diff --git a/.gitattributes b/.gitattributes
index 1a94c94ff0e10be1220a642a6848bc8ae61d706c..a2342456c8e0fa3a15f4db139aed0e75a2d30cc2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2666,5 +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/7ce21841a4ba5720b81224af93e65848/alarm_clock_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/7ce21841a4ba5720b81224af93e65848/mesh/alarm_clock_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/alarm_clock_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/alarm_clock_034.urdf b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/alarm_clock_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..26a1b00ddf7969c0568e7e57942dfd8475cd8ba0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/alarm_clock_034.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_034">
+   <link name="alarm_clock_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_034.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_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>7af619d297a95cd6a83a691465395ca8</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>twin bell clock</name>
+         <color>brown,black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>vintage round twin-bell alarm clock with exposed gear-style dial</description>
+         <min_height>0.1777</min_height>
+         <max_height>0.1777</max_height>
+         <real_height>0.1777</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130105</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.033175 -0.065016 -0.069699</min>
+            <max>0.040146 0.064985 0.108017</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/alarm_clock_034.usd b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/alarm_clock_034.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/alarm_clock_034.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034.glb b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15382600
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034.mtl b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f0041d035dfb8ad55fa6eb39e2f7b6c9c8b1a657
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034.mtl
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+newmtl alarm_clock_034_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/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c562b19a61a39fd67663c460b878c1b0d1444881
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034.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/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034_collision.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f840781109ffc206e831c50f0edf51a40639e784
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034_collision.obj
@@ -0,0 +1,26034 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/alarm_clock_034_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:0b873d6dcb5802970459046133fba7bff19b722568fd70ed1e2ee7a506a8d77d
+size 11878807
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl alarm_clock_034_geometry_Looks_material_0
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+version https://git-lfs.github.com/spec/v1
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+<?xml version='1.0' encoding='utf-8'?>
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9afc694604e1f20686545225ca120c67f02b75b4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034.obj
@@ -0,0 +1,125444 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_034_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c0cc83fec410b1cef31823e660c803f4c0d5764
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision.obj
@@ -0,0 +1,26034 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_0.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87325c8f8818131812e23bca42da5bd0a6d10793
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_0.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_1.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..727b9bf4e9302d1d54e4b6517483ce345a1b91ad
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_1.obj
@@ -0,0 +1,559 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_10.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cc4130c696151562a889ad80f821fcba95b8692
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_10.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_11.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abf63868f6e0f903ebba6996b1ae1999f2fcd2e4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_11.obj
@@ -0,0 +1,157 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_12.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be9458b6f85bafbf57927ebbc3838721c428e0a8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_12.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_13.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1867602b55d381d8bfe4d1a47bc45daeb490da87
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_13.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_14.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac8266e888e7896241e20767da995fa0fbcb4a37
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_14.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_15.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62c20db1e82d47f87099097c07e436b4a8875eb7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_15.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_16.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66690447b9f2b8ebe677ab2181c0599045f61451
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_16.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_17.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5c8df1ce5198bbe6e9f5b41cabb59cc6469fa18
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_17.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_18.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..244a6149fac19aeb2b02f1d967278ba98019c1a9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_18.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_19.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc95d57a5977523c0e172a2ff391362bb90d7804
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_19.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_2.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e792fc97e9c6e42f90019e6bf7c48d2888cc2959
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_2.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_20.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86c47b0bd856fda05f33433d2cdb0ab04a5fe414
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_20.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_21.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de1b38bae7bb068eca9ff07d54e09c4987638164
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_21.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01294765 -0.00886841 -0.03520757
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_22.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eb30f7512dfff4926b2d322b6bcda4f3b6e644d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_22.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_23.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dc8a9a9d481f2ac45ef457796ccb3ff8f9838fa
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_23.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_24.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3d5f7aaa8b541da351e93307019d8a2cfb53d4a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_24.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_25.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba40a021cfd5667e96f2532e261ebb119cc639a1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_25.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_26.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddc7dbb7eea054b4f8a67ce94ec838dced495f1e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_26.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_27.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a24fcadddf4c167f2cb998825ea1ecbf16cfb260
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_27.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v 0.01294765 -0.05918701 -0.00009560
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_28.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b86e304eb6f2615aac9f4f74e80cadc7f9e1d93
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_28.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_29.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c78ae09f4319f2a974b58eb291e7bd4ea550ea5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_29.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_3.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3425863a97485c47be69398a0b13517ae7effdd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_3.obj
@@ -0,0 +1,2440 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_30.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3234d336192641936dd2323f1ccf39d3ce1039d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_30.obj
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_31.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29086be164e011dd646e03a1e4d164764e39debf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_31.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.01294874 0.03134456 0.08026540
+v 0.01294874 0.03134457 0.07501718
+v 0.01421836 0.03134456 0.07998145
+v 0.01294874 0.04509591 0.07921177
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+v 0.01917609 0.03134456 0.07868690
+v 0.01917609 0.03345681 0.07848908
+v 0.02097227 0.03345681 0.07789159
+v 0.02071008 0.03506679 0.07776645
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_32.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..206c869aacd4d652e128dc5ed5ba7602e523d5c8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_32.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.03038171 -0.02855367 -0.01681380
+v 0.03028614 -0.03057594 -0.01183873
+v 0.03035611 -0.03057593 -0.01477515
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_33.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e2267a38c4d31ac525f9636a9db863f8fd4019b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_33.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.00481579 0.05799415 0.04239661
+v -0.00352244 0.05455352 0.04457138
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_34.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ceaceade239cfd7d52830838de94e89d9a1c404
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_34.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_35.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d26d90d8ce0bca77106b84fd94c369602475453
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_35.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_36.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f831a60e4aea856596ac8e1cbf750d7dee15286
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_36.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_37.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde53b4b7ecd81d2c0ce694487e0514cdefc1704
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_37.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_38.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bd6f4e5209823568f0d6c3c24a7400b1604a835
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_38.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_39.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57100db1b5ccd7c6243489d2a820f8b0d6663b37
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_39.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.02285199 0.01664556 0.06451353
+v 0.02380005 0.01721529 0.06451353
+v 0.02285199 0.01680814 0.06534912
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_4.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..192aa10f698fbcc841024a7500922d50d1dafeab
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_4.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01294826 -0.00923236 0.05766470
+v 0.01339529 -0.00896858 0.05766470
+v 0.01294826 -0.00680238 0.05910096
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_40.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d93b9cf07f19a91f39d8fe8918a6d70ed343f2f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_40.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.03074635 0.02608971 -0.03897284
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_41.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..858a1e789de86aed03ba61001a6fb897cc53388d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_41.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+v 0.02980088 -0.00005065 0.03739802
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_42.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..456404f018e1078dbf59a1b70a0354750be5d85f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_42.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_43.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa14535b773150d14bc02e89829a8d6616c42f4e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_43.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_44.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bafa83e92189044d35e767dfaca921de0d62dec7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_44.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_45.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0ee1357e1436680a9eabc8481e330270aba8d55
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_45.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_46.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62918e193345edce91a5e15141c824d0b30f29a0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_46.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_47.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..910f7b818f4af1533c49f709ed265574ec6485c9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_47.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_48.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38442f0ff753b2942345f73721b291b82131fe3a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_48.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_49.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..156cfa1608b7c49487964924eb99d49b5c03081e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_49.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02206883 0.04424699 -0.05107216
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_5.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2958053d073fdb2cac7fcf2329a2056da62ec73a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_5.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_50.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4779bf37ef6a0e534f142bf172f9eca0d1563c45
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_50.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_51.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25bb2841f26c6a84510831f834b39fb67076f49d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_51.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_52.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35f3d4c9175f253ca44305e5cd0f49470180f0e0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_52.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_53.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d828e2dc308355da8676389721e436654efbff62
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_53.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00222264 0.04791105 0.08508840
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_54.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fd80a5485047f6878b2190be3dc717dd1d03214
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_54.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01914980 -0.00005072 0.05766448
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+f 15 25 16
+f 16 25 17
+f 17 25 23
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+f 37 49 40
+f 40 49 50
+f 40 50 41
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+f 41 46 42
+f 42 46 43
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_55.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b3f31f2a83a3d0f021dbbf8850ddca734e05eb9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_55.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.00768709 -0.05845010 0.04240512
+v 0.00768709 -0.05804335 0.04240512
+v 0.00998929 -0.05835195 0.04243871
+v 0.00768709 -0.05990442 0.04374720
+v 0.00481579 -0.05989309 0.04372481
+v 0.00481579 -0.05843878 0.04241212
+v 0.00998929 -0.05810847 0.04243871
+v 0.00481579 -0.05806317 0.04241212
+v -0.00352244 -0.05473645 0.04451553
+v -0.00352244 -0.05461942 0.04460369
+v 0.01294765 -0.05677873 0.04372482
+v 0.01294765 -0.05933345 0.04408867
+v 0.01058096 -0.05967131 0.04393053
+v 0.00925575 -0.06116056 0.04536499
+v 0.00768709 -0.06121719 0.04521524
+v 0.00481579 -0.06122568 0.04519285
+v 0.00314717 -0.06117189 0.04533559
+v 0.00186871 -0.05968169 0.04391374
+v 0.00250552 -0.05833591 0.04244851
+v 0.01294765 -0.05513000 0.04510470
+v 0.00250552 -0.05813489 0.04244851
+v -0.00352244 -0.05674758 0.04372062
+v -0.00352244 -0.05443824 0.04711994
+v 0.01294765 -0.06077362 0.04670008
+v 0.01117102 -0.06099068 0.04593457
+v 0.01056000 -0.06240915 0.04982927
+v 0.00768709 -0.06276778 0.04982927
+v 0.00481579 -0.06279043 0.04982927
+v 0.00194448 -0.06247332 0.04982927
+v 0.00123190 -0.06102938 0.04580721
+v -0.00092682 -0.05932401 0.04409847
+v -0.00352244 -0.05890027 0.04450851
+v -0.00352244 -0.05701938 0.04372622
+v 0.01294765 -0.05513000 0.04513829
+v -0.00352244 -0.05443824 0.04713393
+v 0.01294765 -0.06181081 0.04976630
+v 0.01056000 -0.06331044 0.05276536
+v 0.01294765 -0.06261112 0.05226994
+v 0.01294765 -0.06276401 0.05276536
+v 0.00768709 -0.06364358 0.05276536
+v 0.00194448 -0.06335574 0.05276536
+v 0.00481579 -0.06365491 0.05276536
+v -0.00092682 -0.06274419 0.05276536
+v -0.00101227 -0.06174947 0.04967953
+v -0.00101227 -0.06079344 0.04682883
+v -0.00352244 -0.05904844 0.04478001
+v 0.01294765 -0.05517625 0.04615290
+v -0.00352244 -0.05672875 0.05670067
+v 0.01056000 -0.06368984 0.05570284
+v 0.00774996 -0.06399561 0.05544393
+v 0.01294765 -0.06310566 0.05520743
+v 0.01294765 -0.06316983 0.05570284
+v -0.00092682 -0.06313869 0.05570284
+v 0.00474646 -0.06399750 0.05544393
+v 0.00194448 -0.06372381 0.05570284
+v -0.00352244 -0.06230536 0.05570284
+v -0.00352244 -0.06186178 0.05270098
+v -0.00310005 -0.06142955 0.05055840
+v -0.00352244 -0.05997144 0.04688760
+v 0.01294765 -0.05785842 0.05670067
+v -0.00352244 -0.06225157 0.05670065
+v 0.01056000 -0.06362662 0.05670065
+v 0.00715023 -0.06404941 0.05670064
+v 0.01294765 -0.06311227 0.05670065
+v 0.01153699 -0.06341899 0.05670065
+v 0.00683263 -0.06407867 0.05670064
+v 0.00683263 -0.06407867 0.05625002
+v -0.00092682 -0.06307830 0.05670065
+v 0.00565735 -0.06407867 0.05625002
+v 0.00565735 -0.06407867 0.05670064
+v 0.00194448 -0.06366153 0.05670065
+v -0.00352244 -0.06157017 0.05161079
+v -0.00352244 -0.06134461 0.05080051
+f 1 2 7
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+f 1 5 6
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+f 9 56 61
+f 9 61 48
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+f 19 22 21
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+f 48 64 60
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+f 55 71 68
+f 55 70 71
+f 57 72 58
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+f 58 73 59
+f 66 70 69
+f 66 69 67
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_56.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1cc9f97efb587117dc9d47ed415c9364d4293e3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_56.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01068843 -0.03791800 0.06311183
+v 0.01066871 -0.03791799 0.06017500
+v 0.01068484 -0.03763377 0.05988728
+v 0.01067767 -0.03704378 0.05988728
+v 0.01066960 -0.03639754 0.05988729
+v 0.01055216 -0.03639755 0.06157694
+v 0.00998195 -0.03791802 0.06860834
+v 0.01060684 -0.03791799 0.05988728
+v 0.01016485 -0.03470655 0.05988729
+v 0.00958299 -0.03791803 0.06977183
+v 0.00975692 -0.03378567 0.05988730
+v 0.00962244 -0.03429728 0.06157694
+v 0.00931582 -0.03473529 0.06350273
+v 0.00200630 -0.03791799 0.05988728
+v 0.00779349 -0.03688645 0.07159789
+v 0.00874114 -0.03791803 0.07159789
+v 0.00829107 -0.03245909 0.05988730
+v 0.00152934 -0.03639754 0.05988729
+v 0.00162706 -0.03791800 0.06157693
+v 0.00461704 -0.03687149 0.07159789
+v 0.00681447 -0.03182302 0.05988730
+v 0.00655447 -0.03192534 0.06033322
+v 0.00351608 -0.03791803 0.07159789
+v 0.00183954 -0.03791801 0.06455158
+v 0.00165127 -0.03639755 0.06157694
+v 0.00258726 -0.03368574 0.05988730
+v 0.00305078 -0.03751533 0.06977871
+v 0.00588923 -0.03192534 0.06033322
+v 0.00562117 -0.03180567 0.05988730
+v 0.00462869 -0.03214674 0.05988730
+v 0.00409435 -0.03233103 0.05988730
+v 0.00382629 -0.03249140 0.05988730
+v 0.00309740 -0.03465570 0.06367467
+v 0.00276657 -0.03791803 0.06996785
+v 0.00224120 -0.03791802 0.06744943
+v 0.00274147 -0.03417162 0.06157694
+f 1 2 3
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+f 1 16 23
+f 1 23 34
+f 1 34 35
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+f 1 24 19
+f 1 19 14
+f 1 14 8
+f 1 8 2
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+f 27 33 34
+f 32 36 33
+f 33 36 34
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_57.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a585ea6f68c35a9c00609f0a7853c88952730407
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_57.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.02204949 0.03345411 -0.05436468
+v 0.02391548 0.03345411 -0.05420442
+v 0.02147477 0.03345411 -0.05406785
+v 0.02062263 0.03782673 -0.06029039
+v 0.02253589 0.03758928 -0.06054170
+v 0.02410954 0.03758928 -0.06054170
+v 0.02492063 0.03345411 -0.05408788
+v 0.01595890 0.03345410 -0.05107220
+v 0.02319521 0.04352029 -0.06923724
+v 0.02374630 0.04352029 -0.06923724
+v 0.02602405 0.03805714 -0.06006093
+v 0.02718345 0.03345410 -0.05277489
+v 0.02860907 0.03345410 -0.05107220
+v 0.01763580 0.03928834 -0.05107218
+v 0.01761590 0.04114222 -0.05387114
+v 0.01758355 0.04127063 -0.05589070
+v 0.01897185 0.04800897 -0.06469732
+v 0.01984140 0.04790520 -0.06778219
+v 0.01999441 0.04526510 -0.06760374
+v 0.02036512 0.04342002 -0.06660217
+v 0.02128195 0.04440501 -0.06855980
+v 0.02052062 0.04634506 -0.06918078
+v 0.02216394 0.04526511 -0.06954863
+v 0.02479001 0.04535306 -0.06951585
+v 0.02638232 0.04649105 -0.06912615
+v 0.02566080 0.04455099 -0.06846876
+v 0.02654653 0.04346575 -0.06650930
+v 0.02734641 0.03345410 -0.05264560
+v 0.02862524 0.03346289 -0.05107220
+v 0.01928036 0.04214829 -0.05107217
+v 0.01839339 0.04214302 -0.05291690
+v 0.02021087 0.04990856 -0.06278156
+v 0.01993470 0.05020054 -0.06469732
+v 0.02011135 0.05000180 -0.06690262
+v 0.02091621 0.04880575 -0.06886026
+v 0.02052062 0.04686569 -0.06918078
+v 0.02194375 0.04790521 -0.06967610
+v 0.02499651 0.04777505 -0.06964332
+v 0.02638232 0.04664759 -0.06912615
+v 0.02701427 0.04777504 -0.06774031
+v 0.02687245 0.04535305 -0.06754729
+v 0.02865261 0.03355787 -0.05107220
+v 0.02029795 0.04357475 -0.05107216
+v 0.01990858 0.04437153 -0.05295332
+v 0.02204949 0.05037290 -0.06230443
+v 0.02204949 0.05142297 -0.06469731
+v 0.02039995 0.04382803 -0.05123606
+v 0.02225226 0.04564673 -0.05321736
+v 0.02194375 0.05051715 -0.06778218
+v 0.02283072 0.04982240 -0.06944846
+v 0.02408964 0.04982240 -0.06944846
+v 0.02600539 0.04858765 -0.06878742
+v 0.02678289 0.04994903 -0.06682978
+v 0.02776440 0.04800897 -0.06469732
+v 0.02747330 0.04509800 -0.06469733
+v 0.02842745 0.04218876 -0.05589070
+v 0.02866629 0.03756111 -0.05107218
+v 0.02839013 0.03927956 -0.05589071
+v 0.02110654 0.04394588 -0.05107216
+v 0.02492063 0.05031662 -0.06236636
+v 0.02334449 0.04657719 -0.05437191
+v 0.02356965 0.04657719 -0.05437191
+v 0.02492063 0.05132623 -0.06469731
+v 0.02499651 0.05048725 -0.06774030
+v 0.02206815 0.04424664 -0.05107216
+v 0.02691350 0.05010380 -0.06469732
+v 0.02667342 0.04983117 -0.06286351
+v 0.02787511 0.04218874 -0.05295333
+v 0.02805051 0.04032608 -0.05107217
+v 0.02468427 0.04547437 -0.05321736
+v 0.02491316 0.04404613 -0.05107216
+v 0.02639973 0.04368556 -0.05142909
+v 0.02678786 0.04415343 -0.05295332
+v 0.02715733 0.04208145 -0.05107217
+v 0.02516818 0.04394588 -0.05107216
+v 0.02612233 0.04353606 -0.05107216
+v 0.02654031 0.04317548 -0.05107216
+v 0.02683389 0.04266365 -0.05107216
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+f 1 13 8
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+f 1 6 2
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_58.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a09f980adc9c7c5fe6b353d318378c65a84df359
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_58.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.03066600 -0.05897771 -0.00303173
+v 0.03063102 -0.05897381 -0.00303173
+v 0.03063102 -0.05897185 -0.00306709
+v 0.03066600 -0.05880959 -0.00596731
+v 0.03321744 -0.05863952 -0.00596731
+v 0.03068441 -0.05897771 -0.00300962
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_59.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f54d949bbaa02bf603754fc04e5090d3198075
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_59.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_6.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff0662c5bb6e0a40ae4c4e0d799e9f3724968a7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_6.obj
@@ -0,0 +1,151 @@
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+f 19 32 20
+f 19 33 30
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+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 23 38 24
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+f 25 34 26
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+f 29 30 40
+f 29 40 41
+f 30 33 42
+f 30 42 40
+f 31 39 32
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+f 35 44 45
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+f 36 47 48
+f 36 48 37
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+f 42 43 46
+f 43 48 47
+f 43 47 46
+f 44 49 50
+f 44 50 46
+f 44 46 45
+f 49 51 50
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_60.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56e0e6ad3edaa5dde1b64a08716e9aa10309cd47
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_60.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.00352244 0.03675544 0.07311307
+v 0.00226370 0.03668241 0.06508231
+v 0.00244587 0.03630147 0.06508231
+v 0.00358085 0.03493427 0.06508231
+v 0.00434342 0.03461856 0.06508231
+v 0.00502859 0.03439417 0.06508231
+v 0.00464489 0.03613967 0.07311306
+v -0.00352244 0.04968125 0.07311311
+v -0.00352244 0.05236873 0.06508237
+v 0.00530105 0.03439417 0.06508231
+v 0.00511404 0.03613967 0.07311306
+v -0.00135727 0.05100410 0.07311312
+v -0.00352244 0.05062055 0.07256128
+v -0.00352244 0.05936390 0.06508240
+v 0.00736788 0.03445157 0.06508231
+v 0.00821105 0.03616576 0.07311306
+v -0.00109610 0.05113717 0.07311312
+v -0.00352244 0.05207126 0.07167063
+v -0.00352244 0.05864378 0.06614442
+v -0.00140886 0.06002664 0.06508240
+v 0.00821911 0.03480642 0.06508231
+v 0.01294765 0.03726944 0.07311307
+v 0.01243981 0.03707636 0.07311307
+v 0.00194448 0.05244697 0.07311312
+v -0.00352244 0.05381419 0.07047657
+v -0.00092682 0.05888642 0.06673713
+v -0.00352244 0.05850288 0.06632757
+v -0.00092682 0.06015449 0.06508240
+v 0.00916546 0.03561265 0.06508231
+v 0.00986838 0.03639540 0.06508231
+v 0.01077120 0.03927853 0.06508232
+v 0.01294765 0.04027260 0.07141590
+v 0.01294765 0.05131198 0.07311312
+v 0.00481579 0.05302621 0.07311312
+v -0.00092682 0.05742529 0.06820476
+v -0.00092682 0.05596936 0.06945387
+v -0.00352244 0.05574759 0.06906002
+v -0.00352244 0.05560669 0.06918030
+v -0.00352244 0.05720350 0.06765371
+v -0.00352244 0.05706261 0.06779599
+v 0.00194448 0.05917343 0.06700991
+v 0.00194448 0.06062675 0.06531194
+v 0.00054672 0.06048846 0.06508240
+v 0.01294765 0.05324541 0.06508238
+v 0.01294765 0.05597980 0.06945387
+v 0.01290412 0.05133547 0.07311312
+v 0.00749040 0.05300533 0.07311312
+v 0.00481579 0.05780883 0.06859545
+v 0.00194448 0.05768620 0.06847832
+v 0.00481579 0.05930649 0.06712704
+v 0.00481579 0.06076242 0.06551711
+v 0.00246522 0.06082765 0.06508240
+v 0.00194448 0.06077807 0.06508240
+v 0.01294765 0.06013883 0.06508240
+v 0.01294765 0.05743572 0.06822206
+v 0.00963783 0.05262961 0.07311312
+v 0.01145477 0.05208169 0.07311312
+v 0.00768709 0.05300273 0.07311312
+v 0.00768709 0.05779318 0.06858209
+v 0.00768709 0.05929606 0.06711367
+v 0.00768709 0.06075198 0.06550611
+v 0.00565735 0.06104421 0.06508240
+v 0.00481579 0.06104682 0.06508240
+v 0.01133224 0.06056934 0.06508240
+v 0.01294765 0.05890207 0.06675364
+v 0.01056000 0.05914733 0.06698318
+v 0.01056000 0.05765750 0.06845160
+v 0.01056000 0.06060326 0.06528443
+v 0.00840612 0.06095811 0.06508240
+v 0.00768709 0.06103116 0.06508240
+v 0.01082118 0.06068415 0.06508240
+v 0.01056000 0.06073633 0.06508240
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 16
+f 1 16 23
+f 1 23 22
+f 1 22 33
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+f 42 53 43
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+f 47 59 48
+f 48 59 60
+f 48 60 50
+f 48 50 49
+f 50 60 61
+f 50 61 51
+f 51 61 62
+f 51 62 63
+f 51 63 52
+f 54 64 65
+f 55 65 66
+f 55 66 67
+f 55 67 56
+f 56 67 58
+f 58 67 59
+f 59 67 60
+f 60 67 66
+f 60 66 61
+f 61 68 69
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+f 61 70 62
+f 61 66 68
+f 64 68 65
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+f 65 68 66
+f 68 71 72
+f 68 72 69
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_61.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75f3ac338e1a496174888655664c27f20f36021c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_61.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01294874 0.05142893 0.06651782
+v 0.02406201 0.05019559 0.05766752
+v 0.02405766 0.04454438 0.06651779
+v 0.01294874 0.05907803 0.06651785
+v 0.01294874 0.05771485 0.05766755
+v 0.02406201 0.04599234 0.06541758
+v 0.02406201 0.05736143 0.05766755
+v 0.02406201 0.04639986 0.06651780
+v 0.01345680 0.05898968 0.06651785
+v 0.01294874 0.06049894 0.06466047
+v 0.01294874 0.06296212 0.05766757
+v 0.02329393 0.05805566 0.05766755
+v 0.02406201 0.05736503 0.05869067
+v 0.02406201 0.05364865 0.06651783
+v 0.01371573 0.06046648 0.06446035
+v 0.01466550 0.05867412 0.06651785
+v 0.01579369 0.05851183 0.06634458
+v 0.01294874 0.06135005 0.06344244
+v 0.01294874 0.06290080 0.05864044
+v 0.01343287 0.06286114 0.05766757
+v 0.02281850 0.05838384 0.05766755
+v 0.02327979 0.05805024 0.05864042
+v 0.02406201 0.05665817 0.06157724
+v 0.02406201 0.05468548 0.06539335
+v 0.02326673 0.05513267 0.06576154
+v 0.02288922 0.05468187 0.06651783
+v 0.01486133 0.06110301 0.06303959
+v 0.01557067 0.05840545 0.06651784
+v 0.01592316 0.05829365 0.06651784
+v 0.01770846 0.05818365 0.06596513
+v 0.01371573 0.06183510 0.06186747
+v 0.01294874 0.06202263 0.06179730
+v 0.01294874 0.06276736 0.05913598
+v 0.01343287 0.06279982 0.05864044
+v 0.01438481 0.06254378 0.05766757
+v 0.02185785 0.05902396 0.05766756
+v 0.02184371 0.05900773 0.05864043
+v 0.02273582 0.05769681 0.06157724
+v 0.02406201 0.05576740 0.06372396
+v 0.02406201 0.05571871 0.06382272
+v 0.02404134 0.05574937 0.06380366
+v 0.02203192 0.05672668 0.06450452
+v 0.02135196 0.05576559 0.06651003
+v 0.02135740 0.05575477 0.06651783
+v 0.01658027 0.06087761 0.06186746
+v 0.01580675 0.06146727 0.06108259
+v 0.01917609 0.05873003 0.06391804
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+v 0.01801200 0.06124368 0.05809985
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+v 0.02079711 0.05830808 0.06324663
+v 0.01917609 0.05980472 0.06157725
+v 0.01802505 0.06125089 0.05766756
+f 1 2 3
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+f 1 5 2
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+f 37 59 38
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+f 42 60 52
+f 43 51 44
+f 45 53 46
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+f 45 60 61
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+f 53 58 57
+f 53 57 54
+f 54 57 55
+f 55 57 62
+f 56 62 57
+f 59 61 60
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_62.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3cea75eed949673be3a9cc0a2930e091782adf4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_62.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.03088189 -0.01321532 0.00345554
+v 0.03102193 -0.01321532 0.00355919
+v 0.03023761 -0.01321532 0.00348381
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+v 0.03257694 -0.00330818 -0.00482873
+v 0.03222496 -0.01245244 0.00403735
+v 0.03231895 -0.01321533 0.00543181
+v 0.03023761 -0.01321537 0.01702562
+v 0.03023761 -0.00407879 -0.00559899
+v 0.03023761 -0.00187391 -0.00689922
+v 0.03023761 -0.00163164 -0.00698638
+v 0.03302150 -0.00147057 -0.00516793
+v 0.03453798 -0.00155564 -0.00292549
+v 0.03503329 -0.00064070 -0.00187727
+v 0.03483075 -0.00209172 -0.00009181
+v 0.03232788 -0.01321533 0.00552132
+v 0.03205626 -0.01321535 0.01165271
+v 0.03023761 -0.01313805 0.01703975
+v 0.03023761 -0.00136747 -0.00701936
+v 0.03301492 -0.00005049 -0.00516556
+v 0.03453422 -0.00005050 -0.00292548
+v 0.03023761 -0.00093964 -0.00701935
+v 0.03503329 -0.00005050 -0.00187727
+v 0.03503611 -0.00005051 -0.00091152
+v 0.03503846 -0.00063555 -0.00009180
+v 0.03499993 -0.00021804 0.00144634
+v 0.03231848 -0.01321535 0.00969764
+v 0.03234714 -0.01321534 0.00911111
+v 0.03234902 -0.01321534 0.00885908
+v 0.03232882 -0.01321533 0.00559670
+v 0.03499993 -0.00005052 0.00144634
+v 0.03023761 -0.00005054 0.00749293
+v 0.03023761 -0.00005048 -0.00701228
+v 0.03503846 -0.00005051 -0.00009180
+f 1 2 7
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+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 24 34 25
+f 25 34 31
+f 25 31 26
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_63.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139faccc09f17832df2a8b200048f171b5a43f27
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_63.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.02867135 -0.02233609 0.06151803
+v 0.02863287 -0.02233608 0.06065285
+v 0.02681363 -0.01987724 0.06234265
+v 0.02681363 -0.01987724 0.06391806
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+v 0.02681978 -0.02233608 0.06009204
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+v 0.01630602 -0.01372340 0.06479803
+v 0.01848542 -0.01418155 0.06525553
+v 0.01848542 -0.01418155 0.06669259
+v 0.01933656 -0.01525347 0.06758359
+v 0.02187150 -0.01686901 0.06718881
+v 0.02123276 -0.01988496 0.07252013
+v 0.02314743 -0.02071193 0.07135424
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+v 0.01834536 -0.01995797 0.07520609
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_64.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7bd72c83e4d2028a395f61d1b12e6fd9aa115f2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_64.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_65.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51e97da4811ff6130c6fb7790d6d23f718c540a6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_65.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.02500389 -0.04861621 0.04719106
+v 0.02776491 -0.04861621 0.04734588
+v 0.02432400 -0.04861621 0.04758067
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_66.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dbab75899f985e811286d9327cde2fe3de47175
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_66.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.00352244 0.02813199 0.07438488
+v 0.01294765 0.02813198 0.07519722
+v -0.00352244 0.02813197 0.07969498
+v -0.00352244 0.03675434 0.07311307
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_67.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80562d0be253e532c9ac82ed7f02d45eaaa3f0fb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_67.obj
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_68.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbce022e987991f45d9fd68f192b10e81d56e431
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_68.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.01294765 0.02609229 -0.04409415
+v 0.01294765 0.04169388 -0.04409410
+v 0.03037371 0.02609229 -0.04409415
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+v 0.02499544 0.02609214 -0.00241149
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+v 0.01294765 0.04489910 -0.04062155
+v 0.01294765 0.04610794 -0.03917703
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_69.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92e207e3f0eb17fd91e3cf83953623e27a4f37e0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_69.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.03023761 -0.01313805 0.01703973
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_7.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d60efa35080621422bdeea40c078cf840712d2d8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_7.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_70.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bb50cdee584eca7c6a8c7fb717dbe5062f7b5b7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_70.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.03319973 0.03298146 0.05766717
+v 0.03347017 0.03442252 0.05766632
+v 0.03350198 0.03636602 0.05766632
+v 0.03345495 0.03733012 0.05766633
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_71.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8ea52812a2ff57027bc32339d855b9d377dfe45
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_71.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00535357 0.03229669 0.09739481
+v 0.00703687 0.03223382 0.09739481
+v 0.00659640 0.03503271 0.08988203
+v 0.00478210 0.03682233 0.08508836
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_72.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e81174f68d223a9415a0b366619298438e067ecc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_72.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.03126324 0.03127178 0.04889061
+v 0.03095934 0.03127178 0.04889061
+v 0.03326423 0.03071628 0.04889061
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_73.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e9b4ebf020ecf669fbd5f6b4eafc8b97c0dc820
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_73.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_74.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3d4df11378f2eea7a8d6f5c778668da3a624b77
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_74.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_75.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba346b962bc4420fb34336edf6baa933a5a21542
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_75.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_76.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c2daa241becd34ab02c16ea490cc6ae4913e26b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_76.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_77.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..251d822efcd6855d926f59cc161b28a5686e3144
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_77.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.03168064 -0.00005042 -0.02358635
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_78.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35be6924c3e08cbf1bade47e88382738c6a89e4e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_78.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_79.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d9581edce558809a5f2310c9be191aede4894a8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_79.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_8.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..048b1bcffd027e8e49d7a4ac970a62ab84c2ab87
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_8.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_80.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2a512a6dfe323703a9628679617e2b00e69a41
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_80.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00352244 0.03054649 0.07971725
+v -0.00352244 0.03081255 0.07968592
+v -0.00380067 0.03054649 0.07964321
+v -0.00353814 0.02809435 0.07969066
+v -0.00352244 0.02809435 0.07969446
+v -0.00352244 0.03345351 0.07931953
+v -0.00667269 0.03345719 0.07853260
+v -0.00667269 0.03054649 0.07879648
+v -0.00380067 0.02809435 0.07962042
+v -0.00352244 0.02809437 0.07438340
+v -0.00352244 0.03373918 0.07926922
+v -0.00826015 0.03515039 0.07778935
+v -0.00853838 0.03345719 0.07791653
+v -0.00869264 0.03054649 0.07800860
+v -0.00667269 0.02809435 0.07863414
+v -0.00925302 0.02809438 0.07086833
+v -0.00352244 0.04061993 0.07161829
+v -0.00352244 0.04061990 0.07770583
+v -0.00649711 0.03621830 0.07798489
+v -0.00925302 0.03417077 0.07748938
+v -0.00925302 0.03345719 0.07759569
+v -0.00733797 0.03709005 0.07753685
+v -0.00925302 0.03925652 0.07623163
+v -0.00925302 0.03612513 0.07713626
+v -0.00925302 0.03054649 0.07772193
+v -0.00842732 0.02809435 0.07788899
+v -0.00925302 0.04061993 0.07002070
+v -0.00925302 0.02809436 0.07738778
+v -0.00925302 0.04061991 0.07574658
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 17
+f 1 17 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 8
+f 4 9 15
+f 4 15 26
+f 4 26 28
+f 4 28 16
+f 4 16 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 8 14 15
+f 8 15 9
+f 8 13 14
+f 10 16 17
+f 11 18 19
+f 11 19 12
+f 12 20 21
+f 12 21 13
+f 12 19 18
+f 12 18 22
+f 12 22 23
+f 12 23 24
+f 12 24 20
+f 13 21 14
+f 14 25 26
+f 14 26 15
+f 14 21 25
+f 16 27 17
+f 16 28 25
+f 16 25 21
+f 16 21 20
+f 16 20 24
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+f 16 23 29
+f 16 29 27
+f 17 27 29
+f 17 29 18
+f 18 29 23
+f 18 23 22
+f 25 28 26
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_81.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..625d671774e6fae80e13828208aed6d490eb764d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_81.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02904641 -0.03552758 0.00284431
+v -0.03223427 -0.03028722 0.00284433
+v -0.02904641 -0.03545237 0.00086100
+v -0.02904641 -0.03523150 0.00578007
+v -0.03342372 -0.02766469 0.00284434
+v -0.03181737 -0.02983916 0.00059209
+v -0.03183579 -0.02987364 0.00578009
+v -0.02904641 -0.03438863 -0.00100227
+v -0.02904641 -0.03315260 0.00869343
+v -0.03185722 -0.02536174 0.00053128
+v -0.03221285 -0.02766468 0.00015510
+v -0.03266104 -0.02766470 0.00578010
+v -0.03191120 -0.02530380 0.00578011
+v -0.03227541 -0.02486043 0.00284435
+v -0.02904641 -0.03165016 -0.00411410
+v -0.02904641 -0.03301783 -0.00256138
+v -0.02904641 -0.03054104 0.01108495
+v -0.03128606 -0.02928774 0.00738884
+v -0.02904641 -0.02024202 -0.00009138
+v -0.02904641 -0.02184466 -0.00184581
+v -0.02904641 -0.02308856 -0.00302875
+v -0.02904641 -0.02475544 -0.00444862
+v -0.02904641 -0.02766466 -0.00505691
+v -0.02904641 -0.02963704 -0.00501851
+v -0.02904641 -0.02766472 0.01129466
+v -0.02904641 -0.02518319 0.01125945
+v -0.02904641 -0.02239616 0.01108978
+v -0.02904641 -0.01975482 0.00788831
+v -0.02904641 -0.01952452 0.00518306
+v -0.02904641 -0.01954488 0.00284437
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 15
+f 1 15 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 7
+f 2 7 5
+f 3 6 8
+f 4 9 7
+f 5 10 11
+f 5 11 6
+f 5 7 12
+f 5 12 13
+f 5 13 14
+f 5 14 10
+f 6 11 15
+f 6 15 16
+f 6 16 8
+f 7 9 17
+f 7 17 18
+f 7 18 12
+f 10 14 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 11 24 15
+f 12 18 17
+f 12 17 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 14
+f 14 28 29
+f 14 29 30
+f 14 30 19
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_82.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..482172435e89e14434e0bd1972c60934b79251f2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_82.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.02559881 -0.00004844 -0.00095297
+v 0.03503569 -0.00004844 -0.00095297
+v 0.02559881 -0.00004846 0.00522500
+v 0.02559881 0.00985505 -0.00095293
+v 0.03503569 0.00062943 -0.00095297
+v 0.03503846 -0.00004844 -0.00009243
+v 0.03143021 -0.00004846 0.00522500
+v 0.02559881 0.01080983 0.00522504
+v 0.02559881 0.01031592 -0.00005853
+v 0.02887811 0.02106053 0.00522508
+v 0.02919319 0.02040126 0.00428592
+v 0.02930407 0.02040126 0.00428592
+v 0.02717054 0.00931772 -0.00095294
+v 0.03492481 0.00138376 -0.00095296
+v 0.03482501 0.00207610 -0.00009242
+v 0.03503846 0.00062116 -0.00009243
+v 0.03499965 -0.00004845 0.00144480
+v 0.03198554 -0.00004846 0.00479987
+v 0.03224242 0.00673229 0.00522502
+v 0.02892523 0.02106053 0.00522508
+v 0.02995642 0.02105433 0.00522508
+v 0.03138863 0.01890292 0.00488279
+v 0.03203544 0.01727025 0.00443588
+v 0.03324311 0.00442797 -0.00095295
+v 0.03248451 0.00531457 -0.00095295
+v 0.03133597 0.00664551 -0.00095295
+v 0.03076585 0.00713118 -0.00095294
+v 0.03473538 0.00191490 -0.00095296
+v 0.03223225 0.01650352 0.00522506
+v 0.03499965 0.00018095 0.00144480
+v 0.03238564 -0.00004846 0.00448843
+v 0.03240042 0.01308111 0.00522505
+v 0.03237732 0.01014850 0.00522504
+v 0.03229324 0.00748869 0.00522503
+v 0.03109942 0.01974406 0.00522507
+v 0.03160115 0.01890292 0.00522507
+v 0.03433067 0.00260103 -0.00095296
+v 0.03228584 0.01597031 0.00522506
+f 1 2 6
+f 1 6 17
+f 1 17 31
+f 1 31 18
+f 1 18 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 13
+f 1 13 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 37
+f 1 37 28
+f 1 28 14
+f 1 14 5
+f 1 5 2
+f 2 5 16
+f 2 16 6
+f 3 7 19
+f 3 19 34
+f 3 34 33
+f 3 33 32
+f 3 32 38
+f 3 38 29
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+f 3 36 35
+f 3 35 21
+f 3 21 20
+f 3 20 10
+f 3 10 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 16
+f 6 16 30
+f 6 30 17
+f 7 18 19
+f 8 10 9
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+f 10 12 11
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 14 28 23
+f 14 23 29
+f 14 29 15
+f 15 30 16
+f 15 29 30
+f 17 30 32
+f 17 32 33
+f 17 33 34
+f 17 34 19
+f 17 19 31
+f 18 31 19
+f 21 35 22
+f 22 35 36
+f 22 36 23
+f 23 36 29
+f 23 28 37
+f 23 37 24
+f 29 38 30
+f 30 38 32
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_83.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..919192098e49e56629cc7ceef9ed297faceffc29
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_83.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.03074637 0.02609227 -0.03897284
+v 0.03028119 0.01599364 -0.02945705
+v 0.03010522 0.00875029 -0.03239333
+v 0.02944317 0.00875031 -0.03897291
+v 0.01294765 0.02609227 -0.03897284
+v 0.03006863 0.02609220 -0.01776412
+v 0.03002508 0.01889974 -0.01183956
+v 0.02981427 0.00875028 -0.02974736
+v 0.01294765 0.00875031 -0.03897291
+v 0.01294765 0.02609213 -0.00095420
+v 0.02977942 0.02609218 -0.01341743
+v 0.02995887 0.02181270 -0.01183955
+v 0.02957210 0.02181270 -0.00964015
+v 0.02961043 0.01889974 -0.00954712
+v 0.02936825 0.01723955 -0.01006442
+v 0.02508932 0.01033566 -0.00095798
+v 0.02542383 0.00875022 -0.01450418
+v 0.01294765 0.00875022 -0.01450418
+v 0.01294765 0.01033566 -0.00095426
+v 0.02502834 0.02609213 -0.00095420
+v 0.02959126 0.02609217 -0.01204049
+v 0.02884907 0.02181269 -0.00817389
+v 0.02888391 0.01889973 -0.00808086
+v 0.02508583 0.01033906 -0.00095426
+v 0.02402307 0.01033566 -0.00095426
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 20
+f 1 20 21
+f 1 21 11
+f 1 11 6
+f 1 6 7
+f 1 7 2
+f 2 7 3
+f 3 8 17
+f 3 17 18
+f 3 18 9
+f 3 9 4
+f 3 7 8
+f 5 9 18
+f 5 18 19
+f 5 19 10
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 10 19 25
+f 10 25 24
+f 10 24 20
+f 11 21 12
+f 12 21 13
+f 13 20 22
+f 13 22 14
+f 13 21 20
+f 14 22 23
+f 14 23 16
+f 14 16 15
+f 16 23 20
+f 16 20 24
+f 16 24 25
+f 16 25 17
+f 17 25 19
+f 17 19 18
+f 20 23 22
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_84.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bead9970b3a30b9904caade63c6363e06406ab9d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_84.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.01294765 -0.03791866 0.07952389
+v 0.01294765 -0.04494692 0.07929983
+v 0.01294765 -0.03791864 0.07291526
+v 0.01017469 -0.03791867 0.08186468
+v 0.00926381 -0.04631491 0.08664910
+v 0.00926381 -0.04679174 0.08664910
+v 0.01209642 -0.04679172 0.08099828
+v 0.01294765 -0.04511889 0.07924954
+v 0.01294765 -0.04029584 0.07140882
+v 0.01072928 -0.03838327 0.06357952
+v 0.01059064 -0.03791860 0.06357952
+v 0.00842225 -0.03791868 0.08323167
+v 0.00704221 -0.03791868 0.08425805
+v 0.00740496 -0.04525876 0.08684112
+v 0.00763711 -0.04679174 0.08690741
+v 0.00888333 -0.04679174 0.08673140
+v 0.01294765 -0.04679171 0.07827117
+v 0.01294765 -0.04648685 0.07864149
+v 0.01294765 -0.04221966 0.07059274
+v 0.01294765 -0.04442924 0.06981552
+v 0.01294765 -0.04665705 0.06912516
+v 0.01294765 -0.04679167 0.06910002
+v 0.01073573 -0.03886705 0.06357952
+v 0.00191708 -0.03791860 0.06357952
+v 0.00535909 -0.03791868 0.08428548
+v 0.00626030 -0.04367019 0.08653939
+v 0.00509631 -0.04519536 0.08686627
+v 0.00484158 -0.04679174 0.08693256
+v 0.00795794 -0.04679167 0.06776732
+v 0.00718086 -0.04407571 0.06357950
+v 0.00855122 -0.04349031 0.06357950
+v 0.00865279 -0.04343994 0.06357950
+v 0.00985225 -0.04208240 0.06357951
+v 0.01014406 -0.04140233 0.06357951
+v 0.01074057 -0.03930914 0.06357952
+v 0.00144793 -0.03930914 0.06357952
+v -0.00352244 -0.03791864 0.07269124
+v 0.00476903 -0.03791868 0.08420776
+v 0.00624096 -0.04367019 0.08653939
+v 0.00318587 -0.04621068 0.08668796
+v 0.00318587 -0.04679174 0.08668796
+v 0.00633124 -0.04679167 0.06751587
+v 0.00481579 -0.04679167 0.06730327
+v 0.00521561 -0.04411567 0.06357950
+v 0.00247006 -0.04218316 0.06357951
+v -0.00352244 -0.04679167 0.06888742
+v -0.00352244 -0.03791866 0.07825977
+v -0.00352244 -0.04221968 0.07726765
+v -0.00352244 -0.04504593 0.07629155
+v 0.00294565 -0.04679174 0.08629249
+v 0.00400969 -0.04371093 0.06357950
+v 0.00345833 -0.04326015 0.06357950
+v -0.00352244 -0.04679170 0.07502515
+f 1 2 8
+f 1 8 18
+f 1 18 17
+f 1 17 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 9
+f 1 9 3
+f 1 3 11
+f 1 11 24
+f 1 24 37
+f 1 37 47
+f 1 47 38
+f 1 38 25
+f 1 25 13
+f 1 13 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 15
+f 6 15 28
+f 6 28 41
+f 6 41 50
+f 6 50 53
+f 6 53 46
+f 6 46 43
+f 6 43 42
+f 6 42 29
+f 6 29 22
+f 6 22 17
+f 6 17 7
+f 7 17 18
+f 7 18 8
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 35
+f 10 35 34
+f 10 34 33
+f 10 33 32
+f 10 32 31
+f 10 31 30
+f 10 30 44
+f 10 44 51
+f 10 51 52
+f 10 52 45
+f 10 45 36
+f 10 36 24
+f 10 24 11
+f 13 25 26
+f 13 26 14
+f 14 27 15
+f 14 26 27
+f 15 27 28
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 24 36 37
+f 25 38 39
+f 25 39 26
+f 26 39 27
+f 27 39 38
+f 27 38 40
+f 27 40 28
+f 28 40 41
+f 29 42 30
+f 30 42 43
+f 30 43 44
+f 36 45 46
+f 36 46 37
+f 37 46 53
+f 37 53 49
+f 37 49 48
+f 37 48 47
+f 38 47 40
+f 40 47 41
+f 41 47 48
+f 41 48 49
+f 41 49 50
+f 43 46 44
+f 44 46 51
+f 45 52 46
+f 46 52 51
+f 49 53 50
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_85.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..affdb0b3eca973a46b8f504703450ead71148e8b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_85.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00351636 -0.03791863 0.07159789
+v -0.00352244 -0.03791864 0.07269042
+v 0.00461749 -0.03687094 0.07159789
+v 0.00874146 -0.03791863 0.07159789
+v -0.00352244 -0.03791866 0.07826234
+v -0.00352244 -0.02787812 0.07437023
+v 0.00779349 -0.03688667 0.07159789
+v 0.01294765 -0.02787813 0.07523364
+v 0.01294765 -0.03791864 0.07291500
+v -0.00352244 -0.03639725 0.07864170
+v 0.00476903 -0.03791868 0.08420906
+v 0.00324552 -0.03508620 0.08709973
+v 0.00316007 -0.03497022 0.08709973
+v 0.00269415 -0.03425473 0.08709973
+v 0.00243620 -0.03360607 0.08709974
+v -0.00352244 -0.02787814 0.07969482
+v 0.01294765 -0.02787815 0.08036854
+v 0.01294765 -0.03791866 0.07952330
+v -0.00352244 -0.03348023 0.07933517
+v 0.00535909 -0.03791868 0.08428644
+v 0.00481901 -0.03584199 0.08709973
+v 0.00207507 -0.03147629 0.08709974
+v -0.00352244 -0.03057698 0.07973274
+v 0.00224757 -0.03052688 0.08709975
+v 0.00282474 -0.02918828 0.08709975
+v 0.00305205 -0.02878237 0.08709975
+v 0.00483191 -0.02799906 0.08709976
+v 0.00486899 -0.02787815 0.08244284
+v 0.01294765 -0.02862608 0.08039129
+v 0.00999413 -0.02787815 0.08148990
+v 0.00572022 -0.02803543 0.08709976
+v 0.00765323 -0.02814059 0.08709976
+v 0.00849963 -0.02849735 0.08709976
+v 0.00929444 -0.02892979 0.08709975
+v 0.00997156 -0.03054654 0.08709975
+v 0.01294765 -0.03716877 0.07961587
+v 0.00982162 -0.03356381 0.08709974
+v 0.00936215 -0.03450928 0.08709973
+v 0.00917836 -0.03499872 0.08671431
+v 0.00863183 -0.03511470 0.08709973
+v 0.01017469 -0.03791867 0.08186466
+v 0.00704221 -0.03791868 0.08425762
+v 0.00762905 -0.03569653 0.08709973
+v 0.00758391 -0.02787815 0.08238214
+v 0.01294765 -0.03057699 0.08037915
+v 0.01294765 -0.03140156 0.08028810
+v 0.00842225 -0.03791868 0.08323185
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 18
+f 1 18 41
+f 1 41 47
+f 1 47 42
+f 1 42 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 10
+f 2 10 19
+f 2 19 23
+f 2 23 16
+f 2 16 6
+f 2 6 3
+f 3 6 7
+f 4 7 8
+f 4 8 9
+f 5 11 12
+f 5 12 13
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+f 5 14 15
+f 5 15 10
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+f 6 28 44
+f 6 44 30
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+f 6 17 8
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+f 12 22 15
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+f 16 22 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 17 30 27
+f 17 27 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 29
+f 18 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 40
+f 18 40 41
+f 19 22 23
+f 20 42 21
+f 21 42 43
+f 27 30 44
+f 27 44 28
+f 29 35 45
+f 35 37 46
+f 35 46 45
+f 36 46 37
+f 38 40 39
+f 40 43 41
+f 41 43 47
+f 42 47 43
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_86.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0c530d8caf0e1217f2059ef6c2d3ff9bc80d664
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_86.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01294765 -0.00005046 -0.01450385
+v 0.01294765 -0.00005051 -0.00095430
+v 0.01294765 0.01033445 -0.01450381
+v 0.02635729 -0.00005046 -0.01450385
+v 0.01294765 0.01033440 -0.00095426
+v 0.03503615 -0.00005051 -0.00095430
+v 0.02536487 0.01033445 -0.01450381
+v 0.02634864 0.00046696 -0.01450385
+v 0.03300806 0.00144077 -0.00516572
+v 0.03301455 -0.00005049 -0.00516839
+v 0.02402433 0.01033440 -0.00095426
+v 0.03503183 -0.00005050 -0.00188015
+v 0.03503615 0.00062955 -0.00095430
+v 0.02509027 0.01033440 -0.00095558
+v 0.02717026 0.00931482 -0.00095427
+v 0.03076591 0.00712927 -0.00095427
+v 0.03133456 0.00664438 -0.00095428
+v 0.03248482 0.00531272 -0.00095428
+v 0.03324157 0.00442732 -0.00095428
+v 0.03313779 0.00386722 -0.00303016
+v 0.03453021 0.00154139 -0.00292670
+v 0.02632918 0.00144080 -0.01450384
+v 0.03453453 -0.00005050 -0.00292671
+v 0.03503183 0.00063871 -0.00188015
+v 0.03492372 0.00138382 -0.00095429
+v 0.03432913 0.00260061 -0.00095429
+v 0.03473562 0.00191344 -0.00095429
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 22
+f 1 22 8
+f 1 8 4
+f 1 4 10
+f 1 10 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 25
+f 2 25 27
+f 2 27 26
+f 2 26 19
+f 2 19 18
+f 2 18 17
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+f 2 16 15
+f 2 15 11
+f 2 11 5
+f 3 5 11
+f 3 11 14
+f 3 14 7
+f 4 8 9
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+f 7 16 17
+f 7 17 18
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+f 7 20 21
+f 7 21 9
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+f 8 22 9
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+f 11 15 14
+f 12 23 24
+f 13 24 25
+f 19 26 20
+f 20 26 27
+f 20 27 21
+f 21 27 24
+f 21 24 23
+f 24 27 25
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_87.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b1c0c810d85c3f8ede6daa19ef3bc5e6943b068
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_87.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02598862 -0.04699139 0.04357959
+v -0.02598862 -0.04699139 0.04457959
+v -0.02598862 -0.04599139 0.04357959
+v -0.02598862 -0.04599139 0.04457959
+v -0.01675068 -0.04699139 0.04357959
+v -0.01675068 -0.04699139 0.04457959
+v -0.01675068 -0.04599139 0.04357959
+v -0.01675068 -0.04599139 0.04457959
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_88.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12d44b08ab4851eec362f3b4960ea4a04152ba3e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_88.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.03088369 0.02609209 0.01040162
+v 0.03088369 0.02816771 0.01113274
+v 0.03224883 0.02609208 0.01262851
+v 0.03088369 0.02609206 0.01949850
+v 0.03088369 0.02965737 0.01255151
+v 0.03222794 0.02648393 0.01284866
+v 0.03232988 0.02752696 0.01470137
+v 0.03238621 0.02609208 0.01464520
+v 0.03095224 0.02609206 0.01937348
+v 0.03088369 0.02763547 0.01965705
+v 0.03088369 0.03086790 0.01422937
+v 0.03222662 0.02932186 0.01575322
+v 0.03222662 0.02932186 0.01660574
+v 0.03229207 0.02763548 0.01667549
+v 0.03226751 0.02609207 0.01649792
+v 0.03171254 0.02763547 0.01814407
+v 0.03088369 0.03045515 0.01873749
+v 0.03088369 0.03142253 0.01754977
+f 1 2 3
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+f 1 17 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
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+f 2 6 3
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+f 5 12 6
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+f 7 12 13
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+f 9 16 10
+f 9 15 16
+f 10 16 17
+f 11 18 12
+f 12 18 13
+f 13 18 17
+f 13 17 16
+f 13 16 14
+f 14 16 15
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_89.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..140ded2ae268bcf8ec9a62d327bd61468ac8858c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_89.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.03088355 0.04340971 0.03739706
+v 0.01294765 0.04340971 0.03739706
+v 0.03088355 0.02609368 0.03739700
+v 0.03088355 0.04340980 0.01347000
+v 0.01294765 0.02609368 0.03739700
+v 0.01294765 0.04340986 -0.00240735
+v 0.03088355 0.02609378 0.01040356
+v 0.03013388 0.03345759 -0.00240739
+v 0.02983541 0.04340986 -0.00136704
+v 0.01294765 0.02609383 -0.00240741
+v 0.02975816 0.04340986 -0.00240735
+v 0.03086072 0.02609378 0.01035291
+v 0.02938596 0.02896204 -0.00240740
+v 0.02991617 0.03054701 -0.00240740
+v 0.02499504 0.02609383 -0.00240741
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 15
+f 3 15 12
+f 3 12 7
+f 4 7 8
+f 4 8 9
+f 6 11 8
+f 6 8 14
+f 6 14 13
+f 6 13 15
+f 6 15 10
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 8 11 9
+f 12 15 13
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_9.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7259a0085fe3f7550dba93630a30afaf818f77c1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_9.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
+v 0.02406293 0.03238628 0.07631844
+v 0.02406293 0.03134186 0.07628192
+v 0.02637974 0.03189720 0.07481044
+v 0.02492146 0.03345873 0.07578535
+v 0.02406293 0.03345873 0.07628192
+v 0.02574394 0.03134186 0.07519018
+v 0.02406293 0.03134188 0.06956531
+v 0.02631783 0.03134187 0.07475020
+v 0.02683627 0.03134187 0.07416415
+v 0.02791104 0.03134187 0.07294461
+v 0.02917803 0.03253151 0.07177801
+v 0.02926952 0.03447261 0.07190399
+v 0.02637974 0.03345874 0.07481044
+v 0.02636496 0.03495405 0.07479767
+v 0.02406293 0.03510179 0.07609572
+v 0.02811157 0.03134192 0.05864054
+v 0.02406293 0.05019251 0.05766934
+v 0.02904773 0.03134188 0.07155528
+v 0.02984803 0.03134188 0.07012578
+v 0.02996724 0.03348422 0.07063332
+v 0.03165286 0.03636786 0.06785832
+v 0.03004394 0.03641880 0.07065706
+v 0.02926952 0.03548137 0.07190399
+v 0.02919559 0.03742247 0.07181637
+v 0.02612283 0.03689260 0.07464615
+v 0.02506747 0.03610036 0.07540197
+v 0.02406293 0.03612329 0.07590768
+v 0.02837957 0.03134193 0.05793401
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+v 0.02848031 0.03134193 0.05766928
+v 0.03029993 0.03134189 0.06921478
+v 0.03161220 0.03344857 0.06730331
+v 0.03219164 0.03441149 0.06622983
+v 0.03226002 0.03636787 0.06639231
+v 0.03220550 0.03927952 0.06623897
+v 0.03153180 0.03927951 0.06770497
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+v 0.03184601 0.03134190 0.06494090
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+v 0.03314257 0.03636788 0.06157804
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+v 0.03290415 0.03345878 0.06157803
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+v 0.02958280 0.04718912 0.06655849
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+v 0.03119727 0.04800686 0.05864060
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+v 0.03192733 0.04600208 0.05766933
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+v 0.02406293 0.05468351 0.06539557
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+v 0.02406293 0.05037587 0.06964936
+v 0.02406293 0.05289269 0.06745309
+v 0.02406293 0.05332829 0.06697842
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_90.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eff585eac67aa68aef7385500918dc2524fdf0ba
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_90.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.01217212 -0.01861313 0.06188684
+v -0.01367578 -0.01352345 0.05900130
+v -0.01367578 -0.01921160 0.06188684
+v -0.01090303 -0.01914987 0.06188684
+v -0.01291854 -0.01352344 0.05850160
+v -0.01367578 -0.01352344 0.05850160
+v -0.01367578 -0.02723054 0.06188681
+v -0.01084341 -0.02184432 0.06188683
+v -0.01334887 -0.02137465 0.05850157
+v -0.01367578 -0.02214219 0.05850157
+v -0.01367578 -0.02597053 0.06034462
+v -0.01212775 -0.02443411 0.06188682
+v -0.01367578 -0.02441531 0.05941315
+v -0.01367578 -0.02366521 0.05906124
+v -0.01340294 -0.02156520 0.05850157
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 10
+f 2 10 14
+f 2 14 13
+f 2 13 11
+f 2 11 7
+f 2 7 3
+f 4 8 5
+f 5 8 9
+f 5 9 15
+f 5 15 10
+f 5 10 6
+f 7 11 12
+f 8 12 11
+f 8 11 13
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 10 15 14
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_91.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bd41cd4bbf4f224af93617e4f7a1a86a022cad8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_91.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.03249729 -0.01893445 0.00871922
+v 0.03230019 -0.02138599 0.00871921
+v 0.03223513 -0.02076423 0.00668727
+v 0.03229828 -0.01893444 0.00614524
+v 0.03232698 -0.01321533 0.00552324
+v 0.03249347 -0.01602461 0.00871923
+v 0.03249538 -0.01893446 0.01165457
+v 0.03227148 -0.02489130 0.01422557
+v 0.03226383 -0.02489130 0.01403600
+v 0.03222939 -0.02419869 0.01216105
+v 0.03182370 -0.01893444 0.00467608
+v 0.03209543 -0.02328322 0.01020316
+v 0.03162468 -0.02284091 0.00871921
+v 0.02596416 -0.02489126 0.00229165
+v 0.03199784 -0.01602460 0.00449245
+v 0.03231741 -0.01321533 0.00543438
+v 0.03234803 -0.01321534 0.00886142
+v 0.03247242 -0.01602462 0.01165458
+v 0.03221790 -0.02489131 0.01632267
+v 0.03226957 -0.02489130 0.01434701
+v 0.03132233 -0.02489129 0.01147979
+v 0.03121134 -0.02489129 0.01123987
+v 0.02729605 -0.02163398 0.00229166
+v 0.03088028 -0.01321532 0.00345576
+v 0.01294765 -0.02489126 0.00229165
+v 0.03199401 -0.01439367 0.00448061
+v 0.03101997 -0.01321532 0.00355943
+v 0.03234612 -0.01321534 0.00911319
+v 0.03227723 -0.01384395 0.01165459
+v 0.03220260 -0.01435713 0.01327480
+v 0.03227531 -0.01602463 0.01338439
+v 0.03231741 -0.01321535 0.00969966
+v 0.02988519 -0.01891282 0.03255152
+v 0.02989476 -0.01927170 0.03255152
+v 0.02968234 -0.02225697 0.03255151
+v 0.02937616 -0.02489137 0.03255150
+v 0.02754291 -0.01905558 0.00229167
+v 0.02587422 -0.01321532 0.00229169
+v 0.01294765 -0.01321532 0.00229169
+v 0.01294765 -0.02489137 0.03255150
+v 0.03005933 -0.01321542 0.02937627
+v 0.02976846 -0.01631385 0.03255153
+v 0.01294765 -0.01321543 0.03255154
+v 0.02957710 -0.01321543 0.03255154
+v 0.02975315 -0.01602470 0.03255153
+f 1 2 3
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+f 1 5 6
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+f 41 44 45
+f 41 45 42
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_92.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd41f32676192e502ef6681a52e66f7705e91b8e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_92.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.03228950 -0.02766602 0.01662182
+v 0.03221756 -0.02489189 0.01632267
+v 0.03122169 -0.03082780 0.03255148
+v 0.03222324 -0.02931226 0.01652110
+v 0.03228950 -0.02766602 0.01521487
+v 0.03227246 -0.02489188 0.01422557
+v 0.02937573 -0.02489195 0.03255150
+v 0.01294765 -0.03082780 0.03255148
+v 0.03105129 -0.03082774 0.01751041
+v 0.03222324 -0.02931226 0.01584280
+v 0.02993804 -0.03082769 0.00229163
+v 0.03208124 -0.02614007 0.01319478
+v 0.03226300 -0.02489188 0.01403600
+v 0.01294765 -0.02489195 0.03255150
+v 0.01294765 -0.03082769 0.00229163
+v 0.02992100 -0.03057608 0.00229163
+v 0.02939655 -0.02897285 0.00229163
+v 0.03132203 -0.02489187 0.01147979
+v 0.01294765 -0.02489184 0.00229165
+v 0.02596591 -0.02489184 0.00229165
+v 0.03121222 -0.02489187 0.01123987
+f 1 2 3
+f 1 3 4
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+f 1 6 2
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+f 13 17 18
+f 17 20 21
+f 17 21 18
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_93.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ba426292c15f88eaedeed8593c2bea9cebd98ae
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_93.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00478179 0.04475088 0.06508234
+v 0.00377970 0.04348385 0.06333592
+v 0.00313259 0.04392118 0.06508234
+v 0.00698104 0.04465317 0.06508234
+v 0.00670001 0.04380953 0.06270847
+v 0.00569514 0.04380953 0.06270847
+v 0.00570346 0.04089551 0.05684297
+v 0.00478734 0.03850724 0.05268506
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+v 0.00289408 0.04359860 0.06508234
+v 0.00772336 0.04459734 0.06508234
+v 0.00670185 0.04089551 0.05684297
+v 0.00761890 0.03842504 0.05268506
+v 0.00341084 0.03791636 0.05268506
+v 0.00307804 0.03813968 0.05357465
+v 0.00268885 0.04158562 0.06157614
+v 0.00241245 0.04293949 0.06508234
+v 0.00864688 0.04404214 0.06508234
+v 0.00861452 0.04337994 0.06352889
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+v 0.00958334 0.04323260 0.06508234
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+v 0.00978856 0.03658419 0.05268505
+v 0.00242816 0.03655317 0.05268505
+v 0.00166920 0.03636706 0.05570456
+v 0.00136598 0.03927640 0.06451313
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+v 0.01081007 0.03927640 0.06451313
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+v 0.00978117 0.02890752 0.05268503
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+v 0.00308267 0.03460993 0.06371090
+v 0.00916549 0.03561331 0.06508231
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+v 0.00825954 0.02890751 0.05373482
+v 0.00483633 0.02890751 0.05455645
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+v 0.00530133 0.03439435 0.06508231
+v 0.00658722 0.03188355 0.06035763
+v 0.00666857 0.02890751 0.05455887
+v 0.00577279 0.02890751 0.05456252
+v 0.00584675 0.03188355 0.06035763
+f 1 2 3
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+f 68 70 69
+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_94.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7939b2980822f411b552c0ddedbddb736d9f9b8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_94.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.03037371 0.03889157 -0.02512379
+v 0.03037371 0.05404586 -0.02512373
+v 0.03640883 0.04129944 -0.02512378
+v 0.03037371 0.04507811 -0.00240956
+v 0.03037371 0.05475094 -0.02345602
+v 0.03154213 0.05538727 -0.02237090
+v 0.03064334 0.05407924 -0.02512373
+v 0.03683552 0.04149977 -0.02512378
+v 0.03640883 0.04752134 -0.00240956
+v 0.03037371 0.05892045 -0.00240951
+v 0.03037371 0.05481575 -0.02328702
+v 0.03037371 0.05574471 -0.02075878
+v 0.03037371 0.05669136 -0.01771242
+v 0.03066605 0.05672671 -0.01771242
+v 0.03238699 0.05538727 -0.02237090
+v 0.03353082 0.05373751 -0.02512373
+v 0.03851767 0.04252498 -0.02512377
+v 0.03852525 0.04864475 -0.00240955
+v 0.03685728 0.04775899 -0.00240955
+v 0.03066605 0.05895383 -0.00240951
+v 0.03037371 0.05891848 -0.00302990
+v 0.03037371 0.05744551 -0.01477503
+v 0.03066605 0.05748087 -0.01477503
+v 0.03247498 0.05832145 -0.01110607
+v 0.03353839 0.05637122 -0.01771242
+v 0.03342202 0.05562293 -0.02041412
+v 0.03430188 0.05498268 -0.02123685
+v 0.03342202 0.05449561 -0.02344490
+v 0.03482980 0.05306778 -0.02512374
+v 0.03974854 0.04509980 -0.02512376
+v 0.03983369 0.05091907 -0.00240954
+v 0.03955743 0.05043789 -0.00240954
+v 0.03340215 0.05869655 -0.00240951
+v 0.03066605 0.05895187 -0.00302990
+v 0.03037371 0.05876923 -0.00596729
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_95.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ebcc295390a1b29ad042d43c9cd0d466e6cb45b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_95.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00478515 0.03850737 0.05268384
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_96.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df1ca5f018c9f51a313e2cb13a3625724665103f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_96.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_97.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb065cc32756025d5ebdf3680bb108a59e6c4cc2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_97.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_98.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ac9da94da21095d22d41e4d982eeefcecebd8f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_98.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_99.obj b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9823bc0e48f55689c56be6941729e59ad627273
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_collision_99.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b03a3ce5526642557172e28d212944f319e5e06
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/mjcf/mesh/alarm_clock_034_geometry_Looks_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/7af619d297a95cd6a83a691465395ca8/textures/material_0.png b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/textures/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/7af619d297a95cd6a83a691465395ca8/video.mp4 b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..834ecc17711692a448cab80ac5c311156245b5fb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/7af619d297a95cd6a83a691465395ca8/video.mp4
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+version https://git-lfs.github.com/spec/v1
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