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index 87b9792e497407b16ff852899481b2057a61e289..073637df5db6704e94bbfd0f107c8cf4d6505a28 100644
--- a/.gitattributes
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dataset/bedroom_supplies/lighting_fixtures/de74d8bac02d56bc87561153781dd436/de74d8bac02d56bc87561153781dd436.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mesh/alarm_clock_009_collision.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mesh/alarm_clock_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5303c02820ef5f31e73bc77cd4fe150b6bd05888
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mesh/alarm_clock_009_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mesh/alarm_clock_009_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mesh/alarm_clock_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..16cd562ceb3d3eebdc9acb1cec9e828632530e9a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mesh/alarm_clock_009_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b2f7bb6d8b6d32329d298a3564df70a7ed3fd82b9c7a0d3d1ca2f082a397f958
+size 12209901
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2d744be31e15d6074f4c7fec54aa69478692391
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl alarm_clock_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..16cd562ceb3d3eebdc9acb1cec9e828632530e9a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2f7bb6d8b6d32329d298a3564df70a7ed3fd82b9c7a0d3d1ca2f082a397f958
+size 12209901
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/alarm_clock_009.xml b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/alarm_clock_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c8efe162fc4f03afba82d448a43345da63009800
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/alarm_clock_009.xml
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c023ebdd87e838c6ae017354be74e7ab5f5182c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d863292469e144455c3e738de059337ec679e81b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision.obj
@@ -0,0 +1,25545 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_0.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e422e89fd2ef9897c81b27c3ce931ef8a3616f72
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_1.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24308e14253105f5103642319f472d57a546a3d7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_10.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dce0e5aa0f8024f0be8fcac67ed631c908111c3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_10.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_11.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..367e7a648d271b8e4beefd4432bcb4a1aca70535
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_11.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_12.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d82c0eef783ee6bbcb54921d498a8529c8929bff
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_12.obj
@@ -0,0 +1,1072 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_13.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f1cf08a5fea24a0c841e2acd79e5a995734ff4e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_13.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_14.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..190999df9ef14c3cb0d9aa4e4d045f8e90098438
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_14.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.03230791 0.04033124 -0.03837831
+v 0.03230791 0.03363333 -0.04364047
+v 0.03230791 0.04033130 -0.05408326
+v 0.02390916 0.04033115 -0.01349772
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+v 0.01676848 0.03363321 -0.01149265
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_15.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e18a8c29e9521ad2440c143ed37ab9b468b7f3f4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_15.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.01420408 -0.03398731 0.02506609
+v 0.01497184 -0.03398731 0.02506609
+v 0.01420408 -0.03398732 0.02647962
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+v 0.01420408 -0.03214522 0.02703895
+v 0.01420408 -0.02955833 0.02602709
+v 0.01420408 -0.02967377 0.02615595
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_16.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d88036e5d71f636d51647da448ac9ca36c99a04
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_16.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
+v 0.04503470 -0.02239692 -0.04650858
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_17.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b791f84d94168e885ffcd3808e48dfa52693799
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_17.obj
@@ -0,0 +1,112 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_18.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1844352ee45397861830034e3c33a3d8a351368
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_18.obj
@@ -0,0 +1,637 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_19.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6bb880a380eb486209db2957d6a5cd515015baa
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_19.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_2.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b292ff862fddb0c932aa0e2e5cc20462b5ea004c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_2.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_20.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696e3fce46a1f85496ccb9f9812607cf29d56653
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_20.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_21.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b329de79b13c30435b64255e1490cebf6338124f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_21.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_22.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..857a5eb10d398a35a2865609f578c780f87a2f32
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_22.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_23.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b45e1adca487372e3cc1b3a50253e8b15c14343a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_23.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_24.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a250bb571ee2efa7cc30594ac7175e99181891e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_24.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_25.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c70da861d059beb9295b2842d30bec4b98d99bbf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_25.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_26.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01dc7dbd8661e5d754d16ffb7863df60ef6f36d9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_26.obj
@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_27.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b4374cecf8dc264ab9f46f38750a4cefba422fb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_27.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_28.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5005aeadd516e2f671c1d1db9336535432a4678a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_28.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_29.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a976afacf183dbabe5832085d23c7d8b382d9b1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_29.obj
@@ -0,0 +1,412 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_3.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe83bb2fb4bfd4bc0ca07194dfc695e43b11f8ae
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_3.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.03230791 0.00317102 -0.06630564
+v 0.03230791 0.00317097 -0.05117503
+v 0.03230791 0.00509286 -0.06620221
+v 0.04796066 0.00509285 -0.06200541
+v 0.04815272 0.00317101 -0.06205259
+v 0.03230791 0.01753145 -0.04991031
+v 0.04769413 0.00317097 -0.05118228
+v 0.04534435 0.02018439 -0.04776926
+v 0.03230791 0.00757926 -0.06597721
+v 0.04652806 0.00650176 -0.06227032
+v 0.04748835 0.00742937 -0.06192556
+v 0.05016149 0.00757924 -0.06088589
+v 0.05016149 0.00509284 -0.06110726
+v 0.05016149 0.00317100 -0.06120162
+v 0.03230791 0.02018439 -0.05000284
+v 0.04029792 0.02018439 -0.04858576
+v 0.04992827 0.00317097 -0.05174657
+v 0.04752558 0.02018439 -0.04789809
+v 0.03230791 0.00817213 -0.06590100
+v 0.04769413 0.01006565 -0.06154452
+v 0.04994983 0.01254871 -0.06028892
+v 0.05039862 0.01027547 -0.06041231
+v 0.05138047 0.01124639 -0.05973915
+v 0.05148826 0.00958934 -0.05987161
+v 0.05158821 0.00757924 -0.05999681
+v 0.05166660 0.00509284 -0.06010932
+v 0.05169795 0.00317100 -0.06015650
+v 0.03230791 0.02018444 -0.06331357
+v 0.05020852 0.00317097 -0.05191713
+v 0.05024380 0.02018439 -0.04924077
+v 0.04753538 0.02018439 -0.04790172
+v 0.03230791 0.01006566 -0.06565604
+v 0.04769413 0.01254871 -0.06113445
+v 0.04948732 0.01503510 -0.06003489
+v 0.05118449 0.01254871 -0.05951959
+v 0.05145690 0.01909527 -0.05736765
+v 0.05156665 0.01752149 -0.05757269
+v 0.05168228 0.01503509 -0.05789748
+v 0.05176459 0.01027547 -0.05875210
+v 0.05201348 0.00757923 -0.05851442
+v 0.05211538 0.00509283 -0.05851443
+v 0.05215654 0.00317099 -0.05851444
+v 0.03230791 0.02000791 -0.06337163
+v 0.04706896 0.02018443 -0.05943611
+v 0.05116293 0.00317097 -0.05251771
+v 0.05124133 0.02018439 -0.05003368
+v 0.03230791 0.01065853 -0.06555625
+v 0.04769413 0.01503510 -0.06063002
+v 0.04911889 0.01662553 -0.05985163
+v 0.03230791 0.01253041 -0.06524053
+v 0.03230791 0.01434233 -0.06487401
+v 0.05072003 0.01503510 -0.05914400
+v 0.05031827 0.01995626 -0.05802085
+v 0.05157057 0.02018442 -0.05595964
+v 0.05181162 0.01752149 -0.05602497
+v 0.05025752 0.02018442 -0.05799545
+v 0.05131776 0.02018442 -0.05704105
+v 0.05198604 0.01503509 -0.05602497
+v 0.05209971 0.01254870 -0.05602498
+v 0.05218594 0.01006563 -0.05602499
+v 0.05225453 0.00757923 -0.05602500
+v 0.05230352 0.00509283 -0.05602501
+v 0.05232900 0.00317099 -0.05602502
+v 0.03230791 0.01756482 -0.06408109
+v 0.04765101 0.01993629 -0.05935991
+v 0.04680047 0.01906030 -0.05984981
+v 0.04765493 0.02018443 -0.05928007
+v 0.05187041 0.00317098 -0.05376423
+v 0.05164504 0.01254868 -0.05198241
+v 0.05167836 0.01503507 -0.05184269
+v 0.05153921 0.02018440 -0.05103888
+v 0.04765101 0.01747987 -0.06005122
+v 0.03230791 0.01454550 -0.06482865
+v 0.03230791 0.01557637 -0.06458913
+v 0.04844472 0.01828257 -0.05963389
+v 0.05173323 0.02018441 -0.05364986
+v 0.05173911 0.02018441 -0.05353374
+v 0.05175087 0.02000788 -0.05353374
+v 0.05188413 0.01752148 -0.05353375
+v 0.05198408 0.01503508 -0.05353375
+v 0.05200172 0.01254869 -0.05353376
+v 0.05158233 0.02018440 -0.05154511
+f 1 2 6
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+f 1 43 64
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+f 77 82 78
+f 78 82 79
+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_30.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a77e6a6fc6e15c48f03e008617baa98dda6bdcf6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_30.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.02906542 0.04986338 0.01300354
+v -0.02928457 0.04986338 0.01377094
+v -0.02902974 0.05157786 0.01300355
+v 0.01650764 0.04986338 0.01300354
+v -0.02901445 0.05230452 0.01300355
+v -0.02981461 0.04986337 0.01565408
+v 0.01646177 0.05230452 0.01300355
+v 0.01790918 0.05230446 0.03106577
+v 0.01265977 0.04986332 0.03106576
+v -0.03348410 0.04986332 0.02870343
+v -0.02921831 0.05230452 0.01373028
+v -0.03407529 0.05230446 0.03106577
+v -0.03414664 0.04986332 0.03106576
+f 1 2 3
+f 1 3 5
+f 1 5 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 4 7 8
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+f 5 6 10
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+f 5 12 8
+f 5 8 7
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+f 8 13 9
+f 10 13 11
+f 11 13 12
+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_31.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b15d533e2ed7fb43d00ec6e55e26b54ac65868ba
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_31.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01446462 -0.00991165 -0.03866873
+v -0.01448745 -0.00559154 -0.03860372
+v -0.01446462 -0.00559154 -0.03866871
+v -0.01445891 -0.01225871 -0.03866874
+v -0.01770109 -0.01225875 -0.02743435
+v -0.01449316 -0.00733877 -0.03857897
+v -0.01643390 -0.00559156 -0.03184452
+v 0.02919642 -0.00559154 -0.03866871
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+v -0.01733578 -0.00559157 -0.02870941
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+f 35 38 36
+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_32.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ef0f0079a232c81d5e94cfacb04c02db8fa748
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_32.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00906182 -0.03520219 0.05279106
+v 0.01501082 -0.03627291 0.05279106
+v 0.00906182 -0.04383225 0.04093295
+v 0.00906182 -0.05114438 0.05279100
+v 0.01501082 -0.04020467 0.05279104
+v 0.01501082 -0.04778379 0.04093293
+v 0.00906182 -0.05936148 0.04093289
+v 0.00906182 -0.05118889 0.05274457
+v 0.00959936 -0.05123093 0.05279100
+v 0.01316468 -0.05158949 0.05279100
+v 0.01501082 -0.05183182 0.05278868
+v 0.01501082 -0.06046188 0.04093289
+v 0.01073791 -0.06016761 0.04093289
+v 0.00906182 -0.06000936 0.04093638
+v 0.00906182 -0.05121609 0.05271554
+v 0.01069889 -0.05140402 0.05279100
+v 0.01281118 -0.05156476 0.05279100
+v 0.01069889 -0.05256130 0.05151175
+v 0.01501082 -0.05304350 0.05143513
+v 0.01501082 -0.06018245 0.04140652
+v 0.01316468 -0.06015772 0.04132642
+v 0.01316468 -0.06038522 0.04093289
+v 0.01076004 -0.06017009 0.04093289
+v 0.00906182 -0.05991786 0.04109193
+v 0.00906182 -0.05201481 0.05183794
+v 0.00906182 -0.05243271 0.05137593
+v 0.00906182 -0.05316961 0.05054823
+v 0.01069889 -0.05364932 0.05026614
+v 0.01501082 -0.05386694 0.05050295
+v 0.01501082 -0.05838226 0.04440036
+v 0.01271858 -0.06034813 0.04093289
+v 0.01316468 -0.05891639 0.04338925
+v 0.00906182 -0.05946039 0.04184532
+v 0.00906182 -0.05353558 0.05012916
+v 0.00906182 -0.05428978 0.04918655
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+v 0.01316468 -0.05601333 0.04765190
+v 0.01501082 -0.05536298 0.04870828
+v 0.01501082 -0.05511076 0.04902171
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+v 0.01053524 -0.05661174 0.04638309
+v 0.00906182 -0.05740551 0.04501097
+v 0.00906182 -0.05790006 0.04430517
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_33.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2469ae2e3cbbff79f393064845b6daa9d3d1ba5e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_33.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_34.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69b837016697256d59061f5c91c9d935f433f32d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_34.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_35.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddc8f9112b9f2acfaf78a0ffdbe16f4d8e69553b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_35.obj
@@ -0,0 +1,973 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_36.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9e8e439da134e3b3ff47a4885286508326882aa
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_36.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_37.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f48beb5283bb53020b10ea5756357470065dd736
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_37.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_38.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30b284cdd3326c6a2055f8f0aad296e0f2382ffa
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_38.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_39.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e2acae47bddd03df397284777c2b9ae396d1056
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_39.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_4.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21ab8d05bbad2a542d6a2805e26a459bfb2b93bd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_4.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_40.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67dc959232356b0cfd9e312f857ca5701a35e255
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_40.obj
@@ -0,0 +1,784 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_41.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f9aa822722bcd3825943c4ba21ed72aacc2409b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_41.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.03464555 -0.01333630 -0.03866911
+v 0.03445835 -0.01346570 -0.04017979
+v 0.03392529 -0.01346570 -0.04017979
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+v 0.03298645 -0.01929121 -0.03868047
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+v 0.03548384 -0.01923292 -0.03877745
+v 0.03523923 -0.01906678 -0.04087111
+v 0.03347708 -0.01916238 -0.04107238
+v 0.03298645 -0.01924690 -0.03957341
+v 0.03298645 -0.01876659 -0.04064677
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_42.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2814a3364d4095df289e6052189056048a2a1476
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_42.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.02056461 0.04486586 0.03334519
+v 0.02189218 0.04621560 0.03264431
+v 0.02056461 0.04637162 0.03288524
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+v 0.01886584 0.04489852 0.03116288
+v 0.01862482 0.03989138 0.02870180
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+v 0.01958247 0.04120847 0.03237548
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+v 0.02215898 0.04386445 0.02697747
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+v 0.02272545 0.04245665 0.02617304
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+v 0.01923124 0.01855305 0.01735013
+v 0.01923124 0.01855305 0.01763685
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+v 0.02056525 0.03691976 0.03106529
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+v 0.02093452 0.00930438 0.01346534
+v 0.02322554 0.00930438 0.01405671
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+v 0.02458147 0.01006996 0.01331999
+v 0.02467362 0.01006996 0.01300340
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+v 0.02492947 0.01503718 0.01375409
+v 0.02214545 0.03886459 0.02231814
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_43.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80a3a393fc35fe98f862c40836307260dac4496d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_43.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.02927455 -0.02238202 -0.03866877
+v 0.02927455 -0.01225936 -0.03866874
+v 0.03546055 -0.01922909 -0.03866876
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+v 0.03409562 -0.01603359 -0.02986218
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+v 0.03057339 -0.01225941 -0.02340920
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_44.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aad4453286f2edb249d5ed671fc63a2ef95315c7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_44.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.03039250 0.05144690 0.04453584
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_45.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d15391c5391e111113eaf4842fac40e851845e6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_45.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.04503575 -0.02239977 -0.04650782
+v 0.04276100 -0.03577948 -0.03874545
+v 0.04423290 -0.03577948 -0.03872182
+v 0.04522789 -0.03577948 -0.03874545
+v 0.04726762 -0.02275604 -0.04650782
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+v 0.03642052 -0.03577947 -0.04062889
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+v 0.04703774 -0.03577948 -0.03939867
+v 0.04850964 -0.02380257 -0.04650783
+v 0.03298609 -0.02876936 -0.04650785
+v 0.03432247 -0.03577947 -0.04141550
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_46.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696fef9cea7904be4661e530f3d3d92114606fce
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_46.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v -0.01445710 -0.01225936 -0.03866874
+v -0.01445193 -0.01737043 -0.03866875
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_47.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f47c1a97ca38d030453ef8b3ca53eed77407196
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_47.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.02167541 -0.01719962 -0.00705153
+v 0.01847126 -0.01719967 0.00673971
+v 0.01847126 -0.01726878 0.00673971
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+v -0.02591537 -0.02971058 0.00129121
+v -0.02746452 -0.02575489 0.00673968
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_48.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4954358ae7eeeeaa67370bdf3332a231c09bf872
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_48.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_49.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c04b26987e783c1828006322935cbc7792b6015d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_49.obj
@@ -0,0 +1,631 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_5.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..332bc62e5d0bf5469644d8af4d8805c81403d92a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_5.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_50.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..320f744e080c00ed8a87a5cf5d230dc4fca788dc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_50.obj
@@ -0,0 +1,136 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_51.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ffb6220868e046dc30ca7ec9b65f1ca6604df19
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_51.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_52.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b3e6aedd7d789af7179259fce32b8677e83d3c6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_52.obj
@@ -0,0 +1,418 @@
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+v -0.01838813 -0.04785455 -0.02425203
+v -0.01794480 -0.04711338 -0.02582768
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+f 88 91 89
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+f 91 94 93
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+f 94 116 118
+f 94 118 95
+f 95 119 117
+f 95 118 120
+f 95 120 119
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+f 96 122 123
+f 96 123 124
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+f 101 105 102
+f 103 104 105
+f 104 125 105
+f 105 125 106
+f 106 125 107
+f 107 125 108
+f 108 126 109
+f 109 126 110
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+f 110 128 112
+f 110 112 111
+f 110 126 129
+f 110 129 130
+f 110 130 131
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+f 110 132 127
+f 112 128 127
+f 112 127 113
+f 113 133 134
+f 113 134 114
+f 113 127 135
+f 113 135 120
+f 113 120 136
+f 113 136 133
+f 116 133 118
+f 118 133 136
+f 118 136 120
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+f 127 132 135
+f 130 139 131
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+f 131 138 140
+f 131 140 132
+f 132 140 138
+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_53.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c7bf36ca325f58b9042886cfd46a59701905af6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_53.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.03441923 0.03481898 0.03106571
+v -0.03754532 0.03481894 0.04179852
+v -0.03441923 0.03492399 0.03106571
+v 0.01211434 0.03481898 0.03106571
+v -0.03806220 0.03481893 0.04357590
+v -0.03756023 0.03492395 0.04185390
+v -0.03442917 0.03741021 0.03119625
+v -0.03438941 0.03741021 0.03106572
+v 0.01232805 0.03678502 0.03106572
+v 0.00901310 0.04187623 0.04453448
+v 0.00774576 0.03481893 0.04372752
+v -0.03834051 0.03481893 0.04453446
+v -0.03435959 0.03976586 0.03106573
+v 0.01235290 0.03741021 0.03106572
+v 0.00746248 0.03481893 0.04453446
+v 0.01242745 0.03940042 0.03106572
+v 0.01242745 0.03989573 0.03106573
+v 0.01223362 0.04187628 0.03106573
+v -0.03809202 0.04187623 0.04453448
+v -0.03828087 0.03741016 0.04453447
+v -0.03803238 0.03741016 0.04365502
+v -0.03436456 0.04187628 0.03119626
+v -0.03432480 0.04187628 0.03106573
+v -0.03791807 0.04187623 0.04365503
+v -0.03821626 0.03989568 0.04453448
+v -0.03797274 0.03989568 0.04365503
+v -0.03579093 0.04187626 0.03618030
+v -0.03748071 0.04187624 0.04210839
+v -0.03650163 0.04187625 0.03867099
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 23
+f 1 23 18
+f 1 18 17
+f 1 17 16
+f 1 16 14
+f 1 14 9
+f 1 9 4
+f 1 4 11
+f 1 11 15
+f 1 15 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 7
+f 5 7 6
+f 7 13 8
+f 9 14 10
+f 10 15 11
+f 10 14 16
+f 10 16 17
+f 10 17 18
+f 10 18 23
+f 10 23 22
+f 10 22 27
+f 10 27 29
+f 10 29 28
+f 10 28 24
+f 10 24 19
+f 10 19 25
+f 10 25 20
+f 10 20 12
+f 10 12 15
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 19 24 25
+f 20 25 26
+f 20 26 21
+f 21 26 27
+f 21 27 22
+f 24 28 26
+f 24 26 25
+f 26 28 29
+f 26 29 27
+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_54.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25b5b4b5589a73a542bca2a748d2426a0b719049
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_54.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01958153 0.02404223 0.00534438
+v 0.01953310 0.02404223 0.00552279
+v 0.02302590 0.02402719 0.01300168
+v 0.02471579 0.02227479 0.01300167
+v 0.02459201 0.02183826 0.01213137
+v 0.02500103 0.01255095 0.00668690
+v 0.02520015 0.01126386 0.00631283
+v 0.02302590 0.01126386 0.00536082
+v 0.01958153 0.02345684 0.00534438
+v -0.02706809 0.02404223 0.00534438
+v 0.01696059 0.02404220 0.01281353
+v 0.01689062 0.02404220 0.01300168
+v 0.02503332 0.01995327 0.01300166
+v 0.02527012 0.01752294 0.01125880
+v 0.02567914 0.01255094 0.00876783
+v 0.02507637 0.01506884 0.00865614
+v 0.02570605 0.01126385 0.00876782
+v 0.01884422 0.01126386 0.00534433
+v -0.02707347 0.02000709 0.00534436
+v -0.02725646 0.02404223 0.00600104
+v -0.02925311 0.02404220 0.01300168
+v 0.02514095 0.01752293 0.01300165
+v 0.02547463 0.01503631 0.01125880
+v 0.02534008 0.01255093 0.01125879
+v 0.02525397 0.01126384 0.01125878
+v -0.02707886 0.01126386 0.00534433
+v -0.02707886 0.01255095 0.00534434
+v -0.02927464 0.01126383 0.01300163
+v -0.02926926 0.01677494 0.01300165
+v -0.02926388 0.02000706 0.01300166
+v -0.02875798 0.02404221 0.01125883
+v -0.02919929 0.02404220 0.01281128
+v -0.02925849 0.02249368 0.01300167
+v 0.02509252 0.01503630 0.01300165
+v 0.02489339 0.01241959 0.01300164
+v 0.02477499 0.01126383 0.01300163
+f 1 2 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 18
+f 1 18 26
+f 1 26 27
+f 1 27 19
+f 1 19 10
+f 1 10 20
+f 1 20 31
+f 1 31 32
+f 1 32 21
+f 1 21 12
+f 1 12 11
+f 1 11 2
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+f 3 11 12
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+f 3 29 28
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+f 3 35 34
+f 3 34 22
+f 3 22 13
+f 3 13 4
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+f 4 14 5
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+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 16 15
+f 7 15 17
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+f 7 36 28
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+f 7 26 18
+f 7 18 8
+f 8 18 9
+f 10 19 20
+f 13 22 23
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+f 14 23 15
+f 15 23 17
+f 17 23 24
+f 17 24 25
+f 19 27 28
+f 19 28 29
+f 19 29 20
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+f 20 30 31
+f 21 32 33
+f 22 34 23
+f 23 34 24
+f 24 34 25
+f 25 34 35
+f 25 35 36
+f 26 28 27
+f 30 33 31
+f 31 33 32
+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_55.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a3d0d218b54169282ff46bb5821ec4dadd281e6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_55.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.02852724 -0.05368854 -0.04059712
+v 0.02852724 -0.05305218 -0.04140561
+v 0.03374300 -0.05326745 -0.03957061
+v 0.03374300 -0.05368855 -0.03902859
+v 0.02852724 -0.05368862 -0.01950363
+v 0.02852724 -0.05282306 -0.04169025
+v 0.03374300 -0.05319758 -0.03965843
+v 0.03374300 -0.05368863 -0.01680865
+v 0.02852724 -0.04725946 -0.02951135
+v 0.02852724 -0.05157990 -0.04317097
+v 0.03374300 -0.05091773 -0.04240184
+v 0.03374300 -0.05262416 -0.04036395
+v 0.03374300 -0.04725946 -0.02946593
+v 0.02852724 -0.04725939 -0.04774333
+v 0.02852724 -0.05073708 -0.04413389
+v 0.02852724 -0.05048090 -0.04441853
+v 0.03374300 -0.05052118 -0.04283183
+v 0.03374300 -0.04725940 -0.04616268
+v 0.03351833 -0.04725940 -0.04623232
+v 0.03374300 -0.04798955 -0.04546623
+v 0.03374300 -0.04850759 -0.04496055
+v 0.03289643 -0.04862970 -0.04508470
+v 0.02852724 -0.04923837 -0.04571453
+v 0.03289643 -0.04987286 -0.04377052
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 14
+f 1 14 23
+f 1 23 16
+f 1 16 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 11
+f 3 11 17
+f 3 17 21
+f 3 21 20
+f 3 20 18
+f 3 18 13
+f 3 13 8
+f 3 8 4
+f 5 8 9
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 8 13 9
+f 9 13 18
+f 9 18 19
+f 9 19 14
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 16 24 17
+f 16 23 22
+f 16 22 24
+f 17 24 21
+f 18 20 19
+f 21 24 22
+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_56.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b47b1cdde3213947750602043545795579d7dac
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_56.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01447242 0.00003167 -0.03866383
+v -0.01486641 -0.00559154 -0.03728362
+v -0.01769267 -0.00559158 -0.02746413
+v -0.01733544 -0.00236569 -0.02871129
+v -0.01447242 0.00317092 -0.03866382
+v -0.01446717 -0.00559154 -0.03866385
+v -0.02353428 -0.00559165 -0.00705149
+v -0.02353954 -0.00322949 -0.00705148
+v -0.02354479 0.00011905 -0.00705147
+v -0.01769267 -0.00236570 -0.02746722
+v -0.01733544 0.00011913 -0.02871128
+v -0.01733544 0.00260566 -0.02870817
+v -0.01664727 0.00317089 -0.03110038
+v 0.03011194 0.00317092 -0.03866382
+v 0.02919788 -0.00559154 -0.03866385
+v 0.02193788 -0.00559165 -0.00705149
+v -0.02353954 0.00317081 -0.00705146
+v -0.02307725 0.00260558 -0.00867927
+v -0.01733544 0.00317089 -0.02870508
+v 0.02927142 0.00317091 -0.03460667
+v 0.03012245 0.00011916 -0.03866383
+v 0.02923465 -0.00122318 -0.03476761
+v 0.02455925 -0.00559162 -0.01699167
+v 0.02231086 -0.00241723 -0.00705148
+v 0.02223206 0.00317081 -0.00705146
+v 0.02243168 0.00098449 -0.00705147
+v 0.02246846 0.00011905 -0.00705147
+v 0.02927142 0.00260568 -0.03460048
+v 0.02958662 0.00011915 -0.03608595
+v 0.02926091 0.00011915 -0.03467167
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 14
+f 1 14 21
+f 1 21 15
+f 1 15 6
+f 1 6 2
+f 2 6 15
+f 2 15 23
+f 2 23 16
+f 2 16 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 19
+f 5 19 17
+f 5 17 25
+f 5 25 20
+f 5 20 14
+f 7 16 24
+f 7 24 27
+f 7 27 26
+f 7 26 25
+f 7 25 17
+f 7 17 9
+f 7 9 8
+f 9 17 18
+f 9 18 11
+f 9 11 10
+f 11 18 12
+f 12 19 13
+f 12 18 19
+f 14 20 21
+f 15 21 22
+f 15 22 23
+f 16 23 24
+f 17 19 18
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 20 25 26
+f 21 29 22
+f 22 29 30
+f 22 30 27
+f 22 27 24
+f 22 24 23
+f 27 30 28
+f 28 30 29
+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_57.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f065b8436abc1bbbf5543c750273e137250e4822
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_57.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.02111120 -0.07008881 0.00433633
+v 0.02852651 -0.07000419 0.00627568
+v 0.02111120 -0.07008317 0.00627568
+v 0.02111120 -0.07008457 0.00378512
+v 0.02852651 -0.06998868 0.00876912
+v 0.02111120 -0.07002533 0.00184578
+v 0.02111120 -0.07000558 0.00129168
+v 0.02852651 -0.06989275 0.00378512
+v 0.02852651 -0.06988291 0.01125679
+v 0.02111120 -0.07005920 0.00682978
+v 0.02111120 -0.06984338 -0.00119888
+v 0.02852651 -0.06955283 -0.00063035
+v 0.02852651 -0.06970239 0.01375023
+v 0.02796320 -0.06969956 0.01375023
+v 0.02796320 -0.06987868 0.01125679
+v 0.02111120 -0.06997458 0.00876912
+v 0.02111120 -0.06965296 -0.00313822
+v 0.02852651 -0.06950065 -0.00119888
+v 0.02852651 -0.06943019 0.01624079
+v 0.02796320 -0.06942878 0.01624079
+v 0.02111120 -0.06951480 0.01430144
+v 0.02111120 -0.06974751 0.01181089
+v 0.02111120 -0.06959655 -0.00369232
+v 0.02852651 -0.06929613 -0.00312089
+v 0.02852651 -0.06934698 0.01681221
+v 0.02852651 -0.06905926 0.01873424
+v 0.02796320 -0.06905503 0.01873424
+v 0.02549650 -0.06900566 0.01873424
+v 0.02111120 -0.06925812 0.01624080
+v 0.02111120 -0.06952461 -0.00425507
+v 0.02852651 -0.06921856 -0.00369231
+v 0.02111120 -0.06950345 -0.00441380
+v 0.02852651 -0.06895630 0.01930277
+v 0.02796320 -0.06859243 0.02122479
+v 0.02111120 -0.06882937 0.01873424
+v 0.02111120 -0.06917208 0.01679490
+v 0.02527800 -0.06847959 0.02147010
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_58.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a629053e7d4767e4b192b01ff5463bba4a959be
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_58.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+v 0.02273690 0.01126392 -0.01135713
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_59.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47a57d790abf5ab93c5ebec3bf3eb98e55b93b71
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_59.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_6.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..172e8fc5e9659d09a3ebdf1a6050ad12b4171077
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_6.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_60.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0950ab9def1b6df98a3a2492f83c496e3348871
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_60.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.02747014 -0.02076387 0.00673970
+v -0.02762879 -0.01719968 0.00728506
+v -0.02747014 -0.01719967 0.00673972
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_61.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6367883e74a11acb076fdfd4fcaf6e8ddf4b2781
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_61.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_62.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..468e101cf6767b82665361a0f2146571f6812f18
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_62.obj
@@ -0,0 +1,676 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_63.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76f121d0486528df51a4b25e9bb4a46f14af9adf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_63.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02852724 -0.04725876 -0.04774327
+v 0.02852724 -0.04725425 -0.05541852
+v 0.03298527 -0.04725877 -0.04639420
+v 0.02852724 -0.04725883 -0.02951171
+v 0.02852724 -0.03578054 -0.05541848
+v 0.02978535 -0.04645083 -0.05541852
+v 0.03374300 -0.04725877 -0.04616300
+v 0.03351833 -0.04725877 -0.04623160
+v 0.03374300 -0.04725883 -0.02946598
+v 0.02852724 -0.03578061 -0.03576670
+v 0.03374300 -0.03578054 -0.05541848
+v 0.03114048 -0.04471140 -0.05541851
+v 0.03214891 -0.04231463 -0.05541851
+v 0.03374300 -0.04244386 -0.05088094
+v 0.03374300 -0.03578059 -0.04174227
+v 0.03374300 -0.03596482 -0.05541848
+v 0.03352957 -0.03690870 -0.05541849
+v 0.03374300 -0.03691881 -0.05524065
+v 0.03374300 -0.03957852 -0.05337583
+v 0.03374300 -0.03977179 -0.05323356
+f 1 2 3
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+f 13 20 14
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_64.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dc086e48138682971e6f6b2b2d53f4ed98ffa37
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_64.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01383625 0.05150412 0.03106577
+v 0.01383625 0.04331952 0.04453317
+v 0.01383625 0.05230446 0.03106577
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+v 0.02856216 0.04700283 0.04453318
+v 0.03030913 0.05230441 0.04453188
+v 0.03051808 0.05230444 0.03479024
+v 0.02956753 0.05072223 0.03662018
+v 0.02788735 0.04602395 0.04453318
+v 0.02839774 0.04667566 0.04453318
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+v 0.03016355 0.04983919 0.04453187
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+v 0.03112267 0.05195087 0.03866897
+v 0.03133334 0.05230443 0.03866897
+v 0.03120146 0.05230442 0.04118315
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_65.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea5c67eb8f848cf188ac1eeb804b1d766e585ed
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_65.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.02226036 0.01126392 -0.01148764
+v -0.02227989 0.01126392 -0.01142833
+v -0.02226036 0.01752302 -0.01148762
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+v -0.02592500 0.01752298 0.00129067
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_66.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aba19edb5e42b700977782a5d30c46a8daddcd9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_66.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_67.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aa0fabd5ad1d60276aa5d117978dc0705f24231
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_67.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_68.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..338bcbd1ad323f8f95ca21ce6ce38edab7947064
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_68.obj
@@ -0,0 +1,1291 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_69.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9131b21c424cbe337dded1e944ae07404eaa8a9c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_69.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_7.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..824998ed5179e7db17281749d09342cd858e1af3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_7.obj
@@ -0,0 +1,526 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_70.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0a779e23e7f84b3504e231505c842d857d0b3f9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_70.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01609591 -0.00664512 -0.00704899
+v 0.01609591 0.00317081 -0.00704896
+v 0.02183404 -0.00664512 -0.00704899
+v 0.01609591 -0.00664521 0.01602493
+v 0.02223879 0.00317081 -0.00704896
+v 0.01609591 0.00317071 0.01851531
+v 0.02231696 -0.00241647 -0.00704898
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+v 0.02355898 -0.00482340 -0.00134746
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+v 0.02243532 0.00098394 -0.00704897
+v 0.02355898 0.00317080 -0.00411810
+v 0.02355898 0.00260487 -0.00434837
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_71.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d0a291f400511069403ea18951d2e6c7ee8642b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_71.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00543370 0.01525324 0.05008465
+v 0.00310823 0.01525320 0.05907148
+v 0.00680077 0.00509252 0.05008461
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_72.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb66e98404876db8e348c6a2287ad23758610eb6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_72.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.00794670 0.03481887 0.05907155
+v 0.00794670 0.02163656 0.05907150
+v 0.00794670 0.03481890 0.05131727
+v -0.02009380 0.03481887 0.05907155
+v 0.00543348 0.01525324 0.05008465
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+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_73.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..308ec7dbbaeddc784a99f5762d45913af80d57d3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_73.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.03432649 0.04187730 0.03106573
+v -0.03435698 0.04187730 0.03116989
+v -0.03432140 0.04225294 0.03106574
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+v -0.03232373 0.05230440 0.04220864
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+v -0.03161209 0.05034044 0.04453451
+v -0.03413841 0.05230441 0.04150586
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+f 58 65 59
+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_74.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d22e2746652f3e033887fbc53ddc609d6607c2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_74.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.03032724 -0.00559162 -0.01615158
+v 0.03022628 -0.00559162 -0.01643544
+v 0.03028854 -0.00553189 -0.01615158
+v 0.02955362 -0.00327316 -0.01116884
+v 0.02963817 -0.00294448 -0.00867656
+v 0.03024731 -0.00485199 -0.01116885
+v 0.03011354 -0.00559164 -0.01116885
+v 0.02850991 -0.00559162 -0.01643544
+v 0.02931004 -0.00354286 -0.01257253
+v 0.02809681 -0.00175443 -0.00705240
+v 0.02857891 -0.00198620 -0.00705240
+v 0.02948084 -0.00292983 -0.00705240
+v 0.02952838 -0.00445269 -0.00705241
+v 0.02975133 -0.00498536 -0.00852224
+v 0.02965794 -0.00559165 -0.00883274
+v 0.02654703 -0.00559163 -0.01290234
+v 0.02651800 -0.00331260 -0.01051385
+v 0.02800342 -0.00316234 -0.01127449
+v 0.02885108 -0.00354286 -0.01257253
+v 0.02796387 -0.00213872 -0.00867656
+v 0.02651632 -0.00214548 -0.00705240
+v 0.02862897 -0.00505147 -0.00705241
+v 0.02796387 -0.00543275 -0.00705241
+v 0.02796387 -0.00559165 -0.00734270
+v 0.02602960 -0.00233706 -0.00705240
+v 0.02648687 -0.00559164 -0.01215640
+v 0.02603507 -0.00299106 -0.00705240
+v 0.02614612 -0.00463676 -0.00705241
+v 0.02643176 -0.00559165 -0.00900728
+v 0.02637581 -0.00559164 -0.00972199
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 24
+f 1 24 29
+f 1 29 30
+f 1 30 26
+f 1 26 16
+f 1 16 8
+f 1 8 2
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+f 10 23 22
+f 10 22 13
+f 10 13 12
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+f 17 20 18
+f 18 20 19
+f 23 28 24
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+f 26 30 28
+f 26 28 27
+f 28 30 29
+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_75.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c436706dd13892f892f60a60314522cdf8c5ec4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_75.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01970800 -0.01719968 0.00956575
+v 0.01970800 -0.01016298 0.00146455
+v 0.02232634 -0.01649819 0.00970472
+v 0.02272066 -0.01719968 0.01096846
+v 0.01970800 -0.01719971 0.02039271
+v 0.01970800 -0.00664516 0.00146457
+v 0.02250721 -0.00664929 0.00146457
+v 0.02488245 -0.00664516 0.00325640
+v 0.02448056 -0.01151847 0.00720878
+v 0.02278929 -0.01719968 0.01108149
+v 0.01990516 -0.01719971 0.02039456
+v 0.01970800 -0.01668521 0.02022779
+v 0.02102066 -0.00664516 0.00146457
+v 0.01970800 -0.00664520 0.01383505
+v 0.02297424 -0.00664516 0.00197784
+v 0.02513369 -0.00664516 0.00389382
+v 0.02429213 -0.01368910 0.00990115
+v 0.02282593 -0.01719968 0.01116302
+v 0.02558210 -0.00664517 0.00520388
+v 0.01995343 -0.01719971 0.02037232
+v 0.02199658 -0.01296593 0.01775407
+v 0.01970800 -0.01572750 0.01975713
+v 0.01970800 -0.00724028 0.01428161
+v 0.02056469 -0.00827446 0.01519328
+v 0.02056469 -0.00664520 0.01395920
+v 0.02564957 -0.00664517 0.00627675
+v 0.02429213 -0.01368910 0.01012165
+v 0.02312836 -0.01719969 0.01366639
+v 0.02120037 -0.01719971 0.01930871
+v 0.02237112 -0.00982520 0.01571395
+v 0.02211406 -0.00818458 0.01524887
+v 0.02207335 -0.01479561 0.01803943
+v 0.02423571 -0.00664519 0.01156886
+v 0.02098518 -0.00664520 0.01398514
+v 0.02543264 -0.00664518 0.00779620
+v 0.02311033 -0.01719969 0.01374978
+v 0.02197564 -0.01719971 0.01810428
+v 0.02291084 -0.00664520 0.01338848
+v 0.02269972 -0.00664520 0.01356452
+v 0.02480975 -0.00664519 0.01011798
+v 0.02518720 -0.00664518 0.00876716
+v 0.02199367 -0.01719971 0.01804498
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+f 26 35 27
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+f 27 35 36
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+f 31 39 34
+f 32 37 40
+f 32 40 33
+f 35 41 36
+f 36 41 42
+f 37 42 40
+f 40 42 41
+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_8.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f06064d884a69eb6aae386836533592a4b13180
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_8.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.03230791 0.02018444 -0.06331401
+v 0.03230791 0.02239121 -0.06258037
+v 0.04769421 0.02249571 -0.05852365
+v 0.04581110 0.02071886 -0.05959965
+v 0.04706841 0.02018443 -0.05943663
+v 0.03230791 0.02018439 -0.04999995
+v 0.03230791 0.02352911 -0.06217822
+v 0.04761622 0.02500421 -0.05764329
+v 0.04838658 0.02584827 -0.05712159
+v 0.04921210 0.02418974 -0.05743678
+v 0.04765616 0.02018443 -0.05927903
+v 0.04029684 0.02018439 -0.04858431
+v 0.04305872 0.04033123 -0.03555819
+v 0.04029684 0.04033123 -0.03606630
+v 0.03782978 0.04033123 -0.03671570
+v 0.03230791 0.04033124 -0.03838403
+v 0.03230791 0.04032342 -0.05604282
+v 0.04869473 0.03105655 -0.05470059
+v 0.04964579 0.02249571 -0.05773296
+v 0.04934335 0.02939999 -0.05510001
+v 0.04978464 0.02746734 -0.05553204
+v 0.05025828 0.02018442 -0.05799382
+v 0.04533557 0.02018439 -0.04777188
+v 0.04326606 0.04033123 -0.03555819
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+v 0.04769421 0.03912830 -0.05011943
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+v 0.03351576 0.04033130 -0.05381475
+v 0.04634180 0.04033128 -0.04977163
+v 0.04769421 0.04033128 -0.04920646
+v 0.04924064 0.03419217 -0.05258662
+v 0.05131776 0.02018442 -0.05704010
+v 0.04962296 0.03243701 -0.05307844
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+v 0.05024306 0.02018439 -0.04924186
+v 0.04917977 0.04033128 -0.04805439
+v 0.04925775 0.03968246 -0.04841033
+v 0.04991779 0.03740864 -0.04854892
+v 0.05044849 0.03492381 -0.04854893
+v 0.05121504 0.02746733 -0.05103787
+v 0.05074332 0.03243700 -0.04854894
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+v 0.04694857 0.04033124 -0.03694666
+v 0.04728906 0.04033124 -0.03719120
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+v 0.04953356 0.04033125 -0.04107401
+v 0.04913221 0.04033124 -0.03920190
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+f 78 84 79
+f 80 82 81
+
diff --git a/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_9.obj b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f21429974a6b3dfd336ab97d4af4483949f2231
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mjcf/mesh/alarm_clock_009_collision_9.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.00656535 0.05414778 -0.05134742
+v -0.00548161 0.05395844 -0.05134742
+v -0.00409812 0.05324841 -0.05190098
+v -0.00656535 0.05345668 -0.05216094
+v -0.00761834 0.05387729 -0.05134742
+v -0.00409812 0.05369201 -0.05134742
+v -0.00409812 0.05200553 -0.05332494
+v -0.00163346 0.05304284 -0.05134743
+v -0.00096990 0.05286702 -0.05134743
+v 0.00302942 0.05179048 -0.05134743
+v 0.00226081 0.05113590 -0.05234547
+v 0.00083377 0.05133336 -0.05256364
+v -0.00409812 0.05088842 -0.05457133
+v -0.00656535 0.05221380 -0.05344099
+v -0.00656535 0.05095874 -0.05468737
+v -0.00838438 0.05186487 -0.05300464
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