diff --git a/.gitattributes b/.gitattributes
index faedc180770861daf2c6871fc8aa5a2d535cdb4a..80195ba167bb81193b6b6c99c9eb0b97fc141f80 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2672,5 +2672,5 @@ dataset/bedroom_supplies/small_electronics/ba30d9fb4b7853d0953037b975234638/alar
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 dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/flashlight_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/flashlight_039.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/alarm_clock_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/alarm_clock_027.urdf b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/alarm_clock_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..99973f773611b0b5c73ee01c927be7f4c000aee8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/alarm_clock_027.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_027">
+   <link name="alarm_clock_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_027.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>c08f4226915957aca0e45bdf83cce692</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>digital desk clock</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>gray digital alarm clock on pedestal stand with square rounded display</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611125707</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.049087 -0.052433 -0.073742</min>
+            <max>0.049581 0.052483 0.056258</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Display and body are separated well, but side trim is spurious and base is merged with body.","merge_groups":[{"colors":["Red","Maroon"],"target_part":"main body","reason":"Maroon is thin side/front trim, not separate function"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/alarm_clock_027.usd b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/alarm_clock_027.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/alarm_clock_027.usd
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027.glb b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027.glb
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027.mtl b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8bdc55722a1e0cf20bd790cdbe0a51083fae9d03
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027.mtl
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+newmtl alarm_clock_027_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aafba52f499c275fd669d1db3213d192a8ab374f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027.obj
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+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027_collision.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29fee43ccc3ada5b1447db27e30ad921625de9b2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..93fe7f56d408afdb8901188093ff656cd59e8a98
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/alarm_clock_027_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed851e1ce50c4d2b1e875a465d66c1aed9bf05bd060f7aa22582b5d1071114e9
+size 8534730
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ea4c83c5645a926aca02c941b12b2fccd3fad5d1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl alarm_clock_027_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_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..93fe7f56d408afdb8901188093ff656cd59e8a98
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed851e1ce50c4d2b1e875a465d66c1aed9bf05bd060f7aa22582b5d1071114e9
+size 8534730
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/alarm_clock_027.xml b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/alarm_clock_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4f6a43970251d4f433aa4fda1bdeeea2bcf09b23
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/alarm_clock_027.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="alarm_clock_027">
+  <asset>
+    <material name="material_0" texture="texture_0_alarm_clock_027_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_alarm_clock_027_geometry_Looks_material_0" type="2d" file="mesh/alarm_clock_027_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/alarm_clock_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/alarm_clock_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/alarm_clock_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/alarm_clock_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/alarm_clock_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_8" file="mesh/alarm_clock_027_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/alarm_clock_027_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/alarm_clock_027_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_12" file="mesh/alarm_clock_027_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/alarm_clock_027_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/alarm_clock_027_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/alarm_clock_027_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/alarm_clock_027_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/alarm_clock_027_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_19" file="mesh/alarm_clock_027_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/alarm_clock_027_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/alarm_clock_027_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/alarm_clock_027_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/alarm_clock_027_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/alarm_clock_027_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/alarm_clock_027_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="alarm_clock_027">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10a9ddd13d3cedad0aceb68aa142e56885560622
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027.obj
@@ -0,0 +1,107198 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_027_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05a33ab83b44a8fcc3cc65a77f0c431ac84a3c16
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision.obj
@@ -0,0 +1,13519 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_0.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff886b0f2725a2c88aaca5ac20035a8c634034cd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_1.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5480c344e59f542725609ca74c216a1030e16b7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_1.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_10.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..830ec93fc2fc05023e4330c6918d509712ff3bde
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_10.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_11.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5babed972c91e9b3a464346e3e39a09c9eb96a1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_11.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_12.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a3590b5c117a5d04d72cc57f3f1a66fe1dc1ecd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_12.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_13.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81c72b4bc6d61c15a8d8ee2e1cb4a9d710660007
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_13.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_14.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b8a7a6447b7bfa70744345a44d4a4f9d39c4f73
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_14.obj
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+
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_15.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00ac2f9440a0e0d1a67a9876d0b71f6486dc29f1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_15.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.01882376 -0.02581683 -0.06547642
+v -0.01513601 -0.02808741 -0.06547643
+v -0.01697817 -0.02352938 -0.06413460
+v -0.01882376 -0.02176649 -0.06403041
+v -0.01882376 -0.01220642 -0.06547637
+v -0.01079810 -0.03016504 -0.06547644
+v -0.01296534 -0.02573065 -0.06408045
+v -0.01573458 -0.02386097 -0.06400711
+v -0.01775906 -0.02228731 -0.06395330
+v -0.01882376 -0.02020781 -0.06377416
+v -0.00125192 -0.02179272 -0.06547641
+v -0.01882376 -0.01259234 -0.06533508
+v -0.00125192 -0.02493633 -0.06393574
+v -0.00131385 -0.03134529 -0.06547645
+v -0.00508415 -0.02799749 -0.06397825
+v -0.00721527 -0.02783450 -0.06409140
+v -0.00840209 -0.02770336 -0.06419343
+v -0.01147407 -0.02598919 -0.06396749
+v -0.01364647 -0.02454291 -0.06389988
+v -0.01573458 -0.02233602 -0.06371087
+v -0.01786570 -0.02020781 -0.06366764
+v -0.01882376 -0.01806274 -0.06379245
+v -0.00125192 -0.03134342 -0.06547645
+v -0.01882376 -0.01648344 -0.06402376
+v -0.00125192 -0.02659430 -0.06364454
+v -0.00125192 -0.02810616 -0.06393701
+v -0.00295303 -0.02807993 -0.06394257
+v -0.00508415 -0.02659430 -0.06368345
+v -0.00721527 -0.02659430 -0.06379391
+v -0.01147407 -0.02446422 -0.06367161
+v -0.00295303 -0.02659430 -0.06364938
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 22
+f 1 22 24
+f 1 24 12
+f 1 12 5
+f 1 5 11
+f 1 11 23
+f 1 23 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
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+f 5 13 11
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
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+f 8 20 9
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+f 10 21 22
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+f 11 25 26
+f 11 26 23
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+f 21 25 22
+f 22 25 24
+f 25 31 26
+f 26 31 27
+f 27 31 28
+f 28 31 30
+f 28 30 29
+
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_16.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84bdff43ffd965d166265eecf254666b09b23669
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_16.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.03204714 -0.00103981 -0.06547633
+v -0.02978075 -0.00103981 -0.06406650
+v -0.03204459 -0.00023057 -0.06547633
+v -0.03202930 -0.00178702 -0.06547634
+v -0.02975654 -0.00178702 -0.06408647
+v -0.02851754 -0.00178703 -0.06379834
+v -0.02851754 -0.00103982 -0.06377872
+v -0.02977693 0.00109076 -0.06407000
+v -0.03203567 0.00109076 -0.06547633
+v -0.02311289 -0.00178702 -0.06547634
+v -0.02638755 -0.00178703 -0.06387326
+v -0.02851754 0.00109075 -0.06378380
+v -0.02638755 0.00747811 -0.06368819
+v -0.02851754 0.00321987 -0.06384331
+v -0.02970555 0.00321988 -0.06412741
+v -0.03181770 0.00531438 -0.06547631
+v -0.02524033 -0.00178702 -0.06416139
+v -0.01902498 0.01294949 -0.06547628
+v -0.02227670 0.01294948 -0.06394269
+v -0.02292041 0.01294948 -0.06383136
+v -0.02425883 0.01173635 -0.06372109
+v -0.02638755 0.00960723 -0.06374438
+v -0.02425883 0.01294948 -0.06373982
+v -0.02805866 0.00747811 -0.06394989
+v -0.02963034 0.00450081 -0.06418936
+v -0.03118800 0.00747812 -0.06547630
+v -0.02127862 0.01294949 -0.06429226
+v -0.02888083 0.01294949 -0.06547628
+v -0.02641432 0.01168586 -0.06395005
+v -0.02777313 0.00960724 -0.06402007
+v -0.02516640 0.01294948 -0.06383662
+v -0.02757555 0.01094154 -0.06413333
+v -0.02967878 0.01171472 -0.06547629
+v -0.02658003 0.01294949 -0.06425375
+v -0.02600132 0.01294949 -0.06399713
+f 1 2 3
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+f 1 18 10
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+f 28 33 34
+f 29 31 35
+f 29 35 30
+f 30 35 32
+f 32 35 34
+f 32 34 33
+
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_17.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ec8f6c9289b621a036ff22e128aa5fd4d784ef3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_17.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00125192 -0.03134473 -0.06547645
+v -0.00082089 -0.03133946 -0.06547645
+v -0.00082089 -0.02811316 -0.06393563
+v -0.00125192 -0.02810613 -0.06393706
+v -0.00125192 -0.02179409 -0.06547641
+v 0.00130821 -0.03111629 -0.06547644
+v 0.00343904 -0.02801651 -0.06396954
+v 0.00130821 -0.02809032 -0.06394154
+v 0.00130821 -0.02659490 -0.06365032
+v -0.00082089 -0.02659490 -0.06364333
+v -0.00125192 -0.02659490 -0.06364458
+v 0.01650387 -0.01339269 -0.06547638
+v -0.00125192 -0.02493781 -0.06393579
+v 0.00766421 -0.03017616 -0.06547644
+v 0.00556987 -0.02785659 -0.06407576
+v 0.00556987 -0.02659490 -0.06378597
+v 0.00343904 -0.02659490 -0.06367921
+v 0.00982980 -0.02446512 -0.06368817
+v 0.01622057 -0.02020731 -0.06369174
+v 0.01650387 -0.01992615 -0.06369138
+v 0.01650387 -0.01768741 -0.06389395
+v 0.01650387 -0.02549661 -0.06547642
+v 0.01650387 -0.01671213 -0.06412543
+v 0.01650387 -0.01729731 -0.06396914
+v 0.00982980 -0.02920440 -0.06547644
+v 0.01130018 -0.02572505 -0.06408580
+v 0.00679693 -0.02771777 -0.06418235
+v 0.00982980 -0.02599041 -0.06397438
+v 0.01199018 -0.02453189 -0.06390906
+v 0.01408973 -0.02233709 -0.06373571
+v 0.01650387 -0.02020203 -0.06372458
+v 0.01529593 -0.02350741 -0.06415094
+v 0.01617538 -0.02578655 -0.06547642
+v 0.01650387 -0.02205240 -0.06400756
+v 0.01196759 -0.02819047 -0.06547643
+v 0.01408973 -0.02383074 -0.06402354
+v 0.01609195 -0.02226503 -0.06397831
+v 0.01650387 -0.02187318 -0.06397005
+f 1 2 3
+f 1 3 4
+f 1 4 11
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+f 1 13 5
+f 1 5 12
+f 1 12 22
+f 1 22 33
+f 1 33 35
+f 1 35 25
+f 1 25 14
+f 1 14 6
+f 1 6 2
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+f 16 18 17
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+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 20
+f 22 32 33
+f 22 34 32
+f 25 35 26
+f 26 33 32
+f 26 32 36
+f 26 36 29
+f 26 29 28
+f 26 28 27
+f 26 35 33
+f 29 36 30
+f 30 37 38
+f 30 38 31
+f 30 36 37
+f 32 34 37
+f 32 37 36
+f 34 38 37
+
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_18.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4431d22d9501ef91c8614f9ad1197870a2d8383
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_18.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.00192162 0.00417133 0.04447009
+v -0.00270270 0.00417131 0.04769869
+v 0.00192162 0.00026798 0.04351403
+v 0.00192162 0.00417151 -0.00567244
+v -0.00488299 0.00026796 0.04769867
+v -0.04274353 0.00417131 0.04769869
+v 0.00192162 0.00026816 -0.00567246
+v -0.04294573 0.00417151 -0.00567244
+v -0.04274353 0.00026796 0.04769867
+v -0.04276111 0.00417133 0.04471563
+v -0.04275672 0.00321879 0.04590153
+v -0.04274792 0.00026797 0.04721281
+v -0.04298529 0.00026816 -0.00567246
+v -0.04294573 0.00417151 -0.00541645
+v -0.04276551 0.00417133 0.04375959
+v -0.04275672 0.00026797 0.04590152
+v -0.04290178 0.00417145 0.00955108
+v -0.04293694 0.00417150 -0.00232369
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 17
+f 1 17 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 12
+f 3 12 16
+f 3 16 13
+f 3 13 7
+f 4 7 13
+f 4 13 8
+f 6 10 11
+f 6 11 12
+f 6 12 9
+f 8 13 14
+f 10 15 11
+f 11 16 12
+f 11 15 13
+f 11 13 16
+f 13 15 17
+f 13 17 18
+f 13 18 14
+
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_19.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d6f952a85e855f76f311dd7976dbf1f7af42f4d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_19.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01909852 0.00938588 -0.06547613
+v 0.02156266 0.00856039 -0.06423290
+v 0.02057722 0.00938588 -0.06477180
+v 0.02819622 0.00938588 -0.06547613
+v 0.02040964 -0.00559321 -0.06547618
+v 0.02296863 -0.00559321 -0.06404121
+v 0.02239001 0.00938587 -0.06392889
+v 0.02312356 -0.00559322 -0.06396473
+v 0.02927231 0.00561618 -0.06547614
+v 0.02619899 0.00938588 -0.06428325
+v 0.02599874 0.00923632 -0.06408677
+v 0.02922277 -0.00559321 -0.06547618
+v 0.02241425 0.00938587 -0.06392205
+v 0.02446735 -0.00559322 -0.06372300
+v 0.02969284 0.00390801 -0.06547615
+v 0.02572682 0.00938588 -0.06404573
+v 0.02619056 0.00747831 -0.06398889
+v 0.02635392 -0.00559322 -0.06395473
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_2.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b831c60a580b0da314763af709a2dcdfbd530f6e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_2.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_20.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52ef4115585e4c0c442d5b2eb9d30b81301a3831
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_20.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01650511 -0.02549617 -0.06547625
+v 0.01834032 -0.02393745 -0.06547625
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+
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_21.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d35c44052f620ace3cf7505bcdf1f363f81a8881
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_21.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00487553 0.00026797 0.04672745
+v -0.00487553 0.00026797 0.04638703
+v -0.00488346 0.00026796 0.04804122
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+f 1 12 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 8
+f 2 8 9
+f 2 9 5
+f 3 6 4
+f 4 6 7
+f 4 7 13
+f 4 13 19
+f 4 19 22
+f 4 22 21
+f 4 21 20
+f 4 20 15
+f 4 15 14
+f 4 14 8
+f 5 9 10
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 9 15 10
+f 10 16 21
+f 10 21 22
+f 10 22 18
+f 10 18 17
+f 10 17 11
+f 10 15 16
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 15 20 16
+f 16 20 21
+f 18 22 19
+
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_22.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9d956096976612b94f9c4b3430a22ee0b8c62c5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_22.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.03202914 -0.00178702 -0.06547616
+v -0.03201751 -0.00233275 -0.06547616
+v -0.02975650 -0.00178702 -0.06408647
+v -0.02311309 -0.00178702 -0.06547616
+v -0.03191538 -0.00660448 -0.06547617
+v -0.02971125 -0.00317016 -0.06412331
+v -0.02851805 -0.00317017 -0.06383444
+v -0.02851805 -0.00178703 -0.06379831
+v -0.01882376 -0.01220761 -0.06547619
+v -0.02524094 -0.00178702 -0.06416140
+v -0.01882376 -0.01648170 -0.06402369
+v -0.01882376 -0.01259338 -0.06533506
+v -0.01882376 -0.01225230 -0.06545983
+v -0.02778377 -0.00955894 -0.06400872
+v -0.02963110 -0.00445450 -0.06418864
+v -0.02978235 -0.01298386 -0.06547620
+v -0.02807076 -0.00743014 -0.06393681
+v -0.02638761 -0.00955895 -0.06371647
+v -0.02638761 -0.00743014 -0.06365808
+v -0.02638761 -0.00178703 -0.06387324
+v -0.02638761 -0.00530133 -0.06371948
+v -0.01882376 -0.02581789 -0.06547624
+v -0.01882376 -0.01806009 -0.06379250
+v -0.02758081 -0.01089033 -0.06412797
+v -0.02641605 -0.01163602 -0.06393254
+v -0.02755883 -0.01712622 -0.06547621
+v -0.02425846 -0.01381658 -0.06373909
+v -0.02212802 -0.01594539 -0.06366844
+v -0.01999757 -0.01807655 -0.06366934
+v -0.01882376 -0.02176491 -0.06403030
+v -0.01919866 -0.02578496 -0.06547624
+v -0.01882376 -0.02020536 -0.06377399
+v -0.02540771 -0.01499741 -0.06416572
+v -0.02568694 -0.01381657 -0.06403383
+v -0.02344791 -0.01734263 -0.06406552
+v -0.02564040 -0.01947380 -0.06547622
+v -0.02419899 -0.01580425 -0.06397385
+v -0.02212543 -0.01806244 -0.06390570
+v -0.01998723 -0.02020536 -0.06390338
+v -0.01927105 -0.02154615 -0.06406269
+v -0.02145449 -0.02377846 -0.06547624
+v -0.02141313 -0.01949496 -0.06404986
+v -0.02360045 -0.02167788 -0.06547623
+f 1 2 3
+f 1 3 8
+f 1 8 20
+f 1 20 10
+f 1 10 4
+f 1 4 9
+f 1 9 22
+f 1 22 31
+f 1 31 41
+f 1 41 43
+f 1 43 36
+f 1 36 26
+f 1 26 16
+f 1 16 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 9
+f 5 14 15
+f 5 15 6
+f 5 16 14
+f 6 15 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 21
+f 8 21 20
+f 9 13 12
+f 9 12 11
+f 9 11 23
+f 9 23 32
+f 9 32 30
+f 9 30 22
+f 10 20 23
+f 10 23 11
+f 14 24 25
+f 14 25 18
+f 14 18 17
+f 14 17 15
+f 14 16 24
+f 16 26 24
+f 18 25 27
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 19 29 21
+f 20 21 29
+f 20 29 23
+f 22 30 31
+f 23 29 32
+f 24 26 33
+f 24 33 34
+f 24 34 25
+f 25 34 27
+f 26 35 33
+f 26 36 35
+f 27 34 37
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 32
+f 28 32 29
+f 30 32 39
+f 30 39 40
+f 30 40 31
+f 31 40 41
+f 33 35 37
+f 33 37 34
+f 35 36 42
+f 35 42 38
+f 35 38 37
+f 36 43 42
+f 38 42 39
+f 39 42 40
+f 40 42 41
+f 41 42 43
+
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_23.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..006081e6b6b7425632264dd3660f64797349ee30
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_23.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.04285451 -0.00435865 0.04638701
+v 0.04284613 -0.00435866 0.04939251
+v 0.04284613 -0.02020908 0.04804115
+v 0.04284613 -0.02281838 0.04638695
+v -0.04275714 -0.00435865 0.04638701
+v 0.04283775 -0.00435866 0.05017929
+v 0.04283775 -0.00530110 0.05018337
+v 0.04283775 -0.02021579 0.05018332
+v 0.04282937 -0.03086099 0.05018328
+v 0.04282100 -0.03862186 0.05018325
+v 0.04283775 -0.02920752 0.04638692
+v -0.04274876 -0.01807936 0.04638696
+v -0.04274038 -0.03862186 0.05017917
+v -0.04274876 -0.00435866 0.04804120
+v 0.04214220 -0.00435866 0.05018337
+v 0.04282100 -0.03862186 0.04943253
+v 0.04282937 -0.03511369 0.04638690
+v -0.04142469 -0.03862186 0.05018325
+v -0.04274038 -0.02872456 0.04638692
+v -0.04271524 -0.03724341 0.05018325
+v -0.04272362 -0.03298399 0.05018327
+v -0.04273200 -0.02020908 0.05018332
+v -0.04273200 -0.00530110 0.05018337
+v -0.04273200 -0.00435866 0.05017929
+v -0.04273200 -0.03511369 0.04638690
+v -0.04272362 -0.03862185 0.04638689
+v -0.04197779 -0.00435866 0.05018337
+v 0.04281262 -0.03862185 0.04638689
+v 0.04282100 -0.03772636 0.04638689
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 17
+f 1 17 29
+f 1 29 28
+f 1 28 26
+f 1 26 25
+f 1 25 19
+f 1 19 12
+f 1 12 5
+f 1 5 14
+f 1 14 24
+f 1 24 27
+f 1 27 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 6 15 7
+f 7 15 27
+f 7 27 23
+f 7 23 22
+f 7 22 21
+f 7 21 20
+f 7 20 18
+f 7 18 10
+f 7 10 9
+f 7 9 8
+f 10 16 17
+f 10 17 11
+f 10 18 13
+f 10 13 26
+f 10 26 28
+f 10 28 16
+f 12 19 13
+f 13 18 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 13 19 25
+f 13 25 26
+f 16 28 29
+f 16 29 17
+f 23 27 24
+
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_24.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddf3c35983e110b6b7e5d8d7b7185a44d7168d3c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_24.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.04302246 -0.00317315 -0.00567247
+v -0.04301405 -0.00129261 -0.00567246
+v -0.04289629 -0.03323510 -0.00567258
+v -0.04288787 -0.03511183 -0.00541780
+v -0.04283740 -0.03724367 0.01168905
+v -0.04274487 -0.03862183 0.04162224
+v -0.04272805 -0.03862185 0.04638688
+v -0.04273646 -0.03298404 0.04638690
+v -0.04275328 -0.01594881 0.04589776
+v -0.04275328 -0.01168905 0.04638698
+v -0.04275328 0.00026797 0.04638702
+v -0.04298041 0.00026816 -0.00567246
+v -0.04288787 -0.03511183 -0.00567259
+v -0.04287105 -0.03749105 -0.00567260
+v -0.04286264 -0.03862167 -0.00327754
+v -0.04287105 -0.03724362 -0.00327754
+v -0.04282899 -0.03862173 0.01244324
+v 0.04281177 -0.03862185 0.04638688
+v 0.04285383 0.00026797 0.04638702
+v 0.04287066 0.00026816 -0.00567246
+v -0.04286264 -0.03862166 -0.00567260
+v 0.04282019 -0.03862185 0.04514349
+v 0.04282019 -0.03772345 0.04638688
+v 0.04285383 -0.00619971 0.04638700
+v 0.04286224 0.00026798 0.04376265
+v 0.04287907 0.00026806 0.02106561
+v 0.04289589 -0.00116318 -0.00567246
+v 0.04280336 -0.03862166 -0.00567260
+v 0.04282860 -0.03862183 0.04086805
+v 0.04282860 -0.03724379 0.04376251
+v 0.04282860 -0.03511202 0.04638689
+v 0.04284542 -0.02281620 0.04638694
+v 0.04285383 -0.00940880 0.04607615
+v 0.04285383 -0.02412189 0.03948202
+v 0.04287907 -0.00104149 0.02879096
+v 0.04287907 0.00026803 0.02879096
+v 0.04291271 -0.00303230 -0.00567247
+v 0.04281177 -0.03724361 -0.00567260
+v 0.04281177 -0.03862166 -0.00541781
+v 0.04284542 -0.03862179 0.02996797
+v 0.04284542 -0.03724375 0.03307135
+v 0.04285383 -0.03663847 0.02879083
+v 0.04283701 -0.02920774 0.04638691
+v 0.04284542 -0.02446452 0.04589773
+v 0.04286224 -0.02446446 0.03093114
+v 0.04287066 -0.01808052 0.02665571
+v 0.04285383 -0.03685925 0.02665564
+v 0.04285383 -0.03687446 0.02451538
+v 0.04285383 -0.03661179 0.02275221
+v 0.04283701 -0.03862171 0.00741361
+v 0.04282860 -0.03862169 0.00237889
+v 0.04282019 -0.03862167 -0.00189656
+v 0.04282019 -0.03511183 -0.00567259
+v 0.04284542 -0.03862175 0.02024503
+f 1 2 12
+f 1 12 20
+f 1 20 27
+f 1 27 37
+f 1 37 53
+f 1 53 38
+f 1 38 28
+f 1 28 21
+f 1 21 14
+f 1 14 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 12
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 6
+f 6 17 15
+f 6 15 21
+f 6 21 28
+f 6 28 39
+f 6 39 52
+f 6 52 51
+f 6 51 50
+f 6 50 54
+f 6 54 40
+f 6 40 29
+f 6 29 22
+f 6 22 18
+f 6 18 7
+f 7 18 23
+f 7 23 31
+f 7 31 43
+f 7 43 32
+f 7 32 24
+f 7 24 19
+f 7 19 11
+f 7 11 10
+f 7 10 8
+f 8 10 9
+f 11 19 25
+f 11 25 36
+f 11 36 26
+f 11 26 20
+f 11 20 12
+f 14 21 15
+f 15 17 16
+f 18 22 23
+f 19 24 25
+f 20 26 27
+f 22 29 30
+f 22 30 23
+f 23 30 31
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 26 36 27
+f 27 36 37
+f 28 38 39
+f 29 40 41
+f 29 41 30
+f 30 41 42
+f 30 42 31
+f 31 42 44
+f 31 44 43
+f 32 43 44
+f 32 44 33
+f 33 44 34
+f 34 42 45
+f 34 45 46
+f 34 46 35
+f 34 44 42
+f 35 46 37
+f 35 37 36
+f 37 46 45
+f 37 45 42
+f 37 42 47
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 52
+f 37 52 39
+f 37 39 53
+f 38 53 39
+f 40 54 48
+f 40 48 47
+f 40 47 42
+f 40 42 41
+f 48 54 49
+f 49 54 50
+
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_25.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..757adb36463f2012a6fc3b4283ba87b87a0d1241
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_25.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.04288146 0.00108953 0.02451336
+v 0.04287745 0.00417141 0.02237666
+v 0.04287745 0.00417140 0.02569929
+v 0.04287344 0.00417138 0.03092879
+v 0.04287745 0.00026803 0.02961747
+v 0.04287745 0.00026807 0.02024514
+v 0.04286943 0.00026816 -0.00567246
+v 0.04286542 0.00417147 0.00645831
+v 0.04286141 0.00417133 0.04375959
+v 0.04286542 0.00108947 0.04162284
+v 0.04286542 0.00026799 0.04162284
+v 0.00192563 0.00026816 -0.00567246
+v 0.04284938 0.00417151 -0.00567244
+v 0.04285339 0.00417150 -0.00326928
+v 0.04285740 0.00417132 0.04598513
+v 0.04286141 0.00026798 0.04458501
+v 0.00192563 0.00417151 -0.00567244
+v 0.00192563 0.00026798 0.04351403
+v 0.04285339 0.00417132 0.04744270
+v 0.04285339 0.00321878 0.04769868
+v 0.04285339 0.00026796 0.04769867
+v 0.00192563 0.00417133 0.04447009
+v 0.00515318 0.00026796 0.04769867
+v 0.00297207 0.00417131 0.04769869
+v 0.04284938 0.00417131 0.04769869
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 14
+f 2 14 13
+f 2 13 17
+f 2 17 22
+f 2 22 24
+f 2 24 25
+f 2 25 19
+f 2 19 15
+f 2 15 9
+f 2 9 4
+f 2 4 3
+f 2 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 16
+f 5 16 21
+f 5 21 23
+f 5 23 18
+f 5 18 12
+f 5 12 7
+f 5 7 6
+f 7 12 17
+f 7 17 13
+f 7 13 14
+f 7 14 8
+f 9 15 16
+f 9 16 10
+f 10 16 11
+f 12 18 22
+f 12 22 17
+f 15 19 20
+f 15 20 16
+f 16 20 21
+f 18 23 24
+f 18 24 22
+f 19 25 20
+f 20 25 24
+f 20 24 23
+f 20 23 21
+
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_3.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1149c421d07334355994cae6042695393e68aab
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_3.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.04285351 0.00026797 0.04742392
+v 0.04285351 0.00026797 0.04638703
+v 0.04284955 0.00026796 0.04849278
+v 0.04285351 -0.00104085 0.04739642
+v 0.04285351 -0.00435865 0.04638701
+v 0.00513442 0.00026797 0.04638703
+v 0.04284165 0.00026796 0.05017931
+v 0.04284165 0.00026252 0.05018339
+v 0.04284560 -0.00435866 0.04939251
+v 0.04284955 -0.00104086 0.04846527
+v 0.04285351 -0.00316984 0.04733026
+v 0.04285351 -0.00435865 0.04661817
+v 0.00246957 -0.00435865 0.04638701
+v 0.00514628 0.00026797 0.04721654
+v 0.04182157 0.00026796 0.05018339
+v 0.04284165 -0.00317846 0.05018338
+v 0.04284955 -0.00435866 0.04831771
+v 0.04284955 -0.00316985 0.04839911
+v 0.04284165 -0.00435866 0.05017929
+v 0.00267516 -0.00435866 0.05017929
+v 0.00521349 0.00026796 0.05017931
+v 0.00515814 0.00026796 0.04804122
+v 0.00521745 0.00026796 0.05018339
+v 0.04214183 -0.00435866 0.05018337
+v 0.00272656 -0.00435866 0.05018337
+f 1 2 6
+f 1 6 14
+f 1 14 22
+f 1 22 21
+f 1 21 23
+f 1 23 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 5 13
+f 2 13 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 10 18
+f 4 18 11
+f 5 12 17
+f 5 17 9
+f 5 9 19
+f 5 19 24
+f 5 24 25
+f 5 25 20
+f 5 20 13
+f 6 13 14
+f 7 15 8
+f 8 15 23
+f 8 23 25
+f 8 25 24
+f 8 24 16
+f 8 16 9
+f 9 17 11
+f 9 11 18
+f 9 18 10
+f 9 16 19
+f 11 17 12
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 16 24 19
+f 20 25 23
+f 20 23 21
+
diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_4.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2052dd65269a8ebe499afdb28826e5888265004
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_4.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
+v -0.02976035 0.00233034 -0.04603127
+v -0.02951442 0.00421396 -0.04603126
+v -0.02617100 0.00321641 -0.04792357
+v -0.02628811 0.00108634 -0.04792782
+v -0.02628811 -0.00103786 -0.04791935
+v -0.02973693 0.00018267 -0.04603128
+v -0.02598948 0.00534648 -0.04786202
+v -0.02796860 0.01122030 -0.04603124
+v -0.02425629 0.00534648 -0.04868692
+v -0.02425629 0.00321641 -0.04874057
+v -0.02425629 0.00108634 -0.04873776
+v -0.02425629 -0.00103786 -0.04872279
+v -0.02425629 -0.00316793 -0.04869852
+v -0.02617686 -0.00316793 -0.04790242
+v -0.02970765 -0.00103787 -0.04603128
+v -0.02425629 0.00747655 -0.04848591
+v -0.02591337 0.01553912 -0.04603122
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_5.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0969fdf5d76d0679c1e8b4457c5683ed4bba0be
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_5.obj
@@ -0,0 +1,3790 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_6.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..055ae7a35971f99be18b8793b3a514d510b8dd5b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_6.obj
@@ -0,0 +1,166 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_7.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc3d3f13893d8789f872b8d6fb67eae37cd83211
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_7.obj
@@ -0,0 +1,142 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_8.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1bb64c6ff0ca69b8823bd0853cb715972766cf4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_8.obj
@@ -0,0 +1,583 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_9.obj b/dataset/bedroom_supplies/small_electronics/c08f4226915957aca0e45bdf83cce692/mjcf/mesh/alarm_clock_027_collision_9.obj
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