diff --git a/.gitattributes b/.gitattributes
index dccd2d24f26170e945b785ba36dcc7f9bc81be09..2b9e9b1caa694899bbff0654651d96a6addb2f01 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/bdb512d3766b5bcc89c253c2bf391419.usd filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/lighting_fixtures/de74d8bac02d56bc87561153781dd436/de74d8bac02d56bc87561153781dd436.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/031132073e1c5696a2837adbc0ce5efb/flashlight_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/031132073e1c5696a2837adbc0ce5efb/mesh/flashlight_013.glb filter=lfs diff=lfs merge=lfs -text
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+dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mesh/alarm_clock_009.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/alarm_clock_013.urdf b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/alarm_clock_013.urdf
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mesh/alarm_clock_013.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mesh/alarm_clock_013.obj
new file mode 100644
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mesh/alarm_clock_013_collision.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mesh/alarm_clock_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42064119e3f2168c3966671f58b494879762d64c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mesh/alarm_clock_013_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mesh/alarm_clock_013_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mesh/alarm_clock_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..515c06bafd4283e561b8c4e538bb7c2044193d85
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mesh/alarm_clock_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f29bf7d6438b11a1944e216a13bb2d560e76635f816879948de954d8233eabc7
+size 11064242
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a399976cffad1d14c745c9eb04cdac0ab00e54dc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl alarm_clock_013_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd alarm_clock_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..515c06bafd4283e561b8c4e538bb7c2044193d85
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f29bf7d6438b11a1944e216a13bb2d560e76635f816879948de954d8233eabc7
+size 11064242
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/alarm_clock_013.xml b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/alarm_clock_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..485a83302e66355e2fd02e56e5658286545042f2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/alarm_clock_013.xml
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c481752c6e66a72fbccd46a663152106ed2beb74
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013.obj
@@ -0,0 +1,112916 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e22d6c8e7768f00954577baa2aa87ea183f1b68e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision.obj
@@ -0,0 +1,35908 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_0.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9c19e62e29a43f4f8760f4e1f5cb2232a4a20b8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_1.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2800b9c9b66e05c17fa4fb02fb45a3137b07fc1a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_10.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1e8582c629f87c91b775a5ab6deeeda1461741f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_10.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_11.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2c85363b24f6a6f751a5cc1d2c8e96d9e221645
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_11.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_12.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21a8d70ae1878adbdbba6d3555444d7c8c478578
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_12.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_13.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9463216dea73ebb9480262707993bdaf7c979a99
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_13.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_14.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3029c824d70c5b3fdb96fd916431ab726bb37050
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_14.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_15.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09d591f7b5bb137063ca12a82e12b0754df89280
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_15.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.04565937 -0.03386467 0.01545638
+v -0.04507491 -0.03385234 0.01825534
+v -0.04565937 -0.03385662 0.01546850
+v -0.04565937 -0.03385233 0.01545638
+v -0.04443028 -0.03559058 0.01545637
+v -0.04443028 -0.03558897 0.01546849
+v -0.04427557 -0.03538068 0.01712483
+v -0.04565937 -0.03385233 0.01546850
+v -0.04498895 -0.03398171 0.01824473
+v -0.04420680 -0.03385235 0.02140889
+v 0.03860666 -0.03385233 0.01545638
+v -0.04325275 -0.03706417 0.01545636
+v -0.04152514 -0.03852596 0.01780979
+v -0.04277143 -0.03679791 0.01845838
+v -0.04401771 -0.03504410 0.01910547
+v -0.04367391 -0.03458673 0.02140888
+v -0.04320978 -0.03385236 0.02426089
+v 0.03860666 -0.03385233 0.01546850
+v 0.04213064 -0.03933661 0.03093775
+v 0.04202750 -0.03933661 0.03037098
+v 0.03860666 -0.03385662 0.01545638
+v -0.04179159 -0.03882443 0.01545636
+v -0.04131886 -0.03933656 0.01546091
+v -0.04060547 -0.03933657 0.01845080
+v -0.04125870 -0.03821621 0.01979042
+v -0.04221275 -0.03643610 0.02140888
+v -0.04167986 -0.03579031 0.02437908
+v -0.04315821 -0.03385236 0.02439576
+v 0.04147741 -0.03837999 0.03093775
+v 0.03813393 -0.03385234 0.01836596
+v -0.03505306 -0.03933661 0.03093775
+v 0.03812534 -0.03933656 0.01545788
+v 0.03806517 -0.03933656 0.01545636
+v -0.04054531 -0.03933656 0.01545636
+v -0.04048514 -0.03933657 0.01886754
+v -0.03972878 -0.03933658 0.02123309
+v -0.04098366 -0.03790325 0.02140887
+v -0.04041638 -0.03725799 0.02437907
+v -0.04135324 -0.03539843 0.02599602
+v -0.04201506 -0.03385237 0.02712349
+v 0.03591641 -0.03385238 0.03093777
+v -0.03580943 -0.03864572 0.03093775
+v -0.03545703 -0.03933661 0.03031946
+v -0.03911852 -0.03933658 0.02286669
+v -0.03895522 -0.03890069 0.02437907
+v -0.03855125 -0.03846480 0.02625666
+v -0.03971159 -0.03666374 0.02711742
+v -0.04088052 -0.03481114 0.02797665
+v -0.04037341 -0.03385238 0.03040434
+v -0.04006398 -0.03385238 0.03093777
+v -0.03725340 -0.03710126 0.03093775
+v -0.03745968 -0.03729344 0.03031946
+v -0.03805274 -0.03792904 0.02823729
+v -0.03598992 -0.03882985 0.03031946
+v -0.03649703 -0.03933660 0.02848582
+v -0.03853406 -0.03933659 0.02437907
+v -0.03732216 -0.03933660 0.02697193
+v -0.03708150 -0.03933660 0.02744322
+v -0.03879191 -0.03582576 0.03031947
+v -0.03862001 -0.03563035 0.03093776
+f 1 2 3
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+f 1 8 4
+f 1 4 11
+f 1 11 21
+f 1 21 33
+f 1 33 34
+f 1 34 22
+f 1 22 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 10
+f 2 10 17
+f 2 17 28
+f 2 28 40
+f 2 40 49
+f 2 49 50
+f 2 50 41
+f 2 41 30
+f 2 30 18
+f 2 18 11
+f 2 11 4
+f 2 4 8
+f 5 12 6
+f 6 12 7
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+f 39 47 48
+f 39 48 40
+f 40 48 49
+f 42 51 52
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+f 42 53 54
+f 42 54 43
+f 43 54 55
+f 44 56 45
+f 45 56 46
+f 46 56 57
+f 46 57 58
+f 46 58 53
+f 46 53 47
+f 47 53 48
+f 48 53 59
+f 48 59 49
+f 49 59 60
+f 49 60 50
+f 51 60 52
+f 52 60 59
+f 52 59 53
+f 53 58 54
+f 54 58 55
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_16.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c73cf62498e114e2e1ce0160cf0a7ee58a8afe0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_16.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01038741 -0.01454049 0.06956189
+v -0.00971749 -0.01454049 0.07074956
+v -0.00946417 -0.01444288 0.07092737
+v -0.01007215 -0.01434078 0.06956189
+v 0.01836255 -0.01454049 0.06956189
+v -0.00952891 -0.01454049 0.07099340
+v -0.00387968 -0.01157261 0.07089062
+v -0.00799486 -0.01454050 0.07243691
+v 0.00118970 -0.01036864 0.07456392
+v -0.00506188 -0.01190097 0.06956190
+v 0.01817396 -0.01434568 0.06956189
+v 0.01789530 -0.01454049 0.07058825
+v -0.00406264 -0.01145867 0.06956190
+v -0.00649178 -0.01454050 0.07371011
+v 0.00044660 -0.01036863 0.07197701
+v -0.00237379 -0.01094367 0.06956190
+v -0.00647771 -0.01454050 0.07371987
+v -0.00460308 -0.01454050 0.07486477
+v -0.00259897 -0.01454051 0.07596542
+v -0.00093263 -0.01454051 0.07655287
+v 0.00420149 -0.01036865 0.07554603
+v 0.01776300 -0.01451231 0.07081633
+v 0.01778271 -0.01454049 0.07083509
+v 0.01231644 -0.01150604 0.06956190
+v 0.01216726 -0.01160161 0.07084110
+v 0.00093074 -0.01036863 0.06956190
+v -0.00161943 -0.01078807 0.06956190
+v -0.00086226 -0.01454051 0.07657313
+v 0.00420149 -0.01454051 0.07722586
+v 0.00681077 -0.01454051 0.07699628
+v 0.00713447 -0.01454051 0.07696552
+v 0.00443793 -0.01036865 0.07549801
+v -0.00049916 -0.01454051 0.07665041
+v 0.00126851 -0.01454051 0.07701279
+v 0.01584052 -0.01401120 0.07184795
+v 0.01625148 -0.01454050 0.07227485
+v 0.01772078 -0.01454049 0.07089886
+v 0.00650678 -0.01036864 0.07474324
+v 0.00953546 -0.01066023 0.06956190
+v 0.00747224 -0.01036863 0.06956190
+v 0.00860940 -0.01454051 0.07664816
+v 0.00927650 -0.01454051 0.07648160
+v 0.01488069 -0.01454050 0.07350829
+v 0.00735402 -0.01036863 0.07209329
+v 0.01086403 -0.01454051 0.07587989
+v 0.01207437 -0.01454051 0.07523691
+v 0.01300606 -0.01454050 0.07470347
+v 0.01458795 -0.01454050 0.07372137
+f 1 2 3
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+f 1 16 27
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+f 1 39 24
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+f 1 33 28
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+f 1 20 19
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+f 1 17 14
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+f 1 6 2
+f 2 6 3
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+f 38 47 48
+f 38 48 43
+f 39 40 44
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_17.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e18c160b1cf1fc443a83a8226502547f52bfa374
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_17.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00047424 0.04541257 0.08685354
+v 0.00064895 0.04473438 0.08685353
+v 0.00126632 0.04541257 0.08740402
+v 0.00123179 0.04695992 0.08685354
+v 0.00124215 0.04372146 0.08685353
+v 0.00420124 0.04247763 0.08738746
+v 0.00420124 0.04541257 0.08809746
+v 0.00420124 0.04834897 0.08716234
+v 0.00309633 0.04838600 0.08685355
+v 0.00253420 0.04245221 0.08685353
+v 0.00358249 0.04156491 0.08685352
+v 0.00420124 0.04135288 0.08685352
+v 0.00563624 0.04249578 0.08685353
+v 0.00713684 0.04541257 0.08714625
+v 0.00513558 0.04834824 0.08685355
+v 0.00457967 0.04868588 0.08685355
+v 0.00420124 0.04877011 0.08685355
+v 0.00713339 0.04631731 0.08685354
+v 0.00713961 0.04442070 0.08685353
+v 0.00752909 0.04541257 0.08685354
+v 0.00746556 0.04578144 0.08685354
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 16
+f 1 16 15
+f 1 15 18
+f 1 18 21
+f 1 21 20
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+f 1 13 12
+f 1 12 11
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+f 1 10 5
+f 1 5 2
+f 2 5 3
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+f 8 17 9
+f 8 14 18
+f 8 18 15
+f 13 19 14
+f 14 20 21
+f 14 21 18
+f 14 19 20
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_18.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99437bcc9d951d549d6002277f3468a3ea28e937
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_18.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00420076 -0.00449720 0.08208628
+v 0.00126691 -0.00449720 0.08161181
+v 0.00126691 -0.00717155 0.08047405
+v 0.00420076 -0.00729054 0.08070822
+v 0.00713676 -0.00669363 0.08001552
+v 0.00713676 -0.00449720 0.08070455
+v 0.00420076 0.00431001 0.08207775
+v 0.00126691 0.00431001 0.08160695
+v -0.00091702 -0.00449719 0.08014548
+v -0.00067532 -0.00668387 0.07987576
+v -0.00091702 0.00431002 0.08014430
+v 0.00114066 -0.00866184 0.07785647
+v 0.00420076 -0.00875742 0.07858596
+v 0.00864307 -0.00605966 0.07939025
+v 0.00650878 -0.01036864 0.07474357
+v 0.00866465 -0.00449719 0.07942090
+v 0.00713676 0.00431001 0.08069233
+v 0.00713676 0.00649281 0.08001189
+v 0.00420076 0.00708385 0.08070460
+v 0.00126691 0.00697461 0.08047166
+v -0.00067964 0.00649476 0.07987580
+v -0.00197014 -0.00449719 0.07785035
+v -0.00197338 0.00431002 0.07785039
+v -0.00108103 -0.00720080 0.07785034
+v 0.00118814 -0.01036864 0.07456457
+v 0.00420076 -0.01036865 0.07554662
+v 0.00444030 -0.01036865 0.07549881
+v 0.00882651 -0.00645955 0.07785035
+v 0.00904986 -0.00449719 0.07785035
+v 0.00735473 -0.01036863 0.07209290
+v 0.00865926 0.00431002 0.07941236
+v 0.00863984 0.00586860 0.07938538
+v 0.00650554 0.00955925 0.07532847
+v 0.00420076 0.00855270 0.07849407
+v 0.00115469 0.00846687 0.07782343
+v 0.00095939 0.00955926 0.07466887
+v -0.00108751 0.00701363 0.07785040
+v -0.00165075 -0.00156144 0.07488092
+v -0.00164536 -0.00449718 0.07488091
+v -0.00091702 -0.00700962 0.07488090
+v -0.00091810 0.00681467 0.07488096
+v -0.00164752 0.00431003 0.07488095
+v -0.00165183 0.00137430 0.07488094
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+v 0.00886103 -0.00652781 0.07571829
+v 0.00747234 -0.01036863 0.06956237
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+v 0.00897541 0.00431003 0.07538975
+v 0.00903044 0.00431002 0.07785039
+v 0.00881248 0.00624117 0.07785039
+v 0.00719935 0.00955926 0.07288131
+v 0.00622499 0.00955925 0.07546824
+v 0.00420076 0.00955925 0.07625045
+v 0.00305808 0.00955925 0.07611436
+v 0.00160033 0.00955925 0.07560555
+v 0.00130683 0.00955927 0.07206233
+v -0.00027285 -0.00161409 0.06956240
+v 0.00093026 -0.01036863 0.06956237
+v -0.00045412 0.00623144 0.07314366
+v -0.00024156 0.00142308 0.06956242
+v 0.00751334 -0.00156142 0.06956240
+v 0.00728783 0.00162985 0.06956242
+v 0.00884593 0.00630360 0.07572078
+v 0.00695225 0.00955926 0.07250002
+v 0.00327388 0.00955927 0.07079584
+v 0.00136726 0.00428079 0.06956243
+v 0.00724790 0.00174299 0.06956242
+v 0.00420076 0.00955927 0.07076886
+v 0.00635663 0.00354735 0.06956242
+v 0.00440901 0.00465727 0.06956243
+v 0.00473056 0.00455388 0.06956243
+f 1 2 3
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+f 1 5 6
+f 1 6 7
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+f 2 9 10
+f 2 10 3
+f 2 8 11
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+f 39 44 40
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_19.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcf3094dbf51b46f6ab59520914f0a2f79c2055f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_19.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00366213 0.03131384 0.09808579
+v 0.00179518 0.03121398 0.09808578
+v 0.00433932 0.03097125 0.09808578
+v 0.00278953 0.03221956 0.09719631
+v 0.00268882 0.03221956 0.09719631
+v 0.00121194 0.03083393 0.09808578
+v 0.00474593 0.03175353 0.09618039
+v 0.00602965 0.02981031 0.09808578
+v 0.00567339 0.03220432 0.09420022
+v 0.00393646 0.03625999 0.08685350
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_2.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f59af09d0cf48c7812e44d12c861367563b2b92d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_2.obj
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_20.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b8bd0db26139b6ebf8a1a54c26b60133a607308
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_20.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_21.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8da1397cbf323ea1650b5e56f3883ebf973b026f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_21.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00350526 -0.02302007 0.09701912
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+v 0.00503777 -0.02403037 0.09701911
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_22.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fcf4d0e0b32e20c13fc2a17a3e033bcc5fc3d0e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_22.obj
@@ -0,0 +1,1966 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_23.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a227c3fdfcb5021ef9640cd095f3b304c6b75e8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_23.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_24.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c8ae8eea3399dc042a4c5e7629c0af91f40e224
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_24.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_25.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d34f7d8c2d46da529a9f631067e0a725ebde7c1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_25.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01877671 0.00944434 0.06496573
+v 0.01594163 0.00944434 0.06581070
+v 0.01516116 -0.01290282 0.06956114
+v 0.01894681 0.00902253 0.06496573
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+v 0.01516116 -0.01871981 0.06956112
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+v 0.00132934 0.00944433 0.06706846
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_26.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..283a3476139c933fc3118d83ad51289b3f5c5ff8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_26.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01076068 0.03047732 0.07382623
+v -0.01514095 0.03047733 0.06956130
+v -0.01830220 0.03047732 0.07382623
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_27.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3f5bd71b883c74b5ca610c4cd4fcfb68f16a0fd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_27.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.02017377 -0.05520782 0.06002646
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+v 0.02171025 -0.05404089 0.06002646
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_28.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..834e5c64999b07a9e670719965695ac1d880ee05
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_28.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_29.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..241b1664ddc4f85c34014b6046e1e08abd235bbe
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_29.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_3.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e843ecfb00822dddecb7483618dd67a158dc12d2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_3.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_30.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2055d73d8d926fb03c5605cdc242d9c6cb3155a8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_30.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_31.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d98887141d3c2abea5677461384c8cfd1a0e03d3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_31.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_32.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf2d4ffb3fc6615fb441834f6b8e498889e196a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_32.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_33.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd6bbdf37b50180af05239e66368993c2ac96d28
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_33.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_34.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d2a0e3885ea85ae9f79e8fbc39f3b5a5b68dd1b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_34.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_35.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43e04beb27de8d3b84a472ac71962b49da111366
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_35.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_36.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7586fd52611f55f6933e8a2ea6506488eb5600e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_36.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.03880584 -0.02218042 0.05421715
+v 0.03707670 -0.02218042 0.05541891
+v 0.03062706 -0.03376859 0.06046505
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+v 0.02723626 -0.02271130 0.06046509
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+v 0.02992665 -0.03376858 0.05699615
+v 0.03649119 -0.02511036 0.05421714
+v 0.02017377 -0.03360863 0.05421711
+v 0.02017377 -0.02218044 0.06046509
+v 0.02543781 -0.02218044 0.06046509
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+v 0.02800964 -0.03376858 0.05622371
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_37.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bed2b857fc697b688800d33ff99aa6189afe8e6b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_37.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01516491 -0.01871992 0.06956112
+v 0.01516491 -0.01290301 0.06956114
+v 0.01516491 -0.01686292 0.06461147
+v 0.02326612 -0.03471952 0.06955670
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_38.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ba3ae0009c7942ad648d8d6d2a1a8d40b61f138
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_38.obj
@@ -0,0 +1,2572 @@
+# https://github.com/mikedh/trimesh
+v -0.01088166 0.03271106 -0.04400202
+v -0.02291517 0.03271104 -0.03689546
+v -0.02062670 0.03505748 -0.03644694
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_39.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52e27462df90bd40ffe76e4b5b3c80052c22eeaf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_39.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_4.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec974b4d580ac72777282e7d4dfec2044f41059e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_4.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.04689282 0.02913652 -0.05998104
+v 0.04689282 0.02913652 -0.06026402
+v 0.04681579 0.02933441 -0.06012642
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_40.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0964ce8d1841da98ca1e4788a02bbbe1a02d06ca
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_40.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00420239 0.05978594 0.06046539
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_41.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d64391f2df86820b94f0fbbc6af947f590a923d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_41.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v -0.04777166 0.02166771 -0.01722427
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_42.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f225acd7724a57a73405c4520ae1fb86b280c6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_42.obj
@@ -0,0 +1,115 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_43.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e60f9b377e35eb65eeaeb450ad25c987974fc31
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_43.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_44.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..548c4346bb2a635b3ea744d0e99608045e382102
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_44.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_45.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11c6297bc9b53ba037ead1b9a3f17cc75c5c6396
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_45.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_46.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64cbb3b39a8d36fcc200a04b5ad7a5a2ae4c2ca8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_46.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_47.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb3da6dd35ea45e1730079d73cb9682cfad2d14e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_47.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00122492 0.06006982 0.05705703
+v 0.00122492 0.05979245 0.06002688
+v 0.00122492 0.05972103 0.05425781
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+v -0.00393877 0.05886687 0.06002688
+v -0.00212341 0.05919991 0.06046539
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+v -0.01022304 0.05629710 0.05705702
+v -0.00965826 0.05609644 0.05421744
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_48.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7faafaaeab9ae3dc269b0a2be6de783ac78b8b23
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_48.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.02116743 -0.04091964 0.05421708
+v -0.01647480 -0.04091964 0.05421708
+v -0.02092104 -0.04091963 0.05295158
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_49.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75b0190e083d92ac51efa49a3ad40d6f1d2dd121
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_49.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.02177217 0.02679573 0.06956129
+v 0.02362454 0.02679575 0.06547464
+v 0.02756749 0.02679573 0.06956129
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_5.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b073a230dc4d15bac9008a71bf2dacba4a65f43
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_5.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_50.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab0360b94665623da6503b7ab44412e527e278a0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_50.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01093283 -0.00959570 0.06461149
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_51.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0237d6cc6666673efcdae5b3799d53d658f6dee4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_51.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+v -0.00027439 0.03498792 0.06496541
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_52.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9808a73b1ed83b24bcba7865dfc22f69f9590ca
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_52.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_53.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..632e6c932df4e5f7a4236eec66ea8cab49a2e49d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_53.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.00423525 0.05986002 0.05421566
+v 0.00423525 0.05855126 0.05421745
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_54.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60619a1dac80933b0a23a8372ca70b4f7064c579
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_54.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02214385 -0.04441200 0.06461137
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_55.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4153d17e374ca3558adc7ab5c44166e738ec92f1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_55.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_56.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f31bad2bb5b7ab72305d34ad89665d16b082e312
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_56.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_57.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebfcfd08eb2501eeb9d094996d661086c62289b6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_57.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.04220569 -0.02425472 -0.01689604
+v 0.04211894 -0.02425473 -0.01423779
+v 0.04871187 -0.03626749 -0.01689608
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_58.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4c8fd231513dca35a56052115515740e6a5baea
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_58.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.02099647 0.03367082 0.06956131
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+v -0.02084782 0.03660736 0.06956132
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_59.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc1c51ad64db104cd1b3e8200e4b13fa02abf88a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_59.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_6.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c527c4f81fec456322c008383e5730949569816e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_6.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_60.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aded3f2832b6895930f821e1dc5acfda3e894cbd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_60.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.00414789 -0.01454091 0.07370095
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_61.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2ff9c1c4a2ea2d25d21dd99eb1b3ea8552d4081
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_61.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00420122 0.05902695 0.06275682
+v 0.00126899 0.05890922 0.06275682
+v 0.00420122 0.05839772 0.06406049
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_62.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ec6361447f5748a0750c082237cd1fbe2c41bc6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_62.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+f 19 42 55
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+f 19 63 75
+f 19 75 76
+f 19 76 67
+f 19 67 64
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+f 19 45 44
+f 19 44 43
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+f 19 36 24
+f 19 24 22
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+f 19 21 20
+f 23 27 28
+f 24 36 25
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+f 25 38 26
+f 26 38 39
+f 26 39 27
+f 29 40 41
+f 29 41 34
+f 29 34 33
+f 29 33 32
+f 29 32 31
+f 30 34 35
+f 34 41 42
+f 34 42 35
+f 36 43 37
+f 37 43 44
+f 37 44 45
+f 37 45 46
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+f 37 47 48
+f 37 48 49
+f 37 49 38
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+f 38 50 51
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+f 41 54 55
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+f 47 58 59
+f 47 59 48
+f 47 56 57
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+f 49 60 50
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+f 53 62 54
+f 54 62 73
+f 54 73 77
+f 54 77 74
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+f 54 63 55
+f 56 64 57
+f 57 65 66
+f 57 66 58
+f 57 64 67
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+f 57 68 69
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+f 57 70 71
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+f 58 66 59
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+f 61 71 62
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+f 67 76 68
+f 68 73 69
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+f 73 76 77
+f 74 77 76
+f 74 76 75
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_63.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f267c973e5f4e6cc88deeb661337d0a30516ca
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_63.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.02236396 0.03820987 0.06002680
+v -0.02234851 0.03820987 0.06046531
+v -0.02216787 0.03954134 0.06002681
+v -0.02204903 0.03954135 0.05705696
+v -0.02218570 0.03820988 0.05705695
+v -0.01738685 0.03820987 0.06046531
+v -0.02215242 0.03954134 0.06046532
+v -0.02142629 0.04247873 0.06002682
+v -0.02098658 0.04171209 0.05421738
+v -0.02131696 0.03973967 0.05421738
+v -0.02116722 0.04265049 0.05709612
+v -0.02129913 0.03874992 0.05421737
+v -0.02132766 0.03820989 0.05436537
+v -0.01732862 0.03820987 0.05856267
+v -0.01022304 0.04933619 0.05421741
+v -0.01022304 0.05014001 0.06046535
+v -0.02139777 0.04251414 0.06046533
+v -0.02131458 0.04279389 0.06046533
+v -0.02085466 0.04418734 0.06046533
+v -0.02085823 0.04419619 0.06002682
+v -0.02080475 0.04407403 0.05811195
+v -0.02067284 0.04374470 0.05613226
+v -0.02050765 0.04317636 0.05421739
+v -0.02011784 0.03820989 0.05421737
+v -0.01733575 0.03820988 0.05705695
+v -0.01739160 0.03820989 0.05570963
+v -0.01739754 0.03820989 0.05562585
+v -0.01746647 0.03820989 0.05475556
+v -0.01718363 0.03922797 0.05421737
+v -0.01022304 0.05572089 0.05421743
+v -0.01022304 0.05615289 0.06046538
+v -0.02030205 0.04537893 0.06046534
+v -0.02017726 0.04566400 0.06002683
+v -0.02013092 0.04519657 0.05709613
+v -0.01950699 0.04540374 0.05421740
+v -0.01838869 0.03820989 0.05421737
+v -0.01112624 0.05512598 0.05421743
+v -0.01158497 0.05544290 0.05705701
+v -0.01022304 0.05629809 0.05705702
+v -0.01022304 0.05625735 0.06002687
+v -0.01122131 0.05557214 0.06046537
+v -0.02017964 0.04560557 0.06046534
+v -0.01870956 0.04828091 0.06002684
+v -0.01856457 0.04807376 0.05705699
+v -0.01943807 0.04553122 0.05421740
+v -0.01301345 0.05364931 0.05421743
+v -0.01341158 0.05409548 0.06002686
+v -0.01158141 0.05546590 0.06002686
+v -0.01477707 0.05265070 0.05606318
+v -0.01364332 0.05378564 0.05705457
+v -0.01497435 0.05284369 0.05804288
+v -0.01188089 0.05514897 0.06046537
+v -0.01869411 0.04824549 0.06046535
+v -0.01788836 0.04949730 0.06046535
+v -0.01776477 0.04974872 0.06002684
+v -0.01762097 0.04954157 0.05705699
+v -0.01827579 0.04760280 0.05421740
+v -0.01447403 0.05235148 0.05421742
+v -0.01498267 0.05285076 0.06002685
+v -0.01382396 0.05373960 0.06046537
+v -0.01595718 0.05151753 0.05705456
+v -0.01579555 0.05089076 0.05421742
+v -0.01640046 0.05128380 0.06002685
+v -0.01773387 0.04971331 0.06046535
+v -0.01599639 0.05169635 0.06046536
+v -0.01727157 0.04907060 0.05421741
+v -0.01496603 0.05283306 0.06046536
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 24
+f 1 24 36
+f 1 36 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 14
+f 1 14 6
+f 1 6 2
+f 2 6 16
+f 2 16 31
+f 2 31 41
+f 2 41 52
+f 2 52 60
+f 2 60 67
+f 2 67 65
+f 2 65 64
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+f 2 54 53
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+f 2 18 17
+f 2 17 7
+f 3 7 8
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 11
+f 4 11 9
+f 5 10 12
+f 5 12 13
+f 6 14 15
+f 6 15 16
+f 7 17 8
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+f 8 20 21
+f 8 21 11
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+f 9 22 23
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+f 9 37 30
+f 9 30 15
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+f 9 36 24
+f 9 24 12
+f 9 12 10
+f 11 21 22
+f 12 24 13
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 30 39
+f 15 39 40
+f 15 40 31
+f 15 31 16
+f 19 32 20
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 22 35 23
+f 28 36 29
+f 30 37 38
+f 30 38 39
+f 31 40 41
+f 32 42 33
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 34 44 45
+f 34 45 35
+f 37 46 38
+f 38 47 48
+f 38 48 39
+f 38 46 49
+f 38 49 50
+f 38 50 51
+f 38 51 47
+f 39 48 40
+f 40 48 41
+f 41 48 52
+f 42 53 43
+f 43 53 54
+f 43 54 55
+f 43 55 56
+f 43 56 44
+f 44 57 45
+f 44 56 57
+f 46 58 49
+f 47 51 59
+f 47 59 60
+f 47 60 48
+f 48 60 52
+f 49 61 51
+f 49 51 50
+f 49 58 62
+f 49 62 56
+f 49 56 61
+f 51 61 56
+f 51 56 55
+f 51 55 63
+f 51 63 59
+f 54 64 55
+f 55 64 65
+f 55 65 63
+f 56 62 66
+f 56 66 57
+f 59 63 65
+f 59 65 67
+f 59 67 60
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_64.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..785e3ba8d8b94c2e3758947e785abbd233caeb9e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_64.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01732906 0.03820987 0.05856267
+v -0.01501277 0.03177815 0.05421735
+v -0.01733731 0.03820988 0.05705695
+v -0.01738758 0.03820987 0.06046531
+v -0.01746712 0.03820989 0.05475556
+v -0.01739208 0.03820989 0.05570963
+v -0.01501277 0.03160663 0.05433783
+v -0.01501277 0.03120118 0.05421734
+v -0.01838928 0.03820989 0.05421737
+v -0.01792407 0.03120116 0.06046528
+v -0.01501277 0.03120118 0.05462160
+v -0.01501277 0.03144815 0.05444914
+v -0.02234880 0.03820987 0.06046531
+v -0.01618254 0.03120118 0.05421734
+v -0.02011730 0.03820989 0.05421737
+v -0.02218748 0.03120116 0.06046528
+v -0.02236381 0.03820987 0.06002680
+v -0.02259941 0.03660519 0.06002679
+v -0.02252063 0.03703809 0.06046531
+v -0.02141088 0.03120117 0.05775046
+v -0.02111225 0.03462046 0.05528885
+v -0.02141313 0.03660521 0.05480631
+v -0.02132759 0.03820989 0.05436537
+v -0.02265344 0.03366957 0.06046529
+v -0.02227977 0.03120116 0.06045916
+v -0.02218598 0.03820988 0.05705695
+v -0.02267745 0.03366957 0.06002678
+v -0.02257615 0.03660519 0.06046530
+v -0.02235105 0.03660520 0.05705694
+v -0.02230303 0.03120116 0.06002677
+v -0.02173728 0.03365312 0.05695052
+v -0.02264218 0.03410316 0.06046530
+f 1 2 3
+f 1 3 6
+f 1 6 5
+f 1 5 9
+f 1 9 15
+f 1 15 23
+f 1 23 26
+f 1 26 17
+f 1 17 13
+f 1 13 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 7
+f 2 7 12
+f 2 12 11
+f 2 11 8
+f 2 8 14
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+f 4 12 7
+f 4 13 19
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+f 4 16 10
+f 8 11 10
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+f 8 30 20
+f 8 20 14
+f 13 17 18
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+f 24 32 27
+f 24 27 25
+f 25 27 30
+f 27 32 28
+f 27 29 30
+f 29 31 30
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_65.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534ab6146a77e664cacb08fdb6499f270ee24ac5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_65.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.02017377 -0.02218044 0.06046509
+v 0.02017377 -0.02304850 0.06046509
+v 0.02017377 -0.02218042 0.05421715
+v -0.01526486 -0.02218044 0.06046509
+v 0.02017377 -0.02603733 0.05896241
+v 0.00630150 -0.03889983 0.06046503
+v 0.02017377 -0.03360809 0.05421711
+v -0.01526486 -0.02218042 0.05421715
+v -0.01526486 -0.02254809 0.06046509
+v 0.02017377 -0.03067204 0.05619620
+v 0.01881048 -0.03414254 0.05421710
+v 0.01979913 -0.03376128 0.05421711
+v 0.02017377 -0.03203708 0.05534365
+v 0.02017377 -0.03171540 0.05555159
+v 0.00419933 -0.03956875 0.06046502
+v 0.01594167 -0.03505655 0.05421710
+v -0.01526486 -0.03171880 0.05421711
+v -0.01526486 -0.02356422 0.06019782
+v 0.00186474 -0.03895600 0.06046503
+v 0.00237467 -0.03916195 0.06046503
+v 0.00087609 -0.03771007 0.05421709
+v 0.00126808 -0.03777305 0.05421709
+v 0.00334250 -0.03800793 0.05421709
+v 0.00419933 -0.03806750 0.05421709
+v 0.00713405 -0.03771518 0.05421709
+v 0.01019365 -0.03683180 0.05421709
+v -0.01457801 -0.03208474 0.05421711
+v -0.01526486 -0.02463482 0.05963271
+v -0.01332226 -0.03268047 0.05421711
+v -0.01236137 -0.03313492 0.05421711
+v -0.01059568 -0.03389574 0.05421711
+v -0.01033898 -0.03399616 0.05421711
+v -0.00841719 -0.03466337 0.05421710
+v -0.00167358 -0.03696286 0.05421709
+f 1 2 5
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+f 1 7 3
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+f 20 31 32
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+f 20 33 34
+f 20 34 21
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_66.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d038b3df9c9f6679915d07c62f23802670fb8fe
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_66.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.01304399 0.04364986 0.06956135
+v 0.02470090 0.03809869 0.06496542
+v 0.02197051 0.03809867 0.06956133
+v 0.01304399 0.05232754 0.06956138
+v 0.01304399 0.05009770 0.06497131
+v 0.02988633 0.03809869 0.06496542
+v 0.01304399 0.05016265 0.06496546
+v 0.02843375 0.03809867 0.06956133
+v 0.01508683 0.05175023 0.06956138
+v 0.01594420 0.05164017 0.06944666
+v 0.01304399 0.05371128 0.06834898
+v 0.02968353 0.03955820 0.06496543
+v 0.02984346 0.03809869 0.06523715
+v 0.01304399 0.05652748 0.06496549
+v 0.02865634 0.03809868 0.06920143
+v 0.02806937 0.03955818 0.06956134
+v 0.01594420 0.05150487 0.06956138
+v 0.01819314 0.05061184 0.06956138
+v 0.01774303 0.05291748 0.06762737
+v 0.01594420 0.05326748 0.06796119
+v 0.01304399 0.05517981 0.06683606
+v 0.02931256 0.04151563 0.06496543
+v 0.02930431 0.04148857 0.06508735
+v 0.02951206 0.03956541 0.06603388
+v 0.02972145 0.03809869 0.06600148
+v 0.01304399 0.05632001 0.06535373
+v 0.01492030 0.05602414 0.06496549
+v 0.02913943 0.03809868 0.06823510
+v 0.02926804 0.03860382 0.06775104
+v 0.02851619 0.03956540 0.06882039
+v 0.02703558 0.04230761 0.06956135
+v 0.01917582 0.05014097 0.06956137
+v 0.02120218 0.05044587 0.06809074
+v 0.01969848 0.05240332 0.06697820
+v 0.01878506 0.05357779 0.06598040
+v 0.01672572 0.05528987 0.06496548
+v 0.01609919 0.05486952 0.06592326
+v 0.01997713 0.04968274 0.06956137
+v 0.01515278 0.05595197 0.06496549
+v 0.02878330 0.04281097 0.06496544
+v 0.02904545 0.04055946 0.06706769
+v 0.02867777 0.04247180 0.06603389
+v 0.02929937 0.03809868 0.06784011
+v 0.02915097 0.03809868 0.06820901
+v 0.02722025 0.04256380 0.06907279
+v 0.02665966 0.04303105 0.06956135
+v 0.02247009 0.04799771 0.06956137
+v 0.02315599 0.04971522 0.06731785
+v 0.02079658 0.05307806 0.06499787
+v 0.02080647 0.05308527 0.06496547
+v 0.01527809 0.05590868 0.06496549
+v 0.02847167 0.04350735 0.06496544
+v 0.02749889 0.04551892 0.06496545
+v 0.02716089 0.04557845 0.06608654
+v 0.02668274 0.04471067 0.06817169
+v 0.02618975 0.04393129 0.06956135
+v 0.02349234 0.04713897 0.06956136
+v 0.02409745 0.04775778 0.06833456
+v 0.02605455 0.04666811 0.06715589
+v 0.02382869 0.05036831 0.06533797
+v 0.02390289 0.05045310 0.06496547
+v 0.02654424 0.04736269 0.06496545
+v 0.02651786 0.04731759 0.06517509
+v 0.02536701 0.04498669 0.06956136
+v 0.02447007 0.04603667 0.06956136
+v 0.02503725 0.04573359 0.06924330
+f 1 2 3
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+f 1 31 46
+f 1 46 56
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+f 1 64 65
+f 1 65 57
+f 1 57 47
+f 1 47 38
+f 1 38 32
+f 1 32 18
+f 1 18 17
+f 1 17 9
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+f 1 14 7
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+f 1 5 2
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_67.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f717b61c74d7140d3486f375b65cdd31cfbb5cb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_67.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_68.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13ea23ba098b7f6a00fc1697e9b1bc47f6ba51ad
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_68.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_69.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..533e043db1d28d76bebd5d0b10ffc2c5f3e1b6eb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_69.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_7.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8730be5aca30ebdfbff613b2aa33c8a7de9599e2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_7.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_70.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a75f2f8937794d3c45f23aaf99ba96cd56cffc5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_70.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_71.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e42e96f70dd84ce8f930e0b80991f1f8515720e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_71.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_72.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bb2e726b75d9d4db0b9d6437a5c6ff18186aefa
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_72.obj
@@ -0,0 +1,592 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_73.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b632ee63005055f752e5cd5c67ae44fe7a82e65
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_73.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_74.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43a7e6c655f576514e0af82155b9ad86e7fff2a0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_74.obj
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+v -0.02407505 -0.00155828 0.06046516
+v -0.02283554 -0.00155828 0.06110979
+v -0.02136105 -0.00155829 0.06179906
+v -0.01927563 -0.00155829 0.06268997
+v -0.01910527 -0.00155829 0.06275659
+v 0.02830152 0.00134532 0.06275660
+v 0.03593242 0.00134877 0.06046517
+v -0.02391644 -0.00293096 0.06046516
+v -0.02372258 -0.00449630 0.06046515
+v -0.02264168 -0.00449630 0.06102163
+v -0.02117307 -0.00449631 0.06171157
+v -0.01927563 -0.00449631 0.06251994
+v -0.01866468 -0.00449631 0.06275658
+v 0.02829564 -0.00102505 0.06275660
+v 0.03589718 -0.00152388 0.06046516
+v 0.02828977 -0.00152045 0.06275659
+v -0.02349935 -0.00543550 0.06046515
+v -0.02203662 -0.00752720 0.06095321
+v -0.02093809 -0.00661209 0.06160256
+v -0.01950473 -0.00752721 0.06207784
+v -0.01777177 -0.00747561 0.06275657
+v 0.02783156 -0.00434838 0.06275658
+v 0.02780807 -0.00449287 0.06275658
+v 0.03573857 -0.00230827 0.06046516
+v -0.02298828 -0.00751688 0.06046514
+v -0.02274742 -0.00827719 0.06046514
+v -0.02216585 -0.00959482 0.06053376
+v -0.02063850 -0.00856962 0.06146641
+v -0.01897015 -0.00959483 0.06195402
+v -0.01813011 -0.00959483 0.06227993
+v -0.01742517 -0.00832192 0.06275657
+v 0.02768470 -0.00488506 0.06275658
+v 0.03528036 -0.00449286 0.06046515
+v -0.02230096 -0.00959482 0.06046513
+v -0.02153141 -0.00959482 0.06084621
+v -0.02040939 -0.00959483 0.06136905
+v -0.02142567 -0.00959482 0.06089645
+v -0.01687885 -0.00959483 0.06275656
+v -0.01730769 -0.00860059 0.06275657
+v 0.02686228 -0.00743088 0.06275657
+v 0.03409372 -0.00743087 0.06046514
+v 0.03281897 -0.00959482 0.06046513
+v 0.02581663 -0.00959483 0.06275656
+v 0.02640995 -0.00837009 0.06275657
+f 1 2 6
+f 1 6 12
+f 1 12 14
+f 1 14 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 26
+f 1 26 34
+f 1 34 43
+f 1 43 52
+f 1 52 60
+f 1 60 61
+f 1 61 53
+f 1 53 45
+f 1 45 44
+f 1 44 36
+f 1 36 28
+f 1 28 27
+f 1 27 20
+f 1 20 13
+f 1 13 7
+f 1 7 2
+f 2 7 6
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 14
+f 4 14 24
+f 4 24 32
+f 4 32 40
+f 4 40 50
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+f 4 58 57
+f 4 57 62
+f 4 62 63
+f 4 63 59
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+f 4 42 41
+f 4 41 35
+f 4 35 33
+f 4 33 25
+f 4 25 15
+f 4 15 9
+f 5 9 11
+f 6 7 12
+f 7 13 14
+f 7 14 12
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 11
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 15 25 26
+f 15 26 16
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 22 30 23
+f 23 31 24
+f 23 30 31
+f 24 31 32
+f 25 33 26
+f 26 33 35
+f 26 35 34
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 30 38 31
+f 31 39 40
+f 31 40 32
+f 31 38 39
+f 34 35 41
+f 34 41 42
+f 34 42 43
+f 36 44 37
+f 37 44 45
+f 37 45 46
+f 37 46 47
+f 37 47 38
+f 38 47 39
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 40
+f 42 51 52
+f 42 52 43
+f 45 53 46
+f 46 53 61
+f 46 61 62
+f 46 62 57
+f 46 57 49
+f 46 49 48
+f 46 48 55
+f 46 55 56
+f 46 56 54
+f 46 54 47
+f 47 55 48
+f 47 54 56
+f 47 56 55
+f 49 57 58
+f 49 58 50
+f 51 59 52
+f 52 59 60
+f 59 63 60
+f 60 63 62
+f 60 62 61
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_75.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c335e4e1c48cf5fc22ca3b2c159ad4af704f1a6a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_75.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00058135 -0.03385454 0.06046505
+v -0.00037918 -0.03599248 0.06046504
+v -0.00032313 -0.03860258 0.06461139
+v -0.00040308 -0.03679335 0.06461139
+v -0.00030199 -0.03507465 0.06461140
+v 0.00066197 -0.02759256 0.06046507
+v -0.00030107 -0.03628078 0.06046504
+v -0.00029556 -0.03846331 0.06403303
+v -0.00009707 -0.03904131 0.06461139
+v -0.00018529 -0.03485598 0.06461140
+v 0.00126755 -0.02759256 0.06060591
+v 0.00412821 -0.02759256 0.06046507
+v 0.00085587 -0.03363033 0.06461141
+v 0.00235833 -0.03213168 0.06461141
+v 0.00039272 -0.03743123 0.06046503
+v -0.00003274 -0.03784629 0.06205320
+v 0.00075111 -0.04005387 0.06461138
+v 0.00412821 -0.02759256 0.06084131
+v 0.00265515 -0.03205369 0.06461141
+v 0.00656891 -0.02798533 0.06046588
+v 0.00656891 -0.02798672 0.06046507
+v 0.00186303 -0.03895633 0.06046503
+v 0.00224622 -0.04154833 0.06461138
+v 0.00412821 -0.03195619 0.06461141
+v 0.00420173 -0.03195201 0.06461141
+v 0.00590360 -0.03221108 0.06461141
+v 0.00684092 -0.02817614 0.06046507
+v 0.00237304 -0.03916107 0.06046503
+v 0.00240244 -0.04140766 0.06409146
+v 0.00290143 -0.04172661 0.06461138
+v 0.00656616 -0.03293114 0.06461141
+v 0.00717449 -0.02879315 0.06046506
+v 0.00721125 -0.03393535 0.06461141
+v 0.00412821 -0.03955105 0.06046502
+v 0.00420173 -0.04147311 0.06397092
+v 0.00420173 -0.03956637 0.06046502
+v 0.00412821 -0.04181575 0.06461138
+v 0.00786921 -0.03020962 0.06046506
+v 0.00815960 -0.03572787 0.06461140
+v 0.00588338 -0.04135195 0.06419131
+v 0.00420173 -0.04181993 0.06461138
+v 0.00630242 -0.03889923 0.06046503
+v 0.00880653 -0.03257736 0.06046505
+v 0.00834155 -0.03680867 0.06461139
+v 0.00599733 -0.04146616 0.06461138
+v 0.00775526 -0.03672508 0.06046504
+v 0.00674259 -0.03978923 0.06311941
+v 0.00654502 -0.04086169 0.06461138
+v 0.00873853 -0.03439634 0.06046504
+v 0.00813111 -0.03812486 0.06461139
+v 0.00860988 -0.03534484 0.06161365
+v 0.00733898 -0.03963046 0.06461138
+v 0.00856485 -0.03521530 0.06046504
+v 0.00873485 -0.03442420 0.06046504
+v 0.00860988 -0.03534484 0.06143872
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 21
+f 1 21 27
+f 1 27 32
+f 1 32 38
+f 1 38 43
+f 1 43 49
+f 1 49 54
+f 1 54 53
+f 1 53 46
+f 1 46 42
+f 1 42 36
+f 1 36 34
+f 1 34 28
+f 1 28 22
+f 1 22 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 17
+f 3 17 23
+f 3 23 30
+f 3 30 37
+f 3 37 41
+f 3 41 45
+f 3 45 48
+f 3 48 52
+f 3 52 50
+f 3 50 44
+f 3 44 39
+f 3 39 33
+f 3 33 31
+f 3 31 26
+f 3 26 25
+f 3 25 24
+f 3 24 19
+f 3 19 14
+f 3 14 13
+f 3 13 10
+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 6 11 18
+f 6 18 12
+f 6 10 13
+f 6 13 14
+f 6 14 11
+f 7 15 16
+f 7 16 8
+f 8 16 9
+f 9 16 17
+f 11 14 19
+f 11 19 18
+f 12 18 20
+f 12 20 21
+f 15 22 17
+f 15 17 16
+f 17 22 23
+f 18 19 24
+f 18 24 25
+f 18 25 26
+f 18 26 20
+f 20 27 21
+f 20 26 27
+f 22 28 29
+f 22 29 23
+f 23 29 30
+f 26 31 27
+f 27 31 33
+f 27 33 32
+f 28 34 29
+f 29 35 30
+f 29 34 36
+f 29 36 35
+f 30 35 37
+f 32 33 39
+f 32 39 38
+f 35 40 41
+f 35 41 37
+f 35 36 40
+f 36 42 40
+f 38 39 43
+f 39 44 43
+f 40 45 41
+f 40 42 45
+f 42 46 47
+f 42 47 48
+f 42 48 45
+f 43 44 49
+f 44 50 51
+f 44 51 49
+f 46 52 47
+f 46 53 52
+f 47 52 48
+f 49 51 54
+f 50 52 53
+f 50 53 55
+f 50 55 51
+f 51 55 54
+f 53 54 55
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_76.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ee8d93f92723c6eb0949c1e668259bacc55475d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_76.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.02036120 -0.02297993 0.06046509
+v 0.02493472 -0.02590667 0.06046507
+v 0.02356876 -0.02590669 0.06460250
+v 0.02036120 -0.02204427 0.06204879
+v 0.02036120 -0.00959642 0.06046513
+v 0.02832279 -0.02590667 0.06046507
+v 0.02359316 -0.02590669 0.06461143
+v 0.02131128 -0.02190697 0.06461145
+v 0.02036120 -0.02021926 0.06461146
+v 0.02036120 -0.00959644 0.06445889
+v 0.03282069 -0.00959642 0.06046513
+v 0.02879111 -0.02590667 0.06096916
+v 0.02856914 -0.02590669 0.06461143
+v 0.02036120 -0.01572296 0.06461147
+v 0.02174180 -0.00959644 0.06404246
+v 0.02102955 -0.01594810 0.06461147
+v 0.02195035 -0.01657720 0.06461147
+v 0.02628117 -0.02056734 0.06461145
+v 0.02904845 -0.02590668 0.06189211
+v 0.02475056 -0.00959643 0.06312276
+v 0.02831303 -0.02511154 0.06461144
+v 0.02882770 -0.02590668 0.06379442
+v 0.02904845 -0.02590668 0.06263810
+v 0.02225891 -0.00959643 0.06388580
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 19
+f 2 19 23
+f 2 23 22
+f 2 22 13
+f 2 13 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 15
+f 5 15 24
+f 5 24 20
+f 5 20 11
+f 6 11 12
+f 7 13 21
+f 7 21 18
+f 7 18 17
+f 7 17 16
+f 7 16 14
+f 7 14 9
+f 7 9 8
+f 10 14 16
+f 10 16 17
+f 10 17 18
+f 10 18 15
+f 11 19 12
+f 11 20 18
+f 11 18 21
+f 11 21 13
+f 11 13 22
+f 11 22 23
+f 11 23 19
+f 15 18 24
+f 18 20 24
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_77.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b70b109d43d3bd3844c814bb12ad08ea43aa8ccd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_77.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.03680178 0.02965801 0.03080698
+v 0.04160008 0.03697177 0.03450366
+v 0.03680178 0.03400738 0.03450364
+v 0.03680178 0.03814492 0.03080701
+v 0.04085665 0.03814492 0.03080701
+v 0.04131106 0.03814492 0.03116995
+v 0.04169374 0.03814491 0.03216575
+v 0.04226857 0.03814490 0.03450366
+v 0.03680178 0.03814490 0.03450366
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_78.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50997c483453d98e57e5ac55ad44b8238002ea13
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_78.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02125216 0.04519982 0.06496545
+v 0.02125216 0.05265728 0.06496547
+v 0.02125216 0.04625860 0.06326938
+v 0.02489192 0.03124064 0.06496539
+v 0.02390426 0.05045424 0.06496547
+v 0.02281837 0.05237013 0.06299807
+v 0.02125216 0.05344206 0.06335243
+v 0.02125216 0.04668825 0.06275677
+v 0.02534881 0.03124065 0.06275671
+v 0.02988251 0.03124064 0.06496539
+v 0.02430077 0.05090363 0.06299807
+v 0.02654464 0.04736121 0.06496545
+v 0.02576874 0.04923764 0.06299806
+v 0.02284901 0.05239424 0.06275679
+v 0.02273005 0.05249288 0.06275679
+v 0.02135039 0.05352097 0.06299808
+v 0.02125216 0.05358454 0.06300478
+v 0.02125216 0.05363277 0.06275680
+v 0.03027541 0.03124065 0.06275671
+v 0.02996271 0.03124064 0.06454445
+v 0.03013393 0.03367166 0.06496540
+v 0.02431699 0.05092774 0.06275679
+v 0.02749896 0.04551767 0.06496545
+v 0.02809012 0.04541246 0.06299805
+v 0.02679606 0.04776895 0.06299806
+v 0.02578406 0.04925518 0.06275678
+v 0.02566511 0.04939767 0.06275678
+v 0.02140175 0.05353412 0.06275680
+v 0.02138103 0.05354947 0.06275680
+v 0.02125216 0.05363057 0.06277820
+v 0.03045474 0.03363002 0.06275672
+v 0.03027361 0.03124065 0.06278092
+v 0.03025649 0.03124065 0.06299799
+v 0.03043943 0.03367167 0.06299800
+v 0.03008257 0.03660686 0.06496541
+v 0.02847130 0.04350534 0.06496544
+v 0.02810183 0.04541246 0.06275677
+v 0.02799279 0.04562071 0.06275677
+v 0.02682310 0.04775360 0.06275678
+v 0.02878400 0.04280826 0.06496544
+v 0.02897775 0.04343301 0.06299804
+v 0.02891828 0.04359303 0.06275676
+v 0.02680417 0.04778649 0.06275678
+v 0.03045745 0.03367167 0.06275672
+v 0.03037003 0.03660687 0.06299801
+v 0.02995731 0.03759768 0.06496542
+v 0.02931298 0.04151712 0.06496543
+v 0.02944365 0.04196651 0.06299803
+v 0.02898226 0.04344397 0.06275676
+v 0.03038355 0.03660687 0.06275673
+v 0.02999876 0.03954206 0.06299803
+v 0.02968336 0.03955740 0.06496543
+v 0.02944725 0.04197966 0.06275675
+v 0.03000687 0.03954206 0.06275675
+v 0.02945536 0.04194459 0.06275675
+v 0.03001228 0.03950042 0.06275675
+f 1 2 7
+f 1 7 17
+f 1 17 30
+f 1 30 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 21
+f 1 21 35
+f 1 35 46
+f 1 46 52
+f 1 52 47
+f 1 47 40
+f 1 40 36
+f 1 36 23
+f 1 23 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 19
+f 4 19 32
+f 4 32 33
+f 4 33 20
+f 4 20 10
+f 5 11 6
+f 5 12 13
+f 5 13 11
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 6 11 14
+f 7 16 17
+f 8 18 29
+f 8 29 28
+f 8 28 15
+f 8 15 14
+f 8 14 22
+f 8 22 27
+f 8 27 26
+f 8 26 43
+f 8 43 39
+f 8 39 38
+f 8 38 37
+f 8 37 42
+f 8 42 49
+f 8 49 53
+f 8 53 55
+f 8 55 54
+f 8 54 56
+f 8 56 50
+f 8 50 44
+f 8 44 31
+f 8 31 19
+f 8 19 9
+f 10 20 21
+f 11 22 14
+f 11 13 22
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 27
+f 13 27 22
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 18 30 29
+f 19 31 32
+f 20 33 21
+f 21 34 35
+f 21 33 34
+f 23 36 24
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 24 36 40
+f 24 40 41
+f 24 41 42
+f 24 42 37
+f 25 39 43
+f 25 43 26
+f 31 44 34
+f 31 34 32
+f 32 34 33
+f 34 44 45
+f 34 45 35
+f 35 45 46
+f 40 47 41
+f 41 47 48
+f 41 48 49
+f 41 49 42
+f 44 50 45
+f 45 50 51
+f 45 51 46
+f 46 51 52
+f 47 52 51
+f 47 51 48
+f 48 53 49
+f 48 51 54
+f 48 54 55
+f 48 55 53
+f 50 56 51
+f 51 56 54
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_79.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f001a485289793bc0e501c47ae58763b1b6f80ff
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_79.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01093541 -0.01835922 0.06461146
+v -0.01093541 -0.01926299 0.06461146
+v -0.01093541 -0.01835920 0.06046510
+v -0.01544357 -0.01835922 0.06461146
+v -0.01093541 -0.02316453 0.06046508
+v -0.01609222 -0.02759119 0.06461143
+v -0.01721063 -0.01835920 0.06046510
+v -0.01800785 -0.02042252 0.06461145
+v -0.01665090 -0.02759118 0.06263850
+v -0.01682458 -0.02759118 0.06211736
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_8.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a74f65e7db7946650d443a92c442c488b5435f99
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_8.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_80.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f90e63cee5d8e7759ba405f1ad214b24175833c5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_80.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_81.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fd2cc79914737d51afc8518936dd1051155af62
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_81.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_82.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ee6d9398ac17d0489e68453492c098f180e6011
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_82.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_83.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbcaffc23291e0cdf37841e4e1a2bdae7d15ddee
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_83.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.03680125 0.03746470 0.04496447
+v 0.03699182 0.03736562 0.04496447
+v 0.03680125 0.03772312 0.04470333
+v 0.03680125 0.02446804 0.04496442
+v 0.03890795 0.03624898 0.04496446
+v 0.03798893 0.03808596 0.04370282
+v 0.03680125 0.03814487 0.04427527
+v 0.03680125 0.03400771 0.03450364
+v 0.03701694 0.02454436 0.04496442
+v 0.04056743 0.03494624 0.04496446
+v 0.03994492 0.03748345 0.04314368
+v 0.03955667 0.03814487 0.04266852
+v 0.03807903 0.03814487 0.04358300
+v 0.03775904 0.03814487 0.04376529
+v 0.03680125 0.03814490 0.03450366
+v 0.04160004 0.03697203 0.03450366
+v 0.03844107 0.02547891 0.04496442
+v 0.04112442 0.03552599 0.04403051
+v 0.04125875 0.03368902 0.04496445
+v 0.04077002 0.03814488 0.04184517
+v 0.04226897 0.03814490 0.03450366
+v 0.04186597 0.03743796 0.03450366
+v 0.04100210 0.02881544 0.04496444
+v 0.04083009 0.02936439 0.04382158
+v 0.03968664 0.02692760 0.04496443
+v 0.04150066 0.03654490 0.04217286
+v 0.04157874 0.03814488 0.04054358
+v 0.04125656 0.03814488 0.04134338
+v 0.04128496 0.03358324 0.04496445
+v 0.04229627 0.03814490 0.03460709
+v 0.04127677 0.03047835 0.04496444
+v 0.04237981 0.03814489 0.03767621
+v 0.04129315 0.03346676 0.04496445
+v 0.04127732 0.03049173 0.04496444
+v 0.04215429 0.03660516 0.03923380
+v 0.04170761 0.03366894 0.04220255
+f 1 2 3
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+f 1 17 25
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+f 29 33 32
+f 31 32 35
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+f 33 34 36
+f 34 35 36
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_84.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2d41adbe6ea608c4789e06d14a738006c36ba44
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_84.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.02139871 0.02208408 0.06496536
+v 0.02187808 0.02208409 0.06361612
+v 0.02381454 0.01946168 0.06046524
+v 0.02381454 0.01946168 0.06094670
+v 0.02687435 0.02208408 0.06496536
+v 0.02489267 0.03123861 0.06496539
+v 0.02557102 0.03386527 0.06275631
+v 0.02578085 0.03386528 0.06046529
+v 0.02381454 0.02301182 0.06046525
+v 0.02205174 0.02208409 0.06331703
+v 0.02552127 0.01946168 0.06046524
+v 0.02477870 0.01946168 0.06075288
+v 0.02734829 0.02289760 0.06496536
+v 0.02511878 0.01946168 0.06064276
+v 0.02988261 0.03123861 0.06496539
+v 0.03044790 0.03386527 0.06275631
+v 0.03062789 0.03386528 0.06046529
+v 0.02701726 0.02207564 0.06046525
+v 0.02928566 0.02608259 0.06237130
+v 0.02912738 0.02641391 0.06435133
+v 0.02874298 0.02582457 0.06496537
+v 0.03025615 0.03123862 0.06299770
+v 0.03045785 0.03366930 0.06275631
+v 0.02983196 0.03057877 0.06496539
+v 0.03021816 0.03073246 0.06299770
+v 0.03048046 0.03386527 0.06234841
+v 0.03063784 0.03366931 0.06046529
+v 0.02928566 0.02608259 0.06129032
+v 0.02945479 0.02752916 0.06046527
+v 0.03016390 0.03029399 0.06046528
+v 0.02942314 0.02675230 0.06275629
+v 0.02958594 0.02755171 0.06321573
+v 0.02941319 0.02819885 0.06496538
+v 0.02926486 0.02753196 0.06496538
+v 0.02906949 0.02678330 0.06496538
+v 0.02952896 0.02881498 0.06496539
+v 0.02968272 0.02800993 0.06275629
+v 0.03024982 0.03073247 0.06046528
+v 0.03060437 0.03323506 0.06046529
+f 1 2 3
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+f 1 13 21
+f 1 21 35
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+f 1 34 33
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+f 1 36 24
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+f 1 8 2
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+f 31 37 32
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_85.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d16347ee41ae55aa041cd6dad3b639cc012b62a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_85.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02687151 0.02208326 0.06496536
+v 0.02316779 -0.00215284 0.06445267
+v 0.02474582 -0.00449706 0.06380233
+v 0.02767909 -0.00449706 0.06279982
+v 0.02780441 -0.00449706 0.06275658
+v 0.02783225 -0.00434822 0.06275658
+v 0.02828709 -0.00152026 0.06275659
+v 0.02829173 -0.00102723 0.06275660
+v 0.02830566 0.00134491 0.06275660
+v 0.02682974 0.02208327 0.06275668
+v 0.02139484 0.02208326 0.06496536
+v 0.02068008 -0.00449707 0.06496526
+v 0.02142269 -0.00449707 0.06478063
+v 0.02289396 -0.00449707 0.06437461
+v 0.02474582 -0.00743045 0.06347910
+v 0.02685759 -0.00743045 0.06275657
+v 0.02430026 0.02208327 0.06275668
+v 0.02187289 0.02208327 0.06361628
+v 0.00420829 0.02206467 0.06275668
+v 0.00145139 0.02192513 0.06275668
+v 0.00126109 0.02191273 0.06275668
+v -0.00166753 0.02142280 0.06275668
+v -0.00976188 0.01656068 0.06496275
+v -0.00942306 0.01655758 0.06496534
+v 0.01878646 -0.00959484 0.06496524
+v 0.01936661 -0.00959484 0.06480937
+v 0.02231845 -0.00743046 0.06421483
+v 0.02474582 -0.00959483 0.06312301
+v 0.02552091 -0.00959483 0.06285839
+v 0.02640739 -0.00837000 0.06275657
+v 0.02204461 0.02208327 0.06331728
+v -0.00976188 0.01985067 0.06275667
+v -0.00976188 0.01961501 0.06293049
+v -0.00976188 0.01629401 0.06496534
+v -0.01473730 0.01322419 0.06275665
+v -0.01637102 0.01061950 0.06275664
+v -0.01662628 0.01017918 0.06275664
+v -0.01785157 0.00731711 0.06275663
+v -0.01118210 0.01171408 0.06496532
+v -0.01034203 -0.00959484 0.06496524
+v 0.02581331 -0.00959483 0.06275656
+v -0.01848278 0.00510932 0.06275662
+v -0.01870092 0.00431240 0.06275662
+v -0.01634317 0.00431240 0.06366141
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+v -0.01463983 0.00137590 0.06441118
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+v -0.01273692 0.00137590 0.06496529
+v -0.01211963 -0.00449397 0.06496526
+v -0.01055089 -0.00959484 0.06491789
+v -0.01687691 -0.00959483 0.06275656
+v -0.01908151 0.00157747 0.06275661
+v -0.01910935 0.00137591 0.06275661
+v -0.01634317 0.00137591 0.06381598
+v -0.01463055 -0.00155748 0.06440900
+v -0.01634317 -0.00155747 0.06381531
+v -0.01316391 -0.00155748 0.06484550
+v -0.01271835 -0.00155748 0.06496527
+v -0.01227743 -0.00375287 0.06496527
+v -0.01288544 -0.00449397 0.06476225
+v -0.01435207 -0.00449397 0.06432445
+v -0.01382297 -0.00743046 0.06416467
+v -0.01126564 -0.00959484 0.06469283
+v -0.01634317 -0.00959483 0.06296108
+v -0.01730855 -0.00860257 0.06275657
+v -0.01910471 -0.00155747 0.06275659
+v -0.01634317 -0.00449396 0.06364753
+v -0.01634317 -0.00743045 0.06331933
+v -0.01742458 -0.00832349 0.06275657
+v -0.01866379 -0.00449396 0.06275658
+v -0.01777731 -0.00747386 0.06275657
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 9 10
+f 1 10 17
+f 1 17 31
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_86.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46e9e0d2932eee9985ee7d6b1298ddcd7bd0751a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_86.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.02221586 0.03366845 0.06496540
+v -0.02214220 0.03267719 0.06496540
+v -0.02206169 0.03366845 0.06596907
+v -0.02218674 0.03534266 0.06496541
+v -0.02175335 0.03073410 0.06596906
+v -0.02193664 0.03073410 0.06496539
+v -0.02126000 0.03366844 0.06884646
+v -0.02203257 0.03534266 0.06596908
+v -0.02108699 0.03073409 0.06844201
+v -0.01715393 0.03534266 0.06496541
+v -0.02175164 0.02974105 0.06496539
+v -0.02134223 0.02779617 0.06496538
+v -0.02113324 0.02779617 0.06596455
+v -0.02088486 0.02877487 0.06786078
+v -0.02069814 0.03073408 0.06956130
+v -0.02099449 0.03366843 0.06956131
+v -0.02124287 0.03534265 0.06873355
+v -0.01513601 0.03534264 0.06956132
+v -0.00471751 0.01703210 0.06956125
+v -0.00524512 0.01703211 0.06904210
+v -0.00831311 0.01703212 0.06606394
+v -0.01067192 0.01887662 0.06496535
+v -0.02088143 0.02594092 0.06496538
+v -0.02088143 0.02594271 0.06497078
+v -0.02099792 0.02679236 0.06542470
+v -0.02060393 0.02681745 0.06695158
+v -0.02061078 0.02679235 0.06689939
+v -0.02022878 0.02779616 0.06888603
+v -0.02044975 0.02969801 0.06956130
+v -0.02062448 0.03038454 0.06956130
+v -0.02089514 0.03534264 0.06956132
+v -0.01354120 0.01703210 0.06956125
+v -0.00995074 0.01703212 0.06496534
+v -0.01801729 0.02022459 0.06496535
+v -0.01801729 0.02022459 0.06516015
+v -0.01863568 0.02173389 0.06607745
+v -0.02018766 0.02492277 0.06596454
+v -0.02059879 0.02679235 0.06693988
+v -0.01911875 0.02486182 0.06893820
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+v -0.01991358 0.02775492 0.06956129
+v -0.01884809 0.02486181 0.06956128
+v -0.01382556 0.01703211 0.06919505
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+v -0.01418872 0.01703212 0.06496534
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+v -0.01771237 0.02062790 0.06714005
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+v -0.01814405 0.02276995 0.06893819
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+v -0.01453132 0.01792119 0.06956126
+v -0.01460669 0.01703211 0.06801008
+v -0.01456901 0.01703212 0.06640989
+v -0.01460669 0.01703211 0.06711124
+v -0.01729611 0.02130367 0.06893819
+v -0.01574927 0.01897699 0.06884191
+v -0.01559510 0.01929067 0.06956126
+v -0.01706999 0.02147395 0.06956127
+f 1 2 3
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+f 1 22 33
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+f 1 45 34
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+f 1 23 12
+f 1 12 11
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+f 55 57 58
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_87.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e402572e476aaab60ffc500baf43f828987eccda
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_87.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00420271 0.03945738 0.06046531
+v 0.00420271 0.03795421 0.05421737
+v 0.00126844 0.03766165 0.05421737
+v 0.00182848 0.03880923 0.06046531
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_88.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f16e68906f4e3f526645433eeaecb346cd8abb4c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_88.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_89.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75603d3c405711e03f6d1b97a0bf80be546784d6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_89.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_9.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9e79204722e30c4e74024b339973b9c2635c6f5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_9.obj
@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
+v 0.05117253 0.02166777 -0.03206289
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_90.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4652cfef297df328e0fd7bfa42450deb87372319
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_90.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_91.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc10edf40292c996141315c6eb8ab59fe27b706a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_91.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_92.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7cb4e27c24e5fdf941b519b34f57bb701e53113
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_92.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.02218724 0.03534736 0.06496541
+v -0.02203389 0.03534736 0.06596863
+v -0.02201149 0.03660611 0.06596863
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+v -0.02091049 0.03534734 0.06952848
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+v -0.02097941 0.03954249 0.06799218
+v -0.02078299 0.04110134 0.06752566
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+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_93.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cd03506f20a80f0f89f56cc04f9b369ffcdc87e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_93.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02247042 0.04508293 0.06275677
+v 0.02825043 0.04508293 0.06275677
+v 0.02288886 0.04508294 0.06046534
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+v 0.03000728 0.03954108 0.06275675
+v 0.02945547 0.04194361 0.06275675
+f 1 2 6
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+f 18 20 19
+
diff --git a/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_94.obj b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7fd08408983e59bbb87c419b577b3b35e48c911
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/mjcf/mesh/alarm_clock_013_collision_94.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00419979 0.04190745 0.06496543
+v 0.00514261 0.04175697 0.06496543
+v 0.00419979 0.03945651 0.06046531
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