diff --git a/.gitattributes b/.gitattributes
index 96eb778c00d751b767842cfa25060c887303f2f9..7d9380e082d9b116be6104a96bc86e6f98ec3ab7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2672,3 +2672,5 @@ dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/flas
 dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/acf69c4392e45d0e8ffc982bc04c978c/alarm_clock_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/acf69c4392e45d0e8ffc982bc04c978c/mesh/alarm_clock_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/alarm_clock_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/alarm_clock_032.urdf b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/alarm_clock_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fb29b67e4989d45d1ef05ab0ef2fcd08856a5b8b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/alarm_clock_032.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_032">
+   <link name="alarm_clock_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_032.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_032_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>a89ff85b41ff52aa8fdaf0c1ce632e95</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>wooden alarm clock</name>
+         <color>brown,white</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>square wooden alarm clock with round white dial and four short legs</description>
+         <min_height>0.0961</min_height>
+         <max_height>0.0961</max_height>
+         <real_height>0.0961</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130013</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022929 -0.044993 -0.051513</min>
+            <max>0.029446 0.045007 0.044587</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/alarm_clock_032.usd b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/alarm_clock_032.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/alarm_clock_032.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4730618
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032.glb b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15395968
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032.mtl b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d09d2fcad4a0106f8a6ed0bb01990eb65691b627
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032.mtl
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+newmtl alarm_clock_032_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/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3df2a2d48687a550ad0131b33efbd5c962f245dc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032_collision.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41b0365b438f40bfa3e3f0a353e4d917400ddacd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..817d0f7d9d29b052e048476b00888ff2454928d9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/alarm_clock_032_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b454ab83b0a131f9c65818d50c0ae8dae2df09bd8c1b3110ac2597cb9518863
+size 12353392
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..423f932483b81991364941670a6a00cb584765cd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl alarm_clock_032_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd alarm_clock_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..817d0f7d9d29b052e048476b00888ff2454928d9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b454ab83b0a131f9c65818d50c0ae8dae2df09bd8c1b3110ac2597cb9518863
+size 12353392
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/alarm_clock_032.xml b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/alarm_clock_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4f048adbc4269db2b5454e28c211252704d3b33c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/alarm_clock_032.xml
@@ -0,0 +1,104 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="alarm_clock_032">
+  <asset>
+    <material name="material_0" texture="texture_0_alarm_clock_032_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_alarm_clock_032_geometry_Looks_material_0" type="2d" file="mesh/alarm_clock_032_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/alarm_clock_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/alarm_clock_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/alarm_clock_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/alarm_clock_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/alarm_clock_032_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/alarm_clock_032_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/alarm_clock_032_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/alarm_clock_032_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/alarm_clock_032_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/alarm_clock_032_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/alarm_clock_032_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/alarm_clock_032_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/alarm_clock_032_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/alarm_clock_032_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/alarm_clock_032_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/alarm_clock_032_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/alarm_clock_032_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/alarm_clock_032_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/alarm_clock_032_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/alarm_clock_032_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/alarm_clock_032_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/alarm_clock_032_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/alarm_clock_032_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/alarm_clock_032_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/alarm_clock_032_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/alarm_clock_032_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/alarm_clock_032_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/alarm_clock_032_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/alarm_clock_032_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/alarm_clock_032_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/alarm_clock_032_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/alarm_clock_032_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/alarm_clock_032_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/alarm_clock_032_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/alarm_clock_032_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/alarm_clock_032_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/alarm_clock_032_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/alarm_clock_032_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/alarm_clock_032_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/alarm_clock_032_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/alarm_clock_032_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/alarm_clock_032_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/alarm_clock_032_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/alarm_clock_032_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/alarm_clock_032_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/alarm_clock_032_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="alarm_clock_032">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4bc7af92cea3fb476b6eabefd92af3caa29f27e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032.obj
@@ -0,0 +1,113520 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_032_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddce664b457077fa3802ef8bb2a0edaf95653ba6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision.obj
@@ -0,0 +1,18800 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_0.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49886a1bd55ed54cd040cfe5b199ccac18b8f9e1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_0.obj
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+v 0.02883296 -0.00001123 0.04384052
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+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_1.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f5d8d08c6ed47f9ae6395fa314830e7fca9399
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_1.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.01556190 0.01647524 0.01648096
+v 0.01553158 0.01726306 0.03163346
+v 0.01556190 -0.00000942 0.01034897
+v 0.01556190 0.01726312 0.01646618
+v -0.02314849 0.01726306 0.03163346
+v 0.01534585 0.00079698 0.03163340
+v 0.01536101 0.00079699 0.03059911
+v 0.01556190 -0.00000937 -0.00143467
+v 0.01532690 -0.00000950 0.03140438
+v 0.01556190 0.01726313 0.01466355
+v -0.02315227 0.01342847 0.03163345
+v -0.02315606 0.01726330 -0.03360137
+v 0.01532311 -0.00000950 0.03163340
+v 0.01556190 0.00062634 -0.00143467
+v 0.01543682 -0.00000922 -0.04384101
+v 0.01556190 0.00517780 0.00064873
+v 0.01543682 0.01726334 -0.04383356
+v -0.02314849 -0.00000950 0.03163340
+v -0.02315986 0.01027043 -0.03903147
+v -0.02315606 0.01726333 -0.04061245
+v 0.01556190 0.00069228 -0.00142728
+v 0.01543682 0.00079726 -0.04384101
+v -0.01007193 -0.00000922 -0.04384101
+v 0.01556190 0.00240330 -0.00097661
+v 0.01329909 0.01027045 -0.04384097
+v 0.01173748 0.01658704 -0.04384095
+v 0.01018346 0.01726334 -0.04384095
+v 0.01556190 0.00226973 -0.00102833
+v 0.01556190 0.00079711 -0.00141251
+v -0.02315606 0.00237639 -0.03903150
+v -0.02315227 -0.00000926 -0.03350539
+v -0.02315606 0.00553469 -0.04061249
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+v -0.02289833 0.00711384 -0.04219348
+v -0.00851791 0.00553470 -0.04384099
+v -0.01163354 -0.00000922 -0.04383362
+v -0.01385845 0.01726334 -0.04382617
+v -0.01163354 0.01726334 -0.04383356
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+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_10.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6e593ab7de955a4f3ccaba5bcddd6a3e4f7e2fe
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_10.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.01643571 0.02870205 0.02217259
+v 0.01797201 0.02870205 0.02227610
+v 0.01643571 0.02870204 0.02482219
+v 0.01643571 0.03188745 0.01772512
+v 0.01922613 0.02870205 0.02245117
+v 0.01922613 0.03189057 0.01802662
+v 0.01922613 0.02870204 0.02482219
+v 0.01643571 0.03189055 0.02482220
+v 0.01643571 0.03189057 0.01813916
+v 0.01649062 0.03189057 0.01773693
+v 0.01922613 0.03189055 0.02482220
+f 1 2 5
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+f 2 6 5
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+f 3 11 8
+f 4 9 10
+f 4 10 6
+f 5 6 11
+f 5 11 7
+f 6 10 9
+f 6 9 8
+f 6 8 11
+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_11.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9ca184d2a0513a906d564f7e8f80e4acef95a41
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_11.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01797939 0.01726425 0.01323271
+v 0.01885107 0.02072862 0.01545736
+v 0.01890106 0.01776140 0.01377725
+v 0.01892428 0.01726425 0.01356510
+v 0.01742158 0.01726425 0.01335296
+v 0.01643571 0.02584344 0.01794066
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+f 34 39 35
+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_12.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d046d4c63087d9b94f8cb81fadfd8cbb85ff4b1b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_12.obj
@@ -0,0 +1,1741 @@
+# https://github.com/mikedh/trimesh
+v -0.02003419 0.02606464 -0.04382110
+v -0.01942951 0.01726607 -0.04374228
+v -0.02009466 0.01726607 -0.04370848
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_13.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..073b353c2c401dc28e64f670ceb9b0838fa021e0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_13.obj
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+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_14.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a0146bfb9feb60c2a93a666d39c204103b77741
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_14.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01447310 -0.02911720 -0.04540298
+v 0.01447310 -0.02911720 -0.04423640
+v 0.01447310 -0.02381628 -0.04540298
+v 0.01447310 -0.02381628 -0.04423640
+v 0.01547310 -0.02911720 -0.04540298
+v 0.01547310 -0.02911720 -0.04423640
+v 0.01547310 -0.02381628 -0.04540298
+v 0.01547310 -0.02381628 -0.04423640
+f 2 4 1
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_15.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4f4d80a176b82d59fda3b0d25d047d9309d9ebf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_15.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02216517 0.00079691 0.00370131
+v 0.02200875 0.00199918 0.00528235
+v 0.02215870 0.00079690 0.00528234
+v 0.02209019 -0.00000939 0.00370131
+v 0.02196673 -0.00000939 0.00262356
+v 0.02197449 0.00079691 0.00258305
+v 0.02191955 0.00176796 0.00274632
+v 0.02200293 0.00198062 0.00370132
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+v 0.02173598 0.00277015 0.00370132
+v 0.02173663 0.00278871 0.00528235
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+v 0.02189434 -0.00000939 0.00242348
+v 0.02168750 0.00079691 0.00179132
+v 0.02122794 0.00244967 0.00205278
+v 0.01887452 0.00611037 0.01096938
+v 0.02167910 0.00079689 0.00717638
+v 0.02095711 0.00376935 0.00370132
+v 0.01923002 0.00611038 0.00844809
+v 0.02071731 0.00349439 0.00241490
+v 0.01908717 0.00611037 0.01004630
+v 0.02195186 -0.00000940 0.00632571
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+v 0.01797995 0.00611037 0.01110563
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_16.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8566ae9e20234ff990baedafd7c552020c3cdc35
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_16.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_17.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5227bb52760dae082ed33cfe8c3ed8e7982ff3a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_17.obj
@@ -0,0 +1,1006 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_18.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42527c2b656f0b63506e39a82223768c9832bfc6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_18.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_19.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..365e7f83af7bc29d6092051948991b5c3816cbd8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_19.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_2.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..361ebcd4c5214d5eb6d57ffb7f08368c54092abe
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_2.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_20.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b72af9e67e425cc272751c2498f865c300a86539
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_20.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_21.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..541b7992df0a70e5db406192a884e38001f80781
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_21.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_22.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9084f3a3c0d8675bfea061ed5cdc42092fb997ac
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_22.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.01544158 0.02889052 -0.01583990
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+v 0.01544158 0.03349193 -0.00545855
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+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_23.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bcb9fc445bdeebf25bdfd76755be597269435a9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_23.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01328650 0.01726334 -0.04467024
+v 0.01328650 0.01726334 -0.04367024
+v 0.01328650 0.03225137 -0.04467024
+v 0.01328650 0.03225137 -0.04367024
+v 0.02675019 0.01726334 -0.04467024
+v 0.02675019 0.01726334 -0.04367024
+v 0.02675019 0.03225137 -0.04467024
+v 0.02675019 0.03225137 -0.04367024
+f 2 4 1
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+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/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_24.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7678667261918f537a4a1070289eea5734abf69
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_24.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_25.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edf3d9ce2c4122c4e4598cd9e3e381d9a245fc4a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_25.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.01852989 0.02606376 -0.04430404
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_26.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b916a111183e4fcd9bcdbd9b9856567702c8dc36
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_26.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_27.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6396d109e78704239d27aa59074991e00f304825
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_27.obj
@@ -0,0 +1,1975 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_28.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..590e387bdd8de9219e931958668d71a35dc69895
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_28.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_29.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8939845c7dcf3515a5dc263a453eb07604fe6841
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_29.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_3.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ca3f00552dfcd7a7d085bd837624f0e0e0b60a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_3.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_30.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d90be63d84a5ea29be8f41a584fdf50d5f9a909
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_30.obj
@@ -0,0 +1,1006 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_31.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd2d2570ed150244d18ac0e9a0f006513bd1a8d1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_31.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_32.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14c6cf6f1e08f1135e8abb565e7bc3874fb19403
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_32.obj
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+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_33.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f6dc0a9d3d4f8496ec1491bb09a8145669ec25a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_33.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.01541654 -0.04515587 0.00612746
+v 0.01541654 -0.04515420 0.00742970
+v 0.01541654 -0.03492665 0.00612750
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+v 0.01541654 -0.02794152 0.02248709
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+v 0.01780623 -0.04510196 0.00845098
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+v 0.01541654 -0.02794160 0.04490982
+v 0.01780623 -0.04509523 0.01161735
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+v 0.01780623 -0.02794160 0.04490982
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+v 0.01642098 -0.04482398 0.02902098
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+v 0.01780623 -0.03809836 0.04249134
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+v 0.01541654 -0.04150583 0.03883900
+v 0.01541654 -0.04170974 0.03852008
+v 0.01642098 -0.04170806 0.03852008
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+v 0.01541654 -0.04216643 0.03774558
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+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_34.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a401920180709201fc0512cedf274da6b7807959
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_34.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02209051 -0.00000939 0.00370247
+v 0.02203754 -0.00057464 0.00370247
+v 0.02196430 -0.00028240 0.00263864
+v 0.02196691 -0.00000939 0.00262545
+v 0.02207808 -0.00000940 0.00528307
+v 0.02181455 -0.00136401 0.00370246
+v 0.02202577 -0.00053510 0.00528307
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+v 0.02189433 -0.00000939 0.00242508
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+v 0.02132411 -0.00236213 0.00528306
+v 0.02133784 -0.00236212 0.00370246
+v 0.02157652 -0.00076692 0.00684784
+v 0.02163865 -0.00000939 0.00195446
+v 0.01851094 -0.00541904 -0.00163650
+v 0.01907462 -0.00391501 -0.00163649
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+v 0.01541005 -0.00391557 0.00047536
+v 0.01541005 -0.00237913 -0.00106041
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+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_35.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0d8a2815bd5ed742508718815f616d2f74cf7dc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_35.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01643571 0.01726306 0.03191907
+v 0.01922613 0.01726306 0.03208238
+v 0.01643571 0.01726301 0.04492061
+v 0.01643571 0.02663025 0.02482218
+v 0.01922613 0.01726302 0.04491471
+v 0.01922613 0.02698678 0.02482218
+v 0.01708722 0.01726301 0.04492061
+v 0.01643571 0.02607747 0.04492065
+v 0.01643571 0.03188943 0.02482220
+v 0.01922613 0.02101017 0.04491866
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+v 0.01922613 0.03188943 0.02482220
+v 0.01797939 0.02606172 0.04492065
+v 0.01797939 0.01726302 0.04491864
+v 0.01643571 0.02764106 0.04491868
+v 0.01643571 0.03188936 0.04469637
+v 0.01922613 0.02606173 0.04491868
+v 0.01922613 0.03188936 0.04469244
+v 0.01922613 0.02764106 0.04491672
+v 0.01922613 0.02890539 0.04489902
+v 0.01643571 0.02923614 0.04489312
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+v 0.01922613 0.03079972 0.04481441
+v 0.01797939 0.03188936 0.04469440
+v 0.01922613 0.02922039 0.04489312
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+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_36.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3540b7fe6e7297f5414965a1c9d6cb0eb72c70e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_36.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.01542423 -0.01884116 0.01477948
+v 0.01642099 -0.01853730 0.01477948
+v 0.01542423 -0.01883977 0.01485116
+v 0.01541005 -0.01726890 0.01807018
+v 0.01541005 -0.01726888 0.01229563
+v 0.01542423 -0.01826131 0.01315080
+v 0.01758461 -0.01789333 0.01477948
+v 0.01744611 -0.01770935 0.01636148
+v 0.01542423 -0.01863209 0.01641316
+v 0.01744834 -0.01767728 0.01364925
+v 0.01541005 -0.01726751 0.01809352
+v 0.01541005 -0.01658727 0.01162882
+v 0.01542423 -0.01824180 0.01310579
+v 0.01776622 -0.01726888 0.01477949
+v 0.01776594 -0.01726888 0.01477782
+v 0.01764858 -0.01726889 0.01574636
+v 0.01757238 -0.01726889 0.01636149
+v 0.01736018 -0.01726889 0.01704497
+v 0.01726367 -0.01743197 0.01720500
+v 0.01542423 -0.01807037 0.01786180
+v 0.01751175 -0.01726888 0.01346254
+v 0.01796758 -0.01657334 0.01477782
+v 0.01738855 -0.01606875 0.01219894
+v 0.01541005 -0.01672111 0.01838858
+v 0.01541005 -0.00460137 0.00136002
+v 0.01777095 -0.01657335 0.01636149
+v 0.01738354 -0.01657335 0.01731836
+v 0.01728648 -0.01726889 0.01722667
+v 0.01761771 -0.01658588 0.01315081
+v 0.01797814 -0.01499409 0.01477782
+v 0.01793226 -0.01499409 0.01319415
+v 0.01825125 -0.00460139 0.00574594
+v 0.01785132 -0.00460139 0.00419895
+v 0.01541005 -0.01657336 0.01839025
+v 0.01541005 -0.00460141 0.01182723
+v 0.01795868 -0.01341484 0.01477783
+v 0.01772311 -0.01499410 0.01636149
+v 0.01733709 -0.01499410 0.01727835
+v 0.01814223 -0.00460139 0.00526918
+v 0.01820425 -0.00460140 0.00753466
+v 0.01541005 -0.01498435 0.01794182
+v 0.01720138 -0.01420238 0.01715333
+v 0.01726033 -0.00460141 0.01108041
+v 0.01541005 -0.00867988 0.01474618
+v 0.01765220 -0.01176311 0.01487119
+v 0.01800262 -0.00867987 0.01161385
+v 0.01800596 -0.00460140 0.00911166
+v 0.01790083 -0.01025913 0.01319417
+v 0.01748950 -0.01357236 0.01634316
+v 0.01541005 -0.01183002 0.01636151
+v 0.01741858 -0.01224121 0.01580306
+v 0.01732569 -0.00928760 0.01410271
+v 0.01541005 -0.00869660 0.01475784
+v 0.01738604 -0.00460141 0.01102040
+v 0.01759073 -0.00872866 0.01321919
+v 0.01776094 -0.00460141 0.01005686
+v 0.01794505 -0.00552137 0.01002852
+v 0.01745501 -0.00740449 0.01270741
+v 0.01758962 -0.00460141 0.01058864
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 10
+f 2 10 7
+f 3 9 11
+f 3 11 4
+f 4 11 24
+f 4 24 34
+f 4 34 41
+f 4 41 50
+f 4 50 53
+f 4 53 44
+f 4 44 35
+f 4 35 25
+f 4 25 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 10
+f 7 14 8
+f 7 10 15
+f 7 15 14
+f 8 14 16
+f 8 16 17
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+f 8 20 9
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+f 16 22 17
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+f 18 28 19
+f 18 26 27
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+f 19 24 20
+f 21 29 22
+f 21 23 29
+f 22 30 26
+f 22 29 31
+f 22 31 32
+f 22 32 30
+f 23 25 33
+f 23 33 29
+f 24 28 27
+f 24 27 34
+f 25 35 43
+f 25 43 54
+f 25 54 59
+f 25 59 56
+f 25 56 47
+f 25 47 40
+f 25 40 32
+f 25 32 39
+f 25 39 33
+f 26 36 37
+f 26 37 27
+f 26 30 36
+f 27 37 38
+f 27 38 34
+f 29 33 39
+f 29 39 32
+f 29 32 31
+f 30 32 40
+f 30 40 36
+f 34 38 42
+f 34 42 41
+f 35 44 43
+f 36 45 37
+f 36 40 46
+f 36 46 47
+f 36 47 48
+f 36 48 45
+f 37 45 49
+f 37 49 38
+f 38 49 42
+f 40 47 46
+f 41 42 50
+f 42 49 51
+f 42 51 52
+f 42 52 53
+f 42 53 50
+f 43 44 53
+f 43 53 54
+f 45 51 49
+f 45 48 55
+f 45 55 51
+f 47 56 57
+f 47 57 48
+f 48 57 56
+f 48 56 55
+f 51 55 58
+f 51 58 52
+f 52 58 54
+f 52 54 53
+f 54 58 59
+f 55 56 59
+f 55 59 58
+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_37.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98a456a96548ecfe7726356b156f654b9860d4b1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_37.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.01542390 -0.02793879 0.02250637
+v 0.01542390 -0.02766201 0.02266654
+v 0.01565593 -0.02793879 0.02261388
+v 0.01542390 -0.02793887 0.04491298
+v 0.01780623 -0.02793880 0.02384699
+v 0.01542390 -0.01726941 0.03124788
+v 0.01780623 -0.01726942 0.03205972
+v 0.01642081 -0.02793887 0.04491298
+v 0.01542390 -0.02762866 0.04491517
+v 0.01780623 -0.02793887 0.04491079
+v 0.01542390 -0.01726946 0.04491960
+v 0.01780623 -0.01726946 0.04491741
+v 0.01780623 -0.02780414 0.04491298
+v 0.01780623 -0.02762866 0.04491517
+v 0.01542390 -0.02705942 0.04491737
+v 0.01542390 -0.01973341 0.04492179
+v 0.01642081 -0.01726946 0.04491960
+v 0.01780623 -0.02622488 0.04491737
+f 1 2 3
+f 1 3 5
+f 1 5 10
+f 1 10 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 4 8 14
+f 4 14 9
+f 5 7 12
+f 5 12 18
+f 5 18 14
+f 5 14 13
+f 5 13 10
+f 6 11 17
+f 6 17 12
+f 6 12 7
+f 8 10 13
+f 8 13 14
+f 9 14 15
+f 11 16 17
+f 12 17 16
+f 12 16 18
+f 14 18 15
+f 15 18 16
+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_38.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a742075883071560eaa8d5767366be92de984a3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_38.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02003468 0.01726480 -0.04456257
+v -0.02003468 0.01726480 -0.04356257
+v -0.02003468 0.03222838 -0.04456257
+v -0.02003468 0.03222838 -0.04356257
+v -0.00673039 0.01726480 -0.04456257
+v -0.00673039 0.01726480 -0.04356257
+v -0.00673039 0.03222838 -0.04456257
+v -0.00673039 0.03222838 -0.04356257
+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/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_39.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..365c1e9b3abbfc14f820b55f238c267ed61cfd57
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_39.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01797933 -0.01353777 -0.01687249
+v 0.01657120 -0.01333198 -0.01687249
+v 0.01889879 -0.01305758 -0.01687249
+v 0.01882659 -0.01272331 -0.01591063
+v 0.01881496 -0.00637424 -0.00329013
+v 0.01797933 -0.00562184 -0.00163782
+v 0.01705040 -0.00638186 -0.00327223
+v 0.01649683 -0.01326447 -0.01687249
+v 0.01673481 -0.00527014 -0.00163782
+v 0.01906916 -0.01183915 -0.01687248
+v 0.01907944 -0.00552056 -0.00421470
+v 0.01892773 -0.00516669 -0.00163782
+v 0.01851045 -0.00541931 -0.00163782
+v 0.01632998 -0.01025706 -0.01370953
+v 0.01634701 -0.01183698 -0.01687248
+v 0.01642490 -0.00453516 -0.00163782
+v 0.01631700 -0.00552056 -0.00421470
+v 0.01892962 -0.01073941 -0.01687248
+v 0.01907484 -0.00391669 -0.00163781
+v 0.01644140 -0.00294325 -0.00163781
+v 0.01680053 -0.01068388 -0.01687248
+v 0.01640299 -0.00389600 -0.00163781
+v 0.01797690 -0.01037464 -0.01687248
+v 0.01884308 -0.00936202 -0.01472805
+v 0.01888608 -0.00297701 -0.00221343
+v 0.01892448 -0.00281259 -0.00163781
+v 0.01899858 -0.00387096 -0.00269660
+v 0.01666775 -0.00270697 -0.00163781
+v 0.01699686 -0.00934786 -0.01474445
+v 0.01797933 -0.00929886 -0.01485331
+v 0.01805072 -0.00241407 -0.00163781
+v 0.01852911 -0.00252840 -0.00163781
+f 1 2 8
+f 1 8 15
+f 1 15 21
+f 1 21 23
+f 1 23 18
+f 1 18 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 11
+f 3 11 12
+f 3 12 5
+f 3 5 4
+f 5 12 13
+f 5 13 6
+f 6 13 12
+f 6 12 19
+f 6 19 26
+f 6 26 32
+f 6 32 31
+f 6 31 28
+f 6 28 20
+f 6 20 22
+f 6 22 16
+f 6 16 9
+f 6 9 7
+f 8 14 15
+f 8 9 16
+f 8 16 17
+f 8 17 14
+f 10 18 19
+f 10 19 11
+f 11 19 12
+f 14 17 20
+f 14 20 15
+f 15 20 21
+f 16 22 17
+f 17 22 20
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 19 27 26
+f 20 28 21
+f 21 29 23
+f 21 28 29
+f 23 29 30
+f 23 30 24
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 25 32 26
+f 28 31 29
+f 29 31 30
+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_4.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0743502b320aca408ff9de844e6e5971fac37912
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_4.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.01544125 -0.00000951 0.03482982
+v 0.02733092 -0.00000951 0.03589790
+v 0.01544125 -0.00000955 0.04492385
+v 0.01544125 0.01500931 0.03184682
+v 0.02577220 0.01726306 0.03212262
+v 0.02736778 0.01726306 0.03225922
+v 0.02777725 -0.00000951 0.03599157
+v 0.01642125 -0.00000955 0.04492255
+v 0.01552860 0.01726301 0.04492261
+v 0.01544125 0.01726301 0.04492261
+v 0.01544125 0.01683192 0.03163346
+v 0.01553542 0.01726306 0.03163346
+v 0.02806388 0.01726306 0.03250770
+v 0.02820310 -0.00000951 0.03608133
+v 0.02109741 -0.00000954 0.04491474
+v 0.01953869 0.00237609 0.04491735
+v 0.01642125 0.01726301 0.04492130
+v 0.01544125 0.01726306 0.03163346
+v 0.02840101 0.01726306 0.03268723
+v 0.02881184 -0.00000952 0.03693865
+v 0.02265476 -0.00000954 0.04490954
+v 0.02109741 0.00237609 0.04491475
+v 0.01797997 0.01726302 0.04491871
+v 0.02864806 0.01726306 0.03308402
+v 0.02935371 -0.00000952 0.03852060
+v 0.02894424 0.01726306 0.03369676
+v 0.02421348 -0.00000954 0.04489913
+v 0.02265476 0.00237609 0.04490955
+v 0.02265476 0.01726302 0.04490830
+v 0.02176348 0.01726302 0.04491090
+v 0.01864604 0.01726302 0.04491740
+v 0.02937828 -0.00000953 0.04010255
+v 0.02927864 0.01726305 0.03467897
+v 0.02934825 0.01658675 0.03535547
+v 0.02935917 0.01726305 0.03535547
+v 0.02937965 0.01726305 0.03626222
+v 0.02577220 -0.00000954 0.04487962
+v 0.02577220 0.01726302 0.04487968
+v 0.02421348 0.01726302 0.04489789
+v 0.02332084 0.01726302 0.04490440
+v 0.02938101 0.00869101 0.03852063
+v 0.02937965 0.00237610 0.04010256
+v 0.02937828 -0.00000953 0.04091043
+v 0.02938101 0.01500759 0.03693871
+v 0.02938237 0.01726304 0.03693871
+v 0.02938237 0.01658674 0.03693871
+v 0.02733092 -0.00000954 0.04479376
+v 0.02733092 0.01658672 0.04479511
+v 0.02733092 0.01726302 0.04479511
+v 0.02938374 0.01500759 0.03852066
+v 0.02938101 0.00553439 0.04010257
+v 0.02937691 -0.00000953 0.04168580
+v 0.02937965 0.00553439 0.04168582
+v 0.02938374 0.01726304 0.03784547
+v 0.02852248 -0.00000954 0.04438916
+v 0.02852385 0.00079694 0.04438916
+v 0.02852658 0.01658672 0.04439052
+v 0.02784276 0.01726302 0.04462209
+v 0.02938374 0.01726304 0.03942612
+v 0.02915580 -0.00000954 0.04326775
+v 0.02937965 0.00711354 0.04168583
+v 0.02915853 0.01658672 0.04326781
+v 0.02879683 0.01726302 0.04391047
+v 0.02852658 0.01726302 0.04439052
+v 0.02938237 0.01726303 0.04010261
+v 0.02937828 0.01726303 0.04168586
+v 0.02925271 0.01726302 0.04259131
+v 0.02915853 0.01726302 0.04326781
+f 1 2 7
+f 1 7 14
+f 1 14 20
+f 1 20 25
+f 1 25 32
+f 1 32 43
+f 1 43 52
+f 1 52 60
+f 1 60 55
+f 1 55 47
+f 1 47 37
+f 1 37 27
+f 1 27 21
+f 1 21 15
+f 1 15 8
+f 1 8 3
+f 1 3 10
+f 1 10 18
+f 1 18 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 18
+f 5 18 10
+f 5 10 9
+f 5 9 17
+f 5 17 23
+f 5 23 31
+f 5 31 30
+f 5 30 29
+f 5 29 40
+f 5 40 39
+f 5 39 38
+f 5 38 49
+f 5 49 58
+f 5 58 64
+f 5 64 63
+f 5 63 68
+f 5 68 67
+f 5 67 66
+f 5 66 65
+f 5 65 59
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+f 5 54 45
+f 5 45 36
+f 5 36 35
+f 5 35 33
+f 5 33 26
+f 5 26 24
+f 5 24 19
+f 5 19 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 8 15 22
+f 8 22 16
+f 8 16 17
+f 8 17 9
+f 11 18 12
+f 13 19 14
+f 14 19 20
+f 15 21 28
+f 15 28 22
+f 16 22 23
+f 16 23 17
+f 19 24 20
+f 20 24 26
+f 20 26 25
+f 21 27 28
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 25 26 33
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 32
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 28 40 29
+f 32 41 42
+f 32 42 43
+f 32 36 44
+f 32 44 41
+f 33 35 34
+f 36 45 46
+f 36 46 44
+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 41 44 46
+f 41 46 50
+f 41 50 51
+f 41 51 42
+f 42 51 43
+f 43 51 53
+f 43 53 52
+f 45 54 46
+f 46 54 50
+f 47 55 56
+f 47 56 57
+f 47 57 58
+f 47 58 48
+f 48 58 49
+f 50 54 59
+f 50 59 51
+f 51 59 53
+f 52 53 60
+f 53 59 61
+f 53 61 68
+f 53 68 62
+f 53 62 60
+f 55 60 56
+f 56 60 57
+f 57 62 63
+f 57 63 64
+f 57 64 58
+f 57 60 62
+f 59 65 61
+f 61 65 66
+f 61 66 67
+f 61 67 68
+f 62 68 63
+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_40.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7517940c51d3a2220f16ce626b89823b68a733a2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_40.obj
@@ -0,0 +1,1975 @@
+# https://github.com/mikedh/trimesh
+v -0.02315829 -0.04184023 0.00612748
+v -0.02316207 -0.04184025 0.01003457
+v -0.02315829 -0.03868134 0.00612749
+v -0.02299589 -0.04257752 0.00612747
+v -0.02316584 -0.03552596 0.03851947
+v -0.02316207 -0.04026080 0.01003457
+v -0.02280706 -0.04341967 0.00612747
+v -0.02316207 -0.04184029 0.02269367
+v -0.02316207 -0.03868136 0.01161412
+v -0.02315829 -0.02793988 0.03187480
+v -0.02314318 -0.02793980 0.01003462
+v -0.02314318 -0.02994537 0.00612752
+v -0.02316207 -0.04026088 0.03376944
+v -0.02316207 -0.03868146 0.03693612
+v -0.02316207 -0.03552597 0.04010281
+v -0.02316207 -0.03236708 0.04010282
+v -0.02315829 -0.02793991 0.04137103
+v -0.02316207 -0.02793990 0.03851950
+v -0.02280706 -0.04341969 0.01161410
+v -0.02211215 -0.04443599 0.00612747
+v -0.02315829 -0.04184031 0.02743988
+v -0.02313940 -0.02793978 0.00612753
+v -0.02315451 -0.04184032 0.02902322
+v -0.02313940 -0.04184032 0.03060656
+v -0.02313940 -0.04026089 0.03535277
+v -0.02307143 -0.03868146 0.03851946
+v -0.02306765 -0.03710372 0.04010280
+v -0.02310164 -0.03394652 0.04168236
+v -0.02315074 -0.03236708 0.04168236
+v -0.02315829 -0.03078764 0.04168237
+v -0.02315829 -0.02920820 0.04168237
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_41.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..116e0653f7692fe9cb11fd0d8c6f4a279fa04efa
--- /dev/null
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+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_42.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6087a1a794ffd74cb68d72485d407c14943faae
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_42.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.01953858 -0.02917787 -0.05140331
+v 0.01953858 -0.02920792 -0.05139912
+v 0.01796020 -0.02920020 -0.05114181
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+v 0.01953858 -0.03026955 -0.05105086
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+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_43.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bca3207bef43ae86292bbe8cbd3d29dc2e360465
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_43.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00672909 0.01726334 -0.04433927
+v -0.00672909 0.01726334 -0.04333927
+v -0.00672909 0.02832538 -0.04433927
+v -0.00672909 0.02832538 -0.04333927
+v 0.01328650 0.01726334 -0.04433927
+v 0.01328650 0.01726334 -0.04333927
+v 0.01328650 0.02832538 -0.04433927
+v 0.01328650 0.02832538 -0.04333927
+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/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_44.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26f61a0e3088856fd9350cbd25d07c6b93fde9df
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_44.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.02477501 -0.02917717 -0.04408554
+v 0.02477501 -0.02767733 -0.04430304
+v 0.02733176 -0.02917717 -0.04358253
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+
diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_5.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d0b3df2a4e2b4879b636d9ea2ec3a69ebe603c7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_5.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.02938196 -0.03868305 0.01118589
+v 0.02931623 -0.03710479 0.01118589
+v 0.02938196 -0.04141399 0.01118588
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_6.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ac303e5b5091af1c0ec0181c791fa3ed1ca3ca3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_6.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_7.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07c5d6275f08eb7905377289bc4e4e92f6b65b0a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_7.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_8.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8080af0fe90ff446803cd95efb097a79eb83766
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_8.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_9.obj b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bd23d481067e610d81339a5287eb9f7d70f57f7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_collision_9.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..817d0f7d9d29b052e048476b00888ff2454928d9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/mjcf/mesh/alarm_clock_032_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/textures/material_0.png b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/textures/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/video.mp4 b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/video.mp4
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/a89ff85b41ff52aa8fdaf0c1ce632e95/video.mp4
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+version https://git-lfs.github.com/spec/v1
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