diff --git a/.gitattributes b/.gitattributes
index f2181e38c281867c58514bdfe3656b50e726b164..e5d4538430aadaf8d450efe9d81c598c47801d94 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2650,3 +2650,5 @@ dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/flas
 dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/mesh/flashlight_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/32334b3d67e85787971772b0132e2118/alarm_clock_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/32334b3d67e85787971772b0132e2118/mesh/alarm_clock_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/alarm_clock_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/alarm_clock_026.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/alarm_clock_026.urdf b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/alarm_clock_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..178a55149a2f8e6c9a2eed0d8e6081890ff969a7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/alarm_clock_026.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_026">
+   <link name="alarm_clock_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>364c359c50445e33a6d279434b9fde98</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>pink mickey clock</name>
+         <color>pink,purple</color>
+         <shape>sphere</shape>
+         <material>plastic</material>
+         <description>pink round alarm clock with mickey graphic and top dome</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611125622</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059347 -0.062477 -0.061661</min>
+            <max>0.058277 0.062492 0.068339</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/364c359c50445e33a6d279434b9fde98/alarm_clock_026.usd b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/alarm_clock_026.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8e6e955e2f612f63188ddbdae2dec5b5efb687df
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/alarm_clock_026.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7424e82bbcf13be75da23321a60dd6926ddaafc9011747230cead566fa87830
+size 4925691
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/alarm_clock_026.glb b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/alarm_clock_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b4a73d0d5c09ef588502ea5a80a5a76e50829dc8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/alarm_clock_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15480952
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/alarm_clock_026.mtl b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/alarm_clock_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d716dc1991258aeaf7e4ea203a575ab401e9aa47
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/alarm_clock_026.mtl
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+newmtl alarm_clock_026_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/364c359c50445e33a6d279434b9fde98/mesh/alarm_clock_026.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/alarm_clock_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f277f589d86d81220ae2faf21a562ddb66232a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/alarm_clock_026.obj
@@ -0,0 +1,112876 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/alarm_clock_026_collision.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/alarm_clock_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64b5946a367bd693cffcea42d1b389abe6d75c60
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/alarm_clock_026_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/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/364c359c50445e33a6d279434b9fde98/mjcf/alarm_clock_026.xml b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/alarm_clock_026.xml
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb7c8a07b4a95996995e693bb48a588d679feefd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026.obj
@@ -0,0 +1,112876 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8bf2ee2eb5e415c50b5e3dfe9b4272025547b7d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision.obj
@@ -0,0 +1,38198 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_0.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33ef592b34089c68cb36831f1c6d253539a2eb42
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_0.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_1.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b8eaca4fbd1fe4e8428927e124364c51f97ffbd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_10.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fa6429fac686b98eb4b8b5d21c12d27bb9487ec
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_10.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_11.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c9c93dbb3487ca146e669262d2d6efe634ef315
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_11.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_12.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0025dd72e4e8b09a14915372a46a796ee19532bb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_12.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_13.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70db410049c609958fe4ffe61e09d657670e39ac
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_13.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_14.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b4dc05c4b8e1f5f4c462e633ed3334cc7b3a74e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_14.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_15.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..456effd71b75384c74ddafce1873cfb2d4331aef
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_15.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_16.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..059bd05bb498435d3894f9df22b96ff5cd2b4e68
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_16.obj
@@ -0,0 +1,265 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_17.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdad94845b4733be382560c750ba99993fc57f18
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_17.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.04737884 -0.00005057 0.03110672
+v 0.04737884 0.01454753 0.02807320
+v 0.04741282 0.01454753 0.02807320
+v 0.04749063 -0.00005057 0.03110881
+v 0.04737884 -0.00005064 0.04939164
+v 0.04737884 0.01454747 0.04236626
+v 0.04750707 0.01454753 0.02807738
+v 0.04764955 -0.00005057 0.03111507
+v 0.04744022 -0.00005064 0.04934989
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+v 0.05669248 0.01454749 0.03763740
+v 0.05604476 0.01454752 0.02897096
+v 0.05604476 -0.00005058 0.03191679
+v 0.04845729 -0.00005057 0.03117979
+v 0.04830385 -0.00005057 0.03116727
+v 0.04750707 -0.00005064 0.04930395
+v 0.04737884 0.00548652 0.04929354
+v 0.04750707 0.00107822 0.04930604
+v 0.04750707 0.00321735 0.04930814
+v 0.04737884 0.00680686 0.04899917
+v 0.05711005 0.01454749 0.03731170
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+v 0.05694127 -0.00005058 0.03231973
+v 0.04869073 -0.00005064 0.04843334
+v 0.04771421 0.00551938 0.04904509
+v 0.04856360 0.00634102 0.04828513
+v 0.04868963 0.00107822 0.04843125
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+v 0.05727993 0.01331002 0.03774388
+v 0.05762297 0.01454752 0.02972674
+v 0.05774572 -0.00005058 0.03268301
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+v 0.05779833 0.01454752 0.03006078
+v 0.05847565 -0.00005059 0.03438874
+v 0.05788930 -0.00005060 0.03867707
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+v 0.05770846 0.00312880 0.03886289
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+v 0.05840769 0.01454751 0.03161410
+v 0.05851729 0.01391592 0.03224671
+v 0.05853154 0.01454751 0.03224671
+v 0.05856442 0.00749566 0.03438877
+v 0.05857538 -0.00005059 0.03653290
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+v 0.05856004 0.00535796 0.03653292
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+v 0.05856113 0.01391591 0.03438879
+v 0.05856223 0.01454751 0.03375618
+v 0.05857100 0.00963622 0.03438878
+v 0.05857209 0.01177535 0.03438878
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+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_18.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26a31cfa8d5e8f7485d87d30d32017142898c703
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_18.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01230425 -0.02041693 -0.04578272
+v -0.01230425 -0.02041689 -0.05679757
+v -0.01653980 -0.02041693 -0.04578272
+v -0.01230425 -0.03967075 -0.04578280
+v -0.01303568 -0.02041689 -0.05666912
+v -0.01230425 -0.02046589 -0.05678660
+v -0.01653980 -0.03101921 -0.05699083
+v -0.01653980 -0.02887990 -0.05699852
+v -0.01653980 -0.02041689 -0.05588854
+v -0.01653980 -0.03751070 -0.04578279
+v -0.01298177 -0.03939933 -0.04578279
+v -0.01653980 -0.03490391 -0.05351173
+v -0.01653980 -0.03366556 -0.05554496
+v -0.01230425 -0.03966132 -0.04579268
+v -0.01395452 -0.02041689 -0.05648138
+v -0.01230425 -0.02107470 -0.05664717
+v -0.01230425 -0.02185126 -0.05643638
+v -0.01230425 -0.02229986 -0.05631123
+v -0.01230425 -0.02456547 -0.05561958
+v -0.01230425 -0.02460128 -0.05560861
+v -0.01230425 -0.02675944 -0.05487085
+v -0.01230425 -0.02872723 -0.05406942
+v -0.01653980 -0.03305674 -0.05608840
+v -0.01436377 -0.02041689 -0.05639355
+v -0.01653980 -0.03791972 -0.04578499
+v -0.01653814 -0.03792160 -0.04578279
+v -0.01399432 -0.03898655 -0.04578279
+v -0.01230425 -0.03568804 -0.04970324
+v -0.01230425 -0.03679822 -0.04862406
+v -0.01230425 -0.03109463 -0.05292216
+v -0.01230425 -0.03198616 -0.05237653
+v -0.01230425 -0.03302472 -0.05173977
+v -0.01230425 -0.03462873 -0.05063204
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+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_19.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1db5331101ef298239d406c89f2761d5380953e2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_19.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.04737884 0.01454747 0.04236800
+v 0.04737884 0.01454753 0.02807232
+v 0.05669249 0.01454749 0.03763458
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+v 0.05769691 0.02886439 0.02792925
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+v 0.04737884 0.04207402 0.01978580
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+v 0.05765967 0.03099285 0.02573958
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+f 85 89 87
+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_2.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6ebb0182fcbf880da4aa53a343e87262e74dc3d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_2.obj
@@ -0,0 +1,778 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_20.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93def76f0e39c4a3c784c3307986a19de10e861d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_20.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.04188394 0.04973311 0.00078765
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+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_21.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b6ef5d8b510f14a68a704be0162ca7245654345
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_21.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.04188394 0.02084542 -0.04578257
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+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_22.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14c85de58060d92fab40c307b0bd4e811a5b0e20
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_22.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.04737884 -0.01464946 0.02804446
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+v 0.05856423 -0.01390061 0.03438971
+v 0.05715674 -0.00005204 0.03977779
+v 0.05857520 -0.00005202 0.03653411
+v 0.05856533 -0.00748081 0.03438973
+v 0.05857300 -0.00962170 0.03438972
+v 0.05857629 -0.01176116 0.03438972
+v 0.05852587 -0.00748081 0.03653408
+v 0.05788899 -0.00106388 0.03867636
+v 0.05750313 -0.00005203 0.03925738
+v 0.05856752 -0.00534278 0.03653409
+v 0.05857739 -0.00320333 0.03653410
+v 0.05788899 -0.00005203 0.03867636
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 24
+f 1 24 26
+f 1 26 42
+f 1 42 35
+f 1 35 19
+f 1 19 11
+f 1 11 5
+f 1 5 12
+f 1 12 20
+f 1 20 30
+f 1 30 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 23
+f 2 23 39
+f 2 39 49
+f 2 49 56
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+f 2 59 50
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+f 2 25 16
+f 2 16 10
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+f 31 44 32
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+f 32 34 33
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+f 34 45 46
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+f 34 47 37
+f 35 42 48
+f 35 48 44
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+f 37 47 38
+f 38 47 49
+f 38 49 39
+f 40 50 41
+f 41 51 42
+f 41 50 51
+f 42 51 52
+f 42 52 53
+f 42 53 48
+f 44 48 54
+f 44 54 45
+f 45 55 46
+f 45 54 55
+f 46 55 47
+f 47 55 56
+f 47 56 49
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+f 48 57 54
+f 50 58 53
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+f 50 52 51
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+f 55 59 56
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+f 55 58 59
+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_23.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfe7e4586fa9fa555df20b55013fdee0b0bfba1b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_23.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.04155089 0.02652175 0.01671468
+v 0.04155089 0.03128558 0.00078896
+v 0.05606792 0.02885091 0.01671469
+v 0.04155089 0.04858687 0.01671476
+v 0.05604459 0.03388526 0.00078897
+v 0.04155089 0.04993949 0.00078903
+v 0.05750780 0.02948593 0.01671469
+v 0.05728782 0.03411909 0.00078898
+v 0.05668454 0.03834636 0.01578562
+v 0.05726449 0.03865357 0.01435610
+v 0.04155089 0.04882529 0.01621436
+v 0.05762279 0.03708321 0.01671472
+v 0.04155089 0.04992114 0.00223257
+v 0.05757779 0.04109510 0.00078900
+v 0.05765612 0.02971747 0.01671469
+v 0.05777777 0.03491229 0.00078898
+v 0.05749780 0.03890344 0.01294998
+v 0.05717949 0.04071452 0.00782900
+v 0.04155089 0.04933192 0.01509351
+v 0.05817440 0.03586131 0.01671471
+v 0.05775278 0.03756463 0.01507944
+v 0.04155089 0.04986382 0.00437606
+v 0.05755946 0.04107446 0.00223254
+v 0.05829273 0.03959352 0.00223254
+v 0.05781610 0.04061139 0.00078900
+v 0.05820440 0.03101272 0.01671469
+v 0.05801442 0.03531577 0.00078898
+v 0.05772778 0.03924504 0.01080649
+v 0.05822773 0.03745460 0.01294998
+v 0.05731115 0.04083145 0.00652108
+v 0.04155089 0.04947178 0.01410204
+v 0.05836105 0.03531571 0.01671471
+v 0.04155089 0.04963225 0.01295002
+v 0.05747447 0.04098275 0.00437603
+v 0.05820774 0.03959351 0.00437603
+v 0.05830939 0.03959353 0.00078900
+v 0.05855437 0.03745462 0.00866456
+v 0.05838438 0.03155833 0.01671470
+v 0.05840438 0.03675544 0.00078899
+v 0.05804441 0.03959351 0.00652108
+v 0.05772278 0.03973105 0.00859286
+v 0.05845771 0.03745461 0.01080649
+v 0.05852271 0.03531571 0.01509346
+v 0.05855437 0.03369721 0.01671470
+v 0.05857437 0.03745463 0.00652107
+v 0.05840105 0.03889203 0.00078899
+v 0.05856604 0.03531572 0.01294997
+v 0.05857270 0.03745465 0.00078899
+v 0.05851937 0.03317453 0.01509345
+v 0.05855437 0.03317453 0.01671470
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 26
+f 1 26 38
+f 1 38 50
+f 1 50 44
+f 1 44 32
+f 1 32 20
+f 1 20 12
+f 1 12 4
+f 1 4 11
+f 1 11 19
+f 1 19 31
+f 1 31 33
+f 1 33 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 14
+f 2 14 25
+f 2 25 36
+f 2 36 46
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+f 2 48 39
+f 2 39 27
+f 2 27 16
+f 2 16 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 9 10
+f 4 10 11
+f 4 12 9
+f 6 13 14
+f 7 8 15
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+f 9 12 10
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+f 10 12 17
+f 12 20 21
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+f 17 21 29
+f 17 29 28
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+f 18 30 19
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+f 20 32 29
+f 20 29 21
+f 22 33 23
+f 23 34 35
+f 23 35 24
+f 23 33 34
+f 24 36 25
+f 24 35 37
+f 24 37 36
+f 26 27 38
+f 27 39 38
+f 28 40 41
+f 28 41 30
+f 28 29 42
+f 28 42 40
+f 29 32 42
+f 30 41 34
+f 30 34 33
+f 30 33 31
+f 32 43 42
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+f 34 41 40
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+f 36 37 45
+f 36 45 46
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+f 38 49 50
+f 43 44 47
+f 44 50 47
+f 45 47 48
+f 45 48 46
+f 47 50 48
+f 48 50 49
+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_24.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af11e7c57efbb4c08fc5f3c2afaa85e8d670d503
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_24.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.04480374 0.01163264 0.04512919
+v 0.04158486 0.01163264 0.04512919
+v 0.04683830 0.00946357 0.04512918
+v 0.04549175 0.01163265 0.04465943
+v 0.04158486 0.01163271 0.02835081
+v 0.04158486 -0.00534431 0.04512913
+v 0.04693529 0.00935054 0.04512918
+v 0.04731758 0.01163265 0.04337826
+v 0.04737884 0.01163270 0.02923778
+v 0.04737884 -0.00534425 0.03075048
+v 0.04158486 -0.00534092 0.02987173
+v 0.04158486 -0.00534425 0.03060922
+v 0.04737884 -0.00534431 0.04512913
+v 0.04737884 0.00850618 0.04512918
+v 0.04737884 0.01163265 0.04331420
+v 0.04537151 -0.00534425 0.03067657
+v 0.04323712 -0.00534425 0.03061908
+f 1 2 6
+f 1 6 13
+f 1 13 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 11
+f 2 11 12
+f 2 12 6
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 12 17
+f 6 17 16
+f 6 16 10
+f 6 10 13
+f 7 14 15
+f 7 15 8
+f 9 15 14
+f 9 14 13
+f 9 13 10
+f 10 16 11
+f 11 16 17
+f 11 17 12
+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_25.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f7ebe3ada0eb52402bec5066507f1466e5a89f6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_25.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.04760995 -0.01381529 -0.04353896
+v 0.04694911 -0.01566651 -0.04353897
+v 0.03770601 -0.03603303 -0.04578256
+v 0.04561028 -0.01381528 -0.04528326
+v -0.04006653 -0.01381529 -0.04353896
+v 0.04645992 -0.01699015 -0.04353897
+v 0.03750861 -0.03651067 -0.04578256
+v 0.04503527 -0.01381528 -0.04578248
+v 0.04602222 -0.01812960 -0.04353898
+v 0.04515542 -0.02032110 -0.04353898
+v 0.04484646 -0.02109842 -0.04353899
+v 0.04409121 -0.02298398 -0.04353899
+v 0.04343038 -0.02460106 -0.04353900
+v -0.03934561 -0.01381529 -0.04423409
+v -0.03932845 -0.01390270 -0.04421828
+v -0.04003220 -0.01390270 -0.04353896
+v 0.04267514 -0.02624312 -0.04353901
+v 0.03614403 -0.03872714 -0.04578257
+v -0.03768924 -0.01381528 -0.04578248
+v -0.03820417 -0.01381528 -0.04530567
+v -0.03818701 -0.01390269 -0.04528985
+v -0.03001669 -0.03202154 -0.04578255
+v -0.03977473 -0.01449272 -0.04353896
+v 0.03612687 -0.03686968 -0.04353905
+v 0.03604105 -0.03880518 -0.04570570
+v 0.03606679 -0.03883015 -0.04578257
+v -0.03765491 -0.01390269 -0.04578248
+v -0.02944167 -0.03324840 -0.04578255
+v -0.03936278 -0.01543550 -0.04353897
+v 0.03411004 -0.03898625 -0.04353905
+v 0.03599813 -0.03888947 -0.04578257
+v -0.02905547 -0.03400700 -0.04578255
+v -0.03776648 -0.01869777 -0.04353898
+v -0.03802395 -0.01818267 -0.04353898
+v -0.03861612 -0.01699015 -0.04353897
+v -0.03883926 -0.01654061 -0.04353897
+v 0.03255665 -0.03965432 -0.04353906
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+v -0.02805993 -0.03499660 -0.04578256
+v -0.02940735 -0.03334831 -0.04353903
+v -0.03117529 -0.03081342 -0.04353902
+v -0.03500298 -0.02385184 -0.04353900
+v -0.03545785 -0.02302144 -0.04353899
+v -0.03647913 -0.02115149 -0.04353899
+v -0.03723437 -0.01972171 -0.04353898
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+v -0.02728752 -0.03548984 -0.04578256
+v -0.02739051 -0.03526821 -0.04353904
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+v 0.00480158 -0.04562629 -0.04353908
+v -0.02642071 -0.03598308 -0.04578256
+v -0.02479008 -0.03687280 -0.04353905
+v 0.00480158 -0.04512993 -0.04407937
+v 0.00480158 -0.04411222 -0.04515116
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+v 0.00268176 -0.04570121 -0.04353908
+v 0.00268176 -0.04517051 -0.04411934
+v -0.02533935 -0.03649506 -0.04578256
+v -0.02359715 -0.03743473 -0.04353905
+v 0.00268176 -0.04414343 -0.04519113
+v 0.00268176 -0.04356903 -0.04578259
+v 0.00146308 -0.04556073 -0.04353908
+v 0.00054478 -0.04504252 -0.04398274
+v -0.02472142 -0.03673544 -0.04578256
+v -0.01050060 -0.04264811 -0.04353907
+v -0.01095546 -0.04247017 -0.04353907
+v -0.01226855 -0.04194883 -0.04353906
+v 0.00054478 -0.04400608 -0.04505430
+v 0.00054478 -0.04329743 -0.04578259
+v 0.00051903 -0.04544523 -0.04353908
+v -0.00033061 -0.04531099 -0.04353908
+v -0.00063099 -0.04494887 -0.04388127
+v -0.00585760 -0.04188638 -0.04578258
+v -0.00585760 -0.04222353 -0.04545403
+v -0.00585760 -0.04330993 -0.04438245
+v -0.00585760 -0.04414656 -0.04353907
+v -0.00799458 -0.04352533 -0.04353907
+v -0.00868975 -0.04330369 -0.04353907
+v -0.00934200 -0.04308516 -0.04353907
+v -0.00039069 -0.04313510 -0.04578259
+v -0.00092279 -0.04521109 -0.04353908
+v -0.00190117 -0.04503003 -0.04353908
+v -0.00205565 -0.04481151 -0.04374091
+v -0.00087130 -0.04305081 -0.04578259
+v -0.00372919 -0.04244518 -0.04578259
+v -0.00372919 -0.04250450 -0.04572439
+v -0.00372919 -0.04356904 -0.04465260
+v -0.00372919 -0.04466166 -0.04353907
+v -0.00372919 -0.04463981 -0.04356323
+v -0.00205565 -0.04281668 -0.04578259
+v -0.00320567 -0.04256381 -0.04578259
+f 1 2 3
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+f 1 19 20
+f 1 20 14
+f 1 14 5
+f 1 5 16
+f 1 16 23
+f 1 23 29
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+f 1 36 35
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+f 83 90 84
+f 84 91 85
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+f 86 92 87
+f 87 92 88
+f 88 92 91
+f 88 91 90
+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_26.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47b8a5f58fdfe6a65e48844384320c3fedf19de2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_26.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.03776322 -0.01381216 -0.04578073
+v 0.03776322 0.00310911 -0.04578067
+v 0.04174462 -0.01381216 -0.04578073
+v 0.03776322 -0.01381224 -0.02563651
+v 0.04174462 0.00310911 -0.04578067
+v 0.03776322 0.00310903 -0.02563645
+v 0.04174462 -0.01381223 -0.02779784
+v 0.04063419 -0.01381224 -0.02563651
+v 0.04174462 0.00310905 -0.03011097
+v 0.04048959 0.00310903 -0.02563645
+v 0.04055741 0.00310903 -0.02563842
+v 0.04060652 -0.00106332 -0.02563646
+v 0.04057690 0.00107668 -0.02563646
+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 10
+f 2 10 11
+f 2 11 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 12
+f 4 12 13
+f 4 13 10
+f 4 10 6
+f 7 11 12
+f 7 12 8
+f 7 9 11
+f 10 13 11
+f 11 13 12
+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_27.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ead7a3490eeb679d7bb7a9b1dbfb48fff275a663
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_27.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_28.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fa1d0fb4ef2919cf24d8958e86aa1707c6a990e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_28.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_29.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579cc9f9d8e651a53574165d44068ab28f8475ce
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_29.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_3.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0c257d7ce61a56d76122651535413def1aa8c39
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_3.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_30.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..253f7ccf9a950d2b774823e6ae8354137bb7df3a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_30.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_31.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16428f9342ffc73244ea32c57e9d6d908099398e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_31.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_32.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffe34216c7da896f27509dacb9863c6a88945acb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_32.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_33.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd651ec3314cc9750ed1f40640942060589f8f7a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_33.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_34.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..417428651db7feec724ce22c32ffa263b3b175fc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_34.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_35.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75b6d1ebc04a5eee43fcf6b555629e3ea9a20593
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_35.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_36.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8c7e27c2221acb19c6510fff80b2608c6430ad6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_36.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_37.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ff9d9597e588e3edcbfb793256a82062f4ebf44
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_37.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.04614381 -0.00884104 -0.02284874
+v 0.04607171 -0.00748154 -0.02299476
+v 0.04715038 -0.00884104 -0.02284874
+v 0.04613001 -0.00883787 -0.02134936
+v 0.04573656 -0.00748154 -0.02134936
+v 0.04624464 -0.00624552 -0.02275831
+v 0.04737090 -0.00748154 -0.02299476
+v 0.04824228 -0.00735047 -0.02126449
+v 0.04722727 -0.00883787 -0.02134936
+v 0.04632236 -0.00864380 -0.01998375
+v 0.04596694 -0.00757242 -0.01920885
+v 0.04604552 -0.00600680 -0.02134935
+v 0.04593653 -0.00570382 -0.01920884
+v 0.04697069 -0.00624552 -0.02275831
+v 0.04750637 -0.00560694 -0.01920884
+v 0.04859658 -0.00637311 -0.02049403
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+v 0.04861348 -0.00657417 -0.01920884
+v 0.04852476 -0.00666440 -0.01920884
+v 0.04751453 -0.00769083 -0.01920885
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+v 0.04861348 -0.00631740 -0.01920884
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+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_38.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e49b3cfbd0c8510a982220c3820a6e522eb2fbe
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_38.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.04174665 -0.01381216 -0.04578270
+v 0.04174665 0.00310911 -0.04578264
+v 0.04503865 -0.01381216 -0.04578270
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+v 0.04760404 0.00310911 -0.04578264
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+v 0.04529898 -0.01301215 -0.04578270
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+v 0.05740920 -0.01381219 -0.03770665
+v 0.05604494 -0.01381222 -0.02951440
+v 0.04794840 0.00107676 -0.04578265
+v 0.05735976 0.00310909 -0.03977534
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+v 0.04570430 -0.01175995 -0.04578269
+v 0.05717523 -0.00672466 -0.03961867
+v 0.05765469 -0.01175998 -0.03800067
+v 0.05811274 -0.01381220 -0.03642491
+v 0.05610426 -0.01381222 -0.02953201
+v 0.04796982 -0.00106324 -0.04578265
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+v 0.04581140 -0.01138561 -0.04578269
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+v 0.05778486 -0.00961997 -0.03826476
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+v 0.04658744 -0.00857810 -0.04578268
+v 0.04667806 -0.00818886 -0.04578268
+v 0.04681317 -0.00757766 -0.04578268
+v 0.04688567 -0.00723645 -0.04578268
+v 0.04726298 -0.00534325 -0.04578267
+v 0.04742280 -0.00443888 -0.04578267
+v 0.04763699 -0.00320324 -0.04578266
+v 0.05838460 -0.01175999 -0.03635623
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+v 0.05736306 -0.00320326 -0.03977712
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+v 0.05814075 -0.00106327 -0.03849889
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+v 0.05775685 -0.01381222 -0.03037887
+v 0.05800070 -0.00534328 -0.03849891
+v 0.05772719 -0.00745512 -0.03866794
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+v 0.05856749 -0.00961998 -0.03421353
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+v 0.05845545 -0.01381221 -0.03206909
+v 0.05846863 -0.01381221 -0.03215888
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+f 52 55 53
+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_39.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2efa84cc36c5f8241bc5b50dbfe60ef246290c1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_39.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.04062363 0.01976577 0.04513087
+v 0.04062363 0.01163799 0.04513084
+v 0.04064545 0.01972886 0.04513087
+v 0.04062363 0.03317182 0.03992943
+v 0.04062363 0.01163806 0.02603278
+v 0.04480398 0.01163799 0.04513084
+v 0.04133049 0.01851449 0.04513087
+v 0.04543017 0.02882004 0.03820765
+v 0.04153217 0.03317183 0.03928134
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+v 0.04213985 0.01707128 0.04513086
+v 0.04271513 0.01604515 0.04513086
+v 0.04062363 0.02359354 0.01671467
+v 0.04737818 0.02748764 0.01671468
+v 0.04737818 0.01163805 0.02923712
+v 0.04629243 0.01235777 0.04392922
+v 0.04430078 0.01281176 0.04513085
+v 0.04549167 0.01163800 0.04465797
+v 0.04656420 0.02805968 0.03769306
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+v 0.04293201 0.01563175 0.04513086
+v 0.04486085 0.01391910 0.04441321
+v 0.04062363 0.04933888 0.01671476
+v 0.04737818 0.04385023 0.01671474
+v 0.04737818 0.01163800 0.04331449
+v 0.04737818 0.01362381 0.04271647
+v 0.04737818 0.01385266 0.04264137
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+v 0.04731735 0.01163800 0.04337847
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+v 0.04386172 0.03358154 0.03703663
+v 0.04737818 0.02881636 0.03654151
+v 0.04683993 0.03052902 0.03592957
+v 0.04442112 0.03438621 0.03560693
+v 0.04309071 0.03519825 0.03635238
+v 0.04175699 0.03600659 0.03709784
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+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_4.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31017b5f2919454010117c00b8e4c1565389e79c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_4.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01969519 -0.02041689 -0.05681962
+v 0.01969519 -0.02206565 -0.05639829
+v 0.01969519 -0.02041693 -0.04578272
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+v 0.03047093 -0.02563926 -0.05387028
+v 0.02980864 -0.02563926 -0.05397507
+v 0.01969519 -0.02229111 -0.05633563
+v 0.01969519 -0.02563929 -0.04578274
+v 0.04254889 -0.02041693 -0.04578272
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+v 0.02402473 -0.02041689 -0.05591320
+v 0.01969967 -0.02563926 -0.05526717
+v 0.01969519 -0.02459990 -0.05563774
+v 0.01969519 -0.02371186 -0.05590674
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+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_40.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d124d971af30ceaaafd8db49f7f43684283b65c0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_40.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_41.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9db06e6c6badf216ea04ed72fb8386ae6faad34
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_41.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_42.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a2f4cdcbea9f6401861d99d93148629d7a05cf6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_42.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_43.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43bfca6064bbafa35d30fdc5d1ebd95d0b0e00f9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_43.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.04974736 0.00604732 0.00221478
+v 0.04931037 0.00604733 0.00078887
+v 0.04962931 0.00604731 0.00434576
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+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_44.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..043edbda02343e62f266a07085ae417b377ca251
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_44.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_45.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a47f7e4d641e78ab5981699916de6e5ce59903a5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_45.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
+v -0.03992733 0.00310911 -0.04578067
+v -0.03989066 0.00224118 -0.04578067
+v -0.04037646 0.00310911 -0.04534682
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_46.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f1080578c604111b2fd224d2b1eaf93354f752
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_46.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_47.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3be1ee31a23a525d25f3b06e9039ec369b44067b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_47.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v 0.04060396 -0.00534431 0.04513084
+v 0.04060396 0.01163271 0.02539524
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+v 0.04160396 0.01163271 0.04513084
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+f 2 8 4
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+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_5.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..381d63c038470ddb75d70e1a603cd36341f5a15f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_5.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_6.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cb2c8444a01917de57cca0180e805b7473ceac7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_6.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_7.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51c73ec80bd121dc92185fc57cc7674063bb67f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_7.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_8.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf8039c719717d6b8309ec6e014f4a671a6cdf1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_8.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_9.obj b/dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mjcf/mesh/alarm_clock_026_collision_9.obj
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