diff --git a/.gitattributes b/.gitattributes
index 2e19d344022896bf526c212c15a427e8f7124dc9..f884b9fbac168dd1ea83fdf951824b5067311a19 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2666,3 +2666,5 @@ dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/flas
 dataset/bedroom_supplies/small_electronics/7149ae69441959cd8ccf00aea9deee5e/mesh/flashlight_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/alarm_clock_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/alarm_clock_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/alarm_clock_004.urdf b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/alarm_clock_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..49fad323c7f818494392e28c64fc0b7f5b15af51
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/alarm_clock_004.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_004">
+   <link name="alarm_clock_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>84c9aaa17ee05b23be966230dec027d5</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>compact alarm clock</name>
+         <color>gray,black</color>
+         <shape>disk</shape>
+         <material>plastic</material>
+         <description>round alarm clock with visible numbers and two small supporting legs</description>
+         <min_height>0.0981</min_height>
+         <max_height>0.0981</max_height>
+         <real_height>0.0981</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506202252</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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>NO: {"summary":"Dial face and hands are over-merged; knob and feet share colors by side, not function.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/alarm_clock_004.usd b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/alarm_clock_004.usd
new file mode 100644
index 0000000000000000000000000000000000000000..26b76771373d02748bf21538d64e5f8469afb9c2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/alarm_clock_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b543fecfbcdf49729a3100b6893c7b7c150261040f6a1d277bea407bfbefd580
+size 4885348
diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004.glb b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c54749c4c004cd380ae41fc7cbc6e90f33f1075e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15010740
diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004.mtl b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..977438b04b919ed07ac6ac01171a37aa4b72a508
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004.mtl
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+newmtl alarm_clock_004_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/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fccc707f67ad266c9a07e6334fee9e161735381a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004.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/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004_collision.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2a1c5fc94cecd3e336d2add4c913b94eeb0a3a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004_collision.obj
@@ -0,0 +1,17607 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..97bdd4d1126a1ca1a639cf795d9add45cf251d24
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f4494f92366b4dc7ab039da7a47ccaeb5817ac5bdf5d4d52bcf3504f137943e
+size 11728364
diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c6aa121109a1b8d30bea19466200fdc3db8bab52
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl alarm_clock_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..97bdd4d1126a1ca1a639cf795d9add45cf251d24
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f4494f92366b4dc7ab039da7a47ccaeb5817ac5bdf5d4d52bcf3504f137943e
+size 11728364
diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/alarm_clock_004.xml b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/alarm_clock_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c26e4a7e2a77f25defb038e763e51682f173018f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/alarm_clock_004.xml
@@ -0,0 +1,82 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="alarm_clock_004">
+  <asset>
+    <material name="material_0" texture="texture_0_alarm_clock_004_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_alarm_clock_004_geometry_Looks_material_0" type="2d" file="mesh/alarm_clock_004_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/alarm_clock_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/alarm_clock_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/alarm_clock_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/alarm_clock_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/alarm_clock_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/alarm_clock_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/alarm_clock_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/alarm_clock_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/alarm_clock_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/alarm_clock_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/alarm_clock_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/alarm_clock_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/alarm_clock_004_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/alarm_clock_004_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/alarm_clock_004_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/alarm_clock_004_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/alarm_clock_004_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/alarm_clock_004_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/alarm_clock_004_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/alarm_clock_004_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/alarm_clock_004_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/alarm_clock_004_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/alarm_clock_004_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/alarm_clock_004_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/alarm_clock_004_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/alarm_clock_004_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/alarm_clock_004_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/alarm_clock_004_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/alarm_clock_004_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/alarm_clock_004_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/alarm_clock_004_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/alarm_clock_004_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/alarm_clock_004_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/alarm_clock_004_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/alarm_clock_004_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="alarm_clock_004">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" 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/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..962a1b56738f405b0c912511eb4cd86e006d75b9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004.obj
@@ -0,0 +1,121914 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_004_geometry_Looks_material_0
+v -0.003012 0.048998 0.005996
+v -0.003012 0.048998 0.005996
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+v -0.002399 0.048902 0.006866
+v -0.002399 0.048902 0.006866
+v 0.006080 0.001098 -0.002925
+v 0.006080 0.001098 -0.002925
+v 0.006080 0.001098 -0.002925
+v 0.006075 0.000028 -0.003049
+v 0.006075 0.000028 -0.003049
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+v 0.006051 0.000548 -0.003117
+v 0.006051 0.000548 -0.003117
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+v 0.005039 0.035617 0.016935
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+v 0.005067 0.035464 0.016710
+v 0.005067 0.035464 0.016710
+v 0.005067 0.035464 0.016710
+v 0.005091 0.035516 0.016859
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+v 0.005091 0.035516 0.016859
+v 0.005091 0.035516 0.016859
+v 0.005350 0.013688 0.019147
+v 0.005350 0.013688 0.019147
+v 0.005355 0.013921 0.018790
+v 0.005355 0.013921 0.018790
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..475c5659e75f9364b5cd6456d7ba16e4e9e019b8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision.obj
@@ -0,0 +1,17607 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_0.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae669c990f737511c09ca8242a98af598bd5f4b7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_0.obj
@@ -0,0 +1,706 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_1.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2f5287f6c3da92300d08c256ac2efcfa78a8982
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_10.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..327b72f11285abea6e405a6669687d2253879911
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_10.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_11.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8c38be64cdf64be6fe4ccc76de29c1378730fd0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_11.obj
@@ -0,0 +1,682 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_12.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f9bca3d7fdee92e905598fa11ed9e29a93f3fa7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_12.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_13.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b8ad0453f46ee14469a15fb26c2bef22dd8bd9f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_13.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_14.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c07bb5fb118bf8dafb88d9c42dd172178610f4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_14.obj
@@ -0,0 +1,805 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_15.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9425abea7ac5fda93608f5dabcc9eb151865ecd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_15.obj
@@ -0,0 +1,109 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_16.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eacf1a90bd254b176ffaadad2d2131e7d00aac79
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_16.obj
@@ -0,0 +1,1363 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_17.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f319b0ec291940e6f98ac9a9462bb62ecbb99c53
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_17.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00793909 0.01025851 -0.00913580
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+
diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_18.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfe3fb9960ed97d85a5c5b822baa72771c827952
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_18.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00666738 -0.00383430 -0.00913933
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+
diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_19.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b707eb2d45e24d4c18ad87a08b9a933e1724b30
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_19.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_2.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08a211627c13f3e82c90bbe09ec9f740186f56e2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_2.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_20.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b68cd8902c4f497c54dd5a04de2e775102adb94
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_20.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_21.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c48dd3b84b0cc955962786517dab8ba290c86f4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_21.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_22.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60683cc1c401d8a662e30c615c51e77f7cbf11c8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_22.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_23.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f8e420540007ef80493166598e19a6b4b1fe67
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_23.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_24.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b817a99a50c743cf4df179ca42e76f3b2460b27f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_24.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_25.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e34f8abd4fbb418af05018d8f2fe7f4ebc34029
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_25.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_26.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84e58b7a8fd7effc2dc5dbee8e6f4e76e48ca48f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_26.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_27.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adee7eb6b386b1409efa96057da5d21d91d88192
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_27.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00666690 -0.00989651 -0.00913936
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+
diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_28.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c6e33064145d645bda0cfb966de9a6f106b8f05
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_28.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.00588767 -0.01928531 0.03467018
+v 0.00588767 -0.01711717 0.03467019
+v 0.00630751 -0.01928531 0.03467018
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+
diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_29.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3118fb8bff2262eb73c3dce3759743dc861f2b20
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_29.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
+v 0.00702821 0.03047305 0.02622874
+v 0.00775147 0.03053002 0.02646353
+v 0.00750199 0.03048959 0.02646353
+v 0.00726711 0.03047305 0.02646150
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_3.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6035b50e3d52c67fbba417ed9eaa7e49b412b261
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_3.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_30.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20e015230b068e1e9a38d00baa2af570df47d8e4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_30.obj
@@ -0,0 +1,1282 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_31.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e438ebfdc5956aded1868bcf23a0fd0c93d643e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_31.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_32.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30ce8fcdee34ea95192d728a1b25de94941c1edd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_32.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.00702821 0.03781615 -0.00913918
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_33.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36f9b1d15328cce7e5cec03d7a1a457047b9a481
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_33.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_4.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b344d934317b1e5c69cbc0f9bba9488a74737f88
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_4.obj
@@ -0,0 +1,1333 @@
+# https://github.com/mikedh/trimesh
+v 0.00597520 -0.01928795 0.04584143
+v 0.00650034 -0.01928795 0.04583889
+v 0.00360065 -0.01928795 0.04570388
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_5.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..186961635ee2428b34ab10b2821e104828339023
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_5.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_6.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51c5ecf059fda7a8ee2ea72e51c32f569baa9a71
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_6.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_7.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d80568b7846ec3e2f69814d730bbd61e94612a83
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_7.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_8.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cac253977b873a6d25169ae7142c5e02860b1caf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_8.obj
@@ -0,0 +1,736 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_9.obj b/dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mjcf/mesh/alarm_clock_004_collision_9.obj
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