -0.01989596 -0.00998088
+v 0.01863972 -0.03462331 -0.00998094
+v 0.01792284 -0.03623355 -0.00830881
+v 0.01678556 -0.03629742 -0.00837982
+v 0.01678556 -0.04202232 -0.00025591
+v 0.01678556 -0.04132309 -0.00142877
+v 0.01920390 -0.03957503 -0.00350118
+v 0.01932387 -0.04108778 -0.00110812
+v 0.02032234 -0.04170969 0.00028210
+v 0.02097576 -0.04217024 0.00215437
+v 0.02620408 -0.03910779 0.00276556
+v 0.02647377 -0.03947758 0.00437527
+v 0.02659771 -0.04043229 0.00744622
+v 0.02668001 -0.04182402 0.01200208
+v 0.02685551 -0.04039196 0.01200208
+v 0.02668299 -0.02331139 -0.00998090
+v 0.01904228 -0.03442497 -0.00998094
+v 0.01976014 -0.03596125 -0.00800322
+v 0.01678556 -0.03747399 -0.00689063
+v 0.01898675 -0.03700336 -0.00698962
+v 0.01920390 -0.03857662 -0.00490860
+v 0.01678556 -0.03880185 -0.00520343
+v 0.01678556 -0.03978346 -0.00379601
+v 0.01678556 -0.03892287 -0.00503127
+v 0.02084983 -0.03926913 -0.00305785
+v 0.02579160 -0.03606212 -0.00246818
+v 0.02645593 -0.03669412 -0.00059161
+v 0.02662845 -0.03761522 0.00172182
+v 0.02690410 -0.03760514 0.00437528
+v 0.02684361 -0.04039196 0.01000284
+v 0.02691302 -0.02924806 -0.00687553
+v 0.02672562 -0.02669320 -0.00998091
+v 0.01934469 -0.03427034 -0.00998094
+v 0.02103128 -0.03673108 -0.00612880
+v 0.02056725 -0.03361146 -0.00998093
+v 0.02615648 -0.03349382 -0.00554989
+v 0.02646584 -0.03406195 -0.00406284
+v 0.02673653 -0.03500657 -0.00141799
+v 0.02690013 -0.03203151 -0.00406283
+v 0.02645394 -0.03182645 -0.00664312
+v 0.02649856 -0.02924806 -0.00905124
+v 0.02672661 -0.02672346 -0.00995509
+v 0.02672265 -0.02671337 -0.00998091
+v 0.02629034 -0.02859253 -0.00998092
+v 0.02619020 -0.03075743 -0.00839702
+f 1 2 6
+f 1 6 17
+f 1 17 31
+f 1 31 49
+f 1 49 50
+f 1 50 33
+f 1 33 20
+f 1 20 18
+f 1 18 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 21
+f 1 21 39
+f 1 39 54
+f 1 54 57
+f 1 57 59
+f 1 59 58
+f 1 58 41
+f 1 41 40
+f 1 40 24
+f 1 24 23
+f 1 23 22
+f 1 22 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
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+f 3 10 4
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
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+f 7 18 8
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+f 8 37 21
+f 8 21 10
+f 8 10 9
+f 8 18 20
+f 8 20 19
+f 11 22 12
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 12 22 23
+f 13 28 14
+f 14 28 15
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 19 20 32
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+f 20 35 36
+f 20 36 32
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+f 24 40 25
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+f 27 44 28
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 30 47 48
+f 30 48 31
+f 31 48 49
+f 33 50 51
+f 33 51 34
+f 37 52 53
+f 37 53 38
+f 38 54 39
+f 38 53 55
+f 38 55 56
+f 38 56 57
+f 38 57 54
+f 41 58 42
+f 42 58 59
+f 42 59 57
+f 42 57 56
+f 42 56 60
+f 42 60 44
+f 42 44 43
+f 44 60 46
+f 44 46 45
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+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 48
+f 48 63 64
+f 48 64 65
+f 48 65 49
+f 49 65 50
+f 50 65 64
+f 50 64 66
+f 50 66 51
+f 51 66 67
+f 52 68 53
+f 53 69 60
+f 53 60 56
+f 53 56 55
+f 53 68 70
+f 53 70 69
+f 60 69 71
+f 60 71 61
+f 61 71 62
+f 62 71 72
+f 62 72 73
+f 62 73 63
+f 63 73 64
+f 64 73 74
+f 64 74 66
+f 66 74 75
+f 66 75 76
+f 66 76 77
+f 66 77 67
+f 67 77 78
+f 69 70 71
+f 70 79 80
+f 70 80 71
+f 71 80 75
+f 71 75 72
+f 72 75 74
+f 72 74 73
+f 75 80 76
+f 76 79 78
+f 76 78 77
+f 76 80 79
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_90.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7a0f683e3852997faf9a0a04b09bf90ef1c8352
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_90.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00113783 -0.03149744 0.08245383
+v -0.00113783 -0.02886575 0.07506428
+v -0.00244631 -0.03191659 0.08245383
+v -0.00113783 -0.04415876 0.08245379
+v -0.00209874 -0.02943161 0.07506428
+v -0.00277096 -0.03204682 0.08245383
+v -0.00263723 -0.03199293 0.08245383
+v -0.00113783 -0.03727869 0.07506425
+v -0.00328590 -0.04415876 0.08245379
+v -0.00113783 -0.04415874 0.07709410
+v -0.00327349 -0.03203483 0.07506427
+v -0.00328590 -0.03291955 0.08245383
+v -0.00156382 -0.03706912 0.07506425
+v -0.00328590 -0.04415874 0.07696027
+v -0.00300729 -0.03482068 0.07506426
+v -0.00328590 -0.03482068 0.07726341
+v -0.00328590 -0.03464104 0.07752456
+v -0.00197216 -0.03681613 0.07506425
+f 1 2 3
+f 1 3 7
+f 1 7 6
+f 1 6 12
+f 1 12 9
+f 1 9 4
+f 1 4 10
+f 1 10 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 13
+f 2 13 18
+f 2 18 15
+f 2 15 11
+f 2 11 5
+f 4 9 14
+f 4 14 10
+f 5 11 12
+f 5 12 6
+f 8 10 14
+f 8 14 13
+f 9 12 17
+f 9 17 16
+f 9 16 14
+f 11 15 14
+f 11 14 16
+f 11 16 17
+f 11 17 12
+f 13 14 18
+f 14 15 18
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_91.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0baddc670a439a37b8d08fbd03aaf04ee9deaf8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_91.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00113764 0.04582731 0.08270040
+v -0.00289084 0.04560090 0.08270040
+v -0.00113764 0.03119634 0.08270034
+v 0.00123315 0.04618417 0.08230286
+v 0.00104557 0.04618909 0.08230286
+v -0.00009049 0.04619894 0.08230286
+v -0.00009049 0.05110384 0.07715618
+v -0.00113764 0.05105954 0.07711508
+v -0.00284660 0.05098325 0.07704711
+v -0.00328545 0.04545324 0.08270040
+v -0.00328545 0.05072976 0.07722810
+v -0.00328545 0.04959766 0.07841123
+v -0.00071692 0.02804868 0.07462700
+v -0.00009049 0.02783456 0.07462700
+v -0.00002635 0.03106344 0.08230280
+v 0.00123315 0.03114712 0.08230280
+v -0.00328545 0.03222752 0.08270035
+v 0.00123315 0.05109400 0.07715381
+v -0.00009049 0.05249680 0.07543245
+v -0.00113764 0.05192337 0.07604575
+v -0.00113764 0.05245250 0.07534393
+v -0.00284660 0.05237621 0.07519930
+v -0.00328545 0.05211041 0.07545062
+v -0.00328545 0.05093895 0.07700444
+v -0.00220823 0.02929643 0.07479377
+v -0.00113764 0.02839076 0.07462700
+v 0.00123315 0.02800930 0.07462700
+v -0.00328545 0.03185839 0.07479378
+v -0.00228742 0.02944163 0.07479377
+v 0.00123315 0.05248695 0.07541743
+v 0.00123315 0.05296195 0.07462709
+v 0.00102168 0.05296441 0.07462709
+v -0.00009049 0.05297671 0.07462709
+v -0.00113764 0.05277983 0.07479385
+v -0.00189678 0.05270600 0.07479385
+v -0.00284660 0.05261247 0.07479385
+v -0.00328545 0.05252142 0.07479385
+v -0.00328545 0.05234421 0.07509339
+v -0.00113764 0.05287581 0.07462709
+f 1 2 10
+f 1 10 17
+f 1 17 3
+f 1 3 16
+f 1 16 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 11
+f 2 11 12
+f 2 12 10
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 17 13
+f 4 16 27
+f 4 27 31
+f 4 31 30
+f 4 30 18
+f 4 18 5
+f 5 18 7
+f 5 7 6
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 9
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+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 11
+f 10 12 11
+f 10 11 24
+f 10 24 23
+f 10 23 38
+f 10 38 37
+f 10 37 28
+f 10 28 17
+f 13 25 26
+f 13 26 39
+f 13 39 33
+f 13 33 32
+f 13 32 31
+f 13 31 27
+f 13 27 14
+f 13 17 25
+f 14 27 16
+f 14 16 15
+f 17 28 29
+f 17 29 25
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 21
+f 19 21 20
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 25 29 26
+f 26 29 28
+f 26 28 37
+f 26 37 39
+f 33 39 34
+f 34 39 35
+f 35 39 36
+f 36 39 37
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_92.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41d08d33ed588b3acd3499877e44a82c540c6f42
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_92.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.00000388 0.03743099 0.07462465
+v 0.00123359 0.03750493 0.05824175
+v -0.00113783 0.03771178 0.05824175
+v -0.00009024 0.03743099 0.07462465
+v 0.00123359 0.03726846 0.07462465
+v 0.00123359 -0.03754560 0.05824147
+v -0.00113783 0.03693602 0.07462465
+v -0.00020282 0.03737928 0.07462465
+v -0.00113783 -0.03775984 0.05824147
+v 0.00123359 -0.03737574 0.07462437
+v -0.00009024 -0.03754566 0.07462437
+v -0.00113783 -0.03704330 0.07462437
+v -0.00016916 -0.03752349 0.07462437
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 7
+f 1 7 12
+f 1 12 13
+f 1 13 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 2 6 9
+f 2 9 3
+f 3 7 8
+f 3 8 4
+f 3 9 12
+f 3 12 7
+f 6 10 11
+f 6 11 9
+f 9 11 13
+f 9 13 12
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_93.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a42b9c16bad3b47821db214277cfff83acc86a9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_93.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02527616 -0.01546210 0.06839958
+v 0.02106273 -0.01546211 0.07103919
+v 0.01859581 -0.01827422 0.07479967
+v 0.02005217 -0.01994214 0.07479967
+v 0.02107718 -0.02128952 0.07479966
+v 0.02109830 -0.02133407 0.07479966
+v 0.02205661 -0.02367459 0.07479965
+v 0.02208107 -0.02376369 0.07479965
+v 0.02277367 -0.02646170 0.07479964
+v 0.02279035 -0.02656166 0.07479964
+v 0.02280591 -0.02656166 0.07471067
+v 0.02286817 -0.02656166 0.07323831
+v 0.02289374 -0.02656165 0.07199525
+v 0.02287595 -0.02656165 0.07190879
+v 0.02193877 -0.02656165 0.06964197
+v 0.02188429 -0.02656165 0.06958746
+v 0.02057357 -0.02522079 0.06839955
+v 0.01391989 -0.01546210 0.06839958
+v 0.01920726 -0.01546211 0.07180107
+v 0.01654468 -0.01762444 0.07479968
+v 0.01613112 -0.02656166 0.07479964
+v 0.01964194 -0.02656164 0.06880115
+v 0.01909609 -0.02601509 0.06839954
+v 0.01391989 -0.02414289 0.06839955
+v 0.01391989 -0.01546212 0.07243575
+v 0.01907607 -0.01546211 0.07182989
+v 0.01565641 -0.01749839 0.07479968
+v 0.01474924 -0.01941623 0.07479967
+v 0.01620004 -0.02656166 0.07460479
+v 0.01907385 -0.02656164 0.06891393
+v 0.01848686 -0.02609441 0.06839954
+v 0.01862360 -0.02607702 0.06839954
+v 0.01391989 -0.02000515 0.07091513
+v 0.01731844 -0.02656166 0.07227281
+v 0.01728731 -0.02656166 0.07233734
+v 0.01391989 -0.01811665 0.07156924
+v 0.01645463 -0.01546212 0.07221020
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 15
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+f 1 16 17
+f 1 17 23
+f 1 23 32
+f 1 32 31
+f 1 31 24
+f 1 24 18
+f 1 18 25
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+f 3 5 4
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+f 10 21 29
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+f 10 35 34
+f 10 34 30
+f 10 30 22
+f 10 22 16
+f 10 16 15
+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 16 22 17
+f 17 22 23
+f 18 24 33
+f 18 33 36
+f 18 36 25
+f 19 26 20
+f 20 26 27
+f 21 28 24
+f 21 24 29
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 24 28 33
+f 24 31 30
+f 24 30 34
+f 24 34 35
+f 24 35 29
+f 25 36 28
+f 25 28 27
+f 25 27 37
+f 26 37 27
+f 28 36 33
+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_94.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..192e4804baf9f9ac2b74cfe499d18c6a0f589609
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_94.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.02038376 0.03603655 0.06542917
+v -0.02095543 0.03603654 0.06695613
+v -0.02028950 0.03684065 0.06542918
+v -0.01406475 0.03603655 0.06542917
+v -0.02121862 0.03603654 0.06908457
+v -0.02088811 0.03664938 0.06703926
+v -0.02041559 0.03759518 0.06617004
+v -0.02020748 0.03718362 0.06542918
+v -0.01187844 0.04115103 0.06542919
+v -0.00879483 0.04115098 0.07791745
+v -0.01345146 0.03603650 0.07791743
+v -0.02127004 0.03603653 0.07042569
+v -0.02104969 0.03735683 0.07189642
+v -0.02099828 0.03708597 0.06908458
+v -0.02060043 0.03847887 0.06908458
+v -0.02009364 0.03765826 0.06542918
+v -0.01943505 0.04040602 0.06627152
+v -0.01914615 0.04040602 0.06542919
+v -0.01879850 0.04115103 0.06542919
+v -0.01807503 0.04115098 0.07791745
+v -0.02034826 0.03603650 0.07791743
+v -0.02129942 0.03603653 0.07189641
+v -0.02096645 0.03702187 0.07471071
+v -0.02068979 0.03874923 0.07189642
+v -0.01988064 0.04040601 0.06908459
+v -0.01908617 0.04115103 0.06627152
+v -0.01856346 0.04115099 0.07715580
+v -0.01832965 0.04079199 0.07791745
+v -0.01982188 0.03753104 0.07791744
+v -0.02011200 0.03750752 0.07739174
+v -0.02035315 0.03603650 0.07790764
+v -0.02121862 0.03603652 0.07344415
+v -0.02083914 0.03650365 0.07636724
+v -0.02058329 0.03841477 0.07471071
+v -0.02114762 0.03603652 0.07471070
+v -0.02005324 0.04040600 0.07189643
+v -0.01952564 0.04115102 0.06908459
+v -0.01866262 0.04021771 0.07791745
+v -0.01914738 0.04115099 0.07549804
+v -0.01976924 0.04040599 0.07471072
+v -0.01876545 0.04041699 0.07753724
+v -0.01960765 0.03805726 0.07791744
+v -0.02088076 0.03603651 0.07652128
+v -0.02098726 0.03603651 0.07590390
+v -0.01968845 0.04115101 0.07189643
+v -0.01938119 0.04115100 0.07471072
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 18
+f 1 18 19
+f 1 19 9
+f 1 9 4
+f 1 4 11
+f 1 11 21
+f 1 21 31
+f 1 31 43
+f 1 43 44
+f 1 44 35
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+f 1 32 22
+f 1 22 12
+f 1 12 5
+f 1 5 2
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+f 7 17 18
+f 7 18 16
+f 9 19 26
+f 9 26 37
+f 9 37 45
+f 9 45 46
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+f 17 19 18
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+f 21 29 30
+f 21 30 31
+f 22 32 23
+f 23 33 34
+f 23 34 24
+f 23 32 35
+f 23 35 33
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_95.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..095a27c137406e6f77fed75f2b4366ba8b4e382f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_95.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02278986 -0.02656378 0.07479865
+v 0.01613069 -0.02656378 0.07479865
+v 0.02318605 -0.02914378 0.07479864
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_96.obj b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3a3e44fbcd4d68273c6da4ba82ed484903b5ea5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_collision_96.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.01948665 0.02181223 0.05824169
+v -0.02166836 0.03204743 0.06908300
+v -0.01944451 0.03483358 0.05824174
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diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e17534c80b52ddd71ba08efbc8ee75db2e0f596
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mjcf/mesh/alarm_clock_014_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e050f0308953997dd44e891d14c176a59bac6a0dfd7df5cbd107ead6b9cba696
+size 12715866
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/textures/material_0.png b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e17534c80b52ddd71ba08efbc8ee75db2e0f596
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e050f0308953997dd44e891d14c176a59bac6a0dfd7df5cbd107ead6b9cba696
+size 12715866
diff --git a/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/video.mp4 b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca3436c08b48ef7dc677c80c4b80004dae43f028
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5962f67f55e4a107125bfc186165b94398a78960bf2483021cf6c33f558c481e
+size 420353