diff --git a/.gitattributes b/.gitattributes
index 3dc019c0d920d25c5c0ef37792227e5f858a70d1..459d0fe717d63f3e31b4f08350408d72fb852f54 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2676,9 +2676,5 @@ dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/alar
 dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/flashlight_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/flashlight_023.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/mesh/flashlight_023.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/alarm_clock_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/flashlight_018.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/alarm_clock_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/alarm_clock_035.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/alarm_clock_035.urdf b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/alarm_clock_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bbd79dc798b1516867c7e2724258c88e2f510155
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/alarm_clock_035.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_035">
+   <link name="alarm_clock_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_035.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_035_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>e2b71f8a54455d1480b4c451022f23c7</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>wooden alarm clock</name>
+         <color>brown,white</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>square wooden alarm clock with white round dial and short angled legs</description>
+         <min_height>0.0985</min_height>
+         <max_height>0.0985</max_height>
+         <real_height>0.0985</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130137</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.031986 -0.044998 -0.053277</min>
+            <max>0.037271 0.045002 0.045268</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/alarm_clock_035.usd b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/alarm_clock_035.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/alarm_clock_035.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2213938f90cc7086eb6cda14c02ef3468f54075582e31c6f48584c8d96690184
+size 4710811
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/alarm_clock_035.glb b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/alarm_clock_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..600b18d075faf8a697a9e43837908ea2ed7dcc9d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/alarm_clock_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 16277004
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/alarm_clock_035.mtl b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/alarm_clock_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b3b2bbe70603aa113ef1fd595781fc739760e6dd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/alarm_clock_035.mtl
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+newmtl alarm_clock_035_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/alarm_clock_035.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/alarm_clock_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80d0b3c132f889f07d488226363e1b19982e8c1c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/alarm_clock_035.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/e2b71f8a54455d1480b4c451022f23c7/mesh/alarm_clock_035_collision.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/alarm_clock_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95efcb01ea02bae2db0aaded79981087b2091385
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/alarm_clock_035_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/material.mtl
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/alarm_clock_035.xml b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/alarm_clock_035.xml
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+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" 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/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bed786d2eae40d8c0225ab7714590f000802e21
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035.obj
@@ -0,0 +1,110984 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_035_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c93dcef50a4c3a4cbb1a4c1ab2754b94bb361c3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision.obj
@@ -0,0 +1,12932 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_0.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ade85779b41a98bad64c53323823a482b5d75bb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_1.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..352f34ccceaa0fbf29871d2ea08a4478a65b8a7b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_10.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f3df74f77590ed60575dc76c91dfc01ab82c82f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_10.obj
@@ -0,0 +1,469 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_11.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19b0b0f7074ca13938790a52c79553a2863ac2f0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_11.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01949143 0.00016122 -0.04269983
+v -0.02074778 0.00016122 -0.04269609
+v -0.02074778 0.00081282 -0.04269609
+v -0.01913597 0.01699103 -0.04269603
+v 0.01949143 0.01537340 -0.04269603
+v 0.02109764 0.01375387 -0.04269604
+v 0.02483054 0.00029950 -0.04269234
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+v -0.02557760 0.00016122 -0.04269234
+v -0.02557760 0.00081282 -0.04269234
+v -0.02557760 0.01860866 -0.04268852
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+v 0.01949143 0.01951218 -0.04269227
+v 0.02109764 0.01860866 -0.04269227
+v 0.02270386 0.01699103 -0.04269228
+v 0.02483054 0.01537340 -0.04268853
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+v -0.03212557 0.00016121 -0.03954012
+v -0.03199125 0.00016121 -0.04051465
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_12.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afb9f7256d577884adb2039e931debf771183af2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_12.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.03222052 -0.00345356 -0.00299161
+v -0.03222052 -0.00345361 0.01112090
+v -0.03222052 0.00016107 -0.00299160
+v 0.02840365 -0.00345356 -0.00299161
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+v 0.02451182 -0.00345361 0.01112090
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+v 0.02839137 -0.00256264 -0.00299161
+v 0.03020838 -0.00080735 -0.00107144
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_13.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6003ce78830d5918b0a6cba774dc7d7c58ffa69e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_13.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.03222211 0.00525847 -0.00440843
+v -0.03222211 0.00525841 0.01122295
+v -0.03222211 0.00948827 -0.00440842
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+v 0.02478111 0.00525846 -0.00137426
+v 0.02453555 0.00948821 0.01088328
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+v 0.02478111 0.00624891 0.00335065
+v 0.02478111 0.00625057 0.00312113
+v 0.02478111 0.00565718 0.00512861
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_14.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b86145240c198e1c1313455e65e4f1ad6490739e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_14.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_15.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fed9bdcaa04b323b1fbfa75e8caa58004261021a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_15.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_16.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ffd82f95d597498b4d1e016cc0c409d6bbc1277
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_16.obj
@@ -0,0 +1,805 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_17.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8e01b8f6c0b79280fb6098735877202afa882df
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_17.obj
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_18.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e871d4808bff40249b4401e4db71338c6fced728
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_18.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_19.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27a1f6979e963c07ce9e2f9063df1ff263474207
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_19.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.03728002 0.01951188 0.03746710
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+v 0.03727881 0.01036705 0.03762140
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_2.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..324764996200d8da301f77fbf7f71f42a79bc7cc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_2.obj
@@ -0,0 +1,1291 @@
+# https://github.com/mikedh/trimesh
+v 0.01091428 0.02940814 0.04338760
+v -0.02074835 0.02832086 0.04339603
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_20.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1081d7a473e8ac116644c816b125045c5ac7d2fb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_20.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_21.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ddf93e056fe1b46379c51120089bdd47193d4d2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_21.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.02487069 -0.04522010 0.01147282
+v 0.03076191 -0.04521838 0.00659727
+v 0.03085186 -0.04521841 0.01318931
+v 0.02487069 -0.04521841 0.01318931
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+v 0.03398039 -0.04520640 -0.00546380
+v 0.03558963 -0.04487901 0.01147283
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+v 0.03673822 -0.04412519 0.01147283
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+v 0.03725599 -0.03317267 0.01318936
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+v 0.03728030 -0.03479109 -0.00546376
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_22.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e75d25af76918d9a82e4790f8c98687cc4d8e88
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_22.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.03728560 -0.01537033 -0.03239405
+v 0.03728560 -0.01698861 -0.03401536
+v 0.03728560 -0.01002855 -0.03401534
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+v 0.03728438 -0.01213468 -0.03239403
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+v 0.03728194 -0.01932685 -0.03076873
+v 0.03728316 -0.01860689 -0.03239406
+v 0.03728316 -0.01860689 -0.03401537
+v 0.03728194 -0.01932683 -0.03564069
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+v 0.03728316 -0.01002855 -0.03239403
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+v 0.03728194 -0.01537034 -0.03076872
+v 0.03727706 -0.01932686 -0.02842238
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+v 0.03727706 -0.01860687 -0.03888934
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+v 0.03727828 -0.01002853 -0.03888931
+v 0.03716112 -0.01002856 -0.03076870
+v 0.03719407 -0.01051641 -0.03076870
+v 0.03720139 -0.01932686 -0.02679705
+v 0.03723190 -0.01860691 -0.02752009
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+v 0.03704151 -0.01002852 -0.04051464
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+v 0.03659849 -0.01932681 -0.04156398
+v 0.03690848 -0.01002852 -0.04083286
+v 0.03671809 -0.01002856 -0.02949986
+v 0.03658262 -0.01932687 -0.02475079
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_23.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef73efc444283b991edb2d856377a7f84ddd7620
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_23.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.03728387 0.00566537 -0.03564140
+v 0.03728265 0.00728338 -0.03564139
+v 0.03728021 0.00890138 -0.03401841
+v 0.03728265 0.00404841 -0.03401843
+v 0.03728387 0.00243041 -0.03564141
+v 0.03728387 0.00566538 -0.03726595
+v 0.03728265 0.00728339 -0.03726594
+v 0.03728021 0.00890140 -0.03726594
+v 0.03727656 0.01094369 -0.03769028
+v 0.03727656 0.00890138 -0.03239386
+v 0.03728265 0.00081134 -0.03401844
+v 0.03728387 0.00243042 -0.03726596
+v 0.03728265 0.00016119 -0.03498906
+v 0.03728021 0.00404843 -0.03889052
+v 0.03727534 0.01094369 -0.03889049
+v 0.03715343 0.01094366 -0.03076929
+v 0.03717659 0.01052043 -0.03076929
+v 0.03727290 0.00728337 -0.03239386
+v 0.03728143 0.00016118 -0.03401844
+v 0.03728265 0.00016120 -0.03726597
+v 0.03728021 0.00243042 -0.03889052
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+v 0.03721439 0.01094369 -0.03931484
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_24.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693495dc6dfaf63ef00ded72da3289f37a160559
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_24.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.02841646 0.01951291 0.02527390
+v 0.02841646 0.02949189 0.01061411
+v 0.02915137 0.01951291 0.02537338
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+v 0.03237123 0.02832037 0.04339332
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+v 0.03397986 0.02832037 0.04338690
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_25.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a21f88df143a62b18bec65c7453e1b6ee8da3dc8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_25.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.02658086 -0.00979357 -0.01718668
+v 0.02635047 -0.00887857 -0.01774551
+v 0.02657322 -0.00832608 -0.01867588
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+v 0.02753303 -0.00879381 -0.01765800
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+v 0.02639369 -0.00506085 -0.00299162
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+v 0.02500900 -0.00400360 -0.00311904
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_26.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13b883b0929aae38ddf8ca39f9484ea02a3dd128
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_26.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.03728154 0.00242973 0.03909156
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+v 0.03728033 0.00081129 0.03909155
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_27.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aafeb399e580d5562eec0ade41e37f8f06284fa9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_27.obj
@@ -0,0 +1,721 @@
+# https://github.com/mikedh/trimesh
+v 0.03076113 -0.04522006 0.01634735
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+v 0.03236982 -0.04521752 0.01318931
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_28.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0307e8a18f100961a505083dbd76d28cef59f97
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_28.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_29.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..503bf18f8ac05819d609f82efe4779df11076993
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_29.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_3.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e83435568b9ba64f7440c7b41f553c1f56fc870
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_3.obj
@@ -0,0 +1,1360 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_30.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d55a70463993982be898749db9871cefc1b46fc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_30.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_31.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..775b55e0a7adf4eac3b18ccf5d2e5f7d12bf7836
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_31.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_32.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..096e4f8fecfe2667ef750e0bca1c4fe946e29f30
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_32.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_33.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..706fc2a87b314104de6314fe562a431216c8bf85
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_33.obj
@@ -0,0 +1,715 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_34.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66ee29ade6d6b84f2167647ba396d329dedf7b61
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_34.obj
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+f 34 42 43
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+f 39 48 40
+f 40 48 47
+f 40 47 49
+f 40 49 44
+f 40 44 41
+f 41 44 50
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+f 42 44 43
+f 45 47 51
+f 45 51 52
+f 45 52 46
+f 47 48 51
+f 48 52 51
+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_35.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d2800efc8fadbef6c41a966800aa5c0896bd4a9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_35.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.02634933 0.02346511 0.01753374
+v 0.02760428 0.02337603 0.01747674
+v 0.02710992 0.02450140 0.01733424
+v 0.02653083 0.02450140 0.01733424
+v 0.02583942 0.02346511 0.01634625
+v 0.02585980 0.02184684 0.01634624
+v 0.02638714 0.02184684 0.01747673
+v 0.02754691 0.02195225 0.01743042
+v 0.02836245 0.02256244 0.01718936
+v 0.02836245 0.02277772 0.01718936
+v 0.02821768 0.02389863 0.01634625
+v 0.02741286 0.02465580 0.01634625
+v 0.02633834 0.02465580 0.01634625
+v 0.02641180 0.02455485 0.01504476
+v 0.02614049 0.02359280 0.01459113
+v 0.02571395 0.02184685 0.01472175
+v 0.02570216 0.02022858 0.01472174
+v 0.02610162 0.01951000 0.01561117
+v 0.02623727 0.02028944 0.01637948
+v 0.02574049 0.01699353 0.01309724
+v 0.02584612 0.01052194 0.00984942
+v 0.02594505 0.01861031 0.01472174
+v 0.02658097 0.02086697 0.01725823
+v 0.02701474 0.02086697 0.01725823
+v 0.02838363 0.02195225 0.01625718
+v 0.02835280 0.01939271 0.01554586
+v 0.02837210 0.01119003 0.01071748
+v 0.02843055 0.01213872 0.00984942
+v 0.02837585 0.02308950 0.01634624
+v 0.02836540 0.02300488 0.01472175
+v 0.02769731 0.02387192 0.01459113
+v 0.02726461 0.02455485 0.01504476
+v 0.02642279 0.02313850 0.01360669
+v 0.02624880 0.02177707 0.01307707
+v 0.02585872 0.02022858 0.01309725
+v 0.02576194 0.01699354 0.01147156
+v 0.02569760 0.01375848 0.00984943
+v 0.02569170 0.00948863 0.00822492
+v 0.02574371 0.00948863 0.00881273
+v 0.02609759 0.00948862 0.00987673
+v 0.02627775 0.00948862 0.01027335
+v 0.02634317 0.01951000 0.01610754
+v 0.02579277 0.01375848 0.01147155
+v 0.02646569 0.01861030 0.01579167
+v 0.02651046 0.01264795 0.01245479
+v 0.02657426 0.00953316 0.01076498
+v 0.02670429 0.01777444 0.01554942
+v 0.02678552 0.01777444 0.01554942
+v 0.02702600 0.00953316 0.01076498
+v 0.02840025 0.02184685 0.01472175
+v 0.02840534 0.02022858 0.01472174
+v 0.02706488 0.00948862 0.01070797
+v 0.02780481 0.00948862 0.01012729
+v 0.02809838 0.01011069 0.01027336
+v 0.02838658 0.00948863 0.00938510
+v 0.02842652 0.00948863 0.00822492
+v 0.02842974 0.01052195 0.00822493
+v 0.02842867 0.01537527 0.01147156
+v 0.02834904 0.02266490 0.01390475
+v 0.02754101 0.02302567 0.01367794
+v 0.02698981 0.02119213 0.01218883
+v 0.02658472 0.02119213 0.01218883
+v 0.02648150 0.01815008 0.01044795
+v 0.02622869 0.01370504 0.00819051
+v 0.02596945 0.01537527 0.00984944
+v 0.02584425 0.01213873 0.00822493
+v 0.02573486 0.00948863 0.00718824
+v 0.02570242 0.01052195 0.00822493
+v 0.02654853 0.00948862 0.01069966
+v 0.02645764 0.01576126 0.01415173
+v 0.02842089 0.01861031 0.01309725
+v 0.02840159 0.01951149 0.01315425
+v 0.02838819 0.02013059 0.01319225
+v 0.02839328 0.00948864 0.00679637
+v 0.02838658 0.01052195 0.00715619
+v 0.02842036 0.01375848 0.00984943
+v 0.02836754 0.01951002 0.01223394
+v 0.02836728 0.01952487 0.01223750
+v 0.02835843 0.01461068 0.00901581
+v 0.02720107 0.01815008 0.01044795
+v 0.02702225 0.01313197 0.00730345
+v 0.02674477 0.01618886 0.00903364
+v 0.02673083 0.01618886 0.00903364
+v 0.02656810 0.01313197 0.00730345
+v 0.02647855 0.01007063 0.00557445
+v 0.02638445 0.00948864 0.00540225
+v 0.02625041 0.00948864 0.00568725
+v 0.02590296 0.00948864 0.00657550
+v 0.02825441 0.00948864 0.00605537
+v 0.02837103 0.01145877 0.00735569
+v 0.02838738 0.01524016 0.00995751
+v 0.02820240 0.00948864 0.00601144
+v 0.02720563 0.01007063 0.00557445
+v 0.02743270 0.00948864 0.00543313
+f 1 2 3
+f 1 3 4
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+f 1 6 7
+f 1 7 2
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+f 2 8 9
+f 2 9 10
+f 2 10 3
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+f 14 33 15
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+f 53 55 54
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+f 59 61 60
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+f 62 84 63
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+f 64 66 65
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+f 66 88 67
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+f 72 76 73
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+f 81 84 83
+f 81 83 82
+f 81 93 85
+f 81 85 84
+f 85 93 86
+f 86 93 94
+f 92 94 93
+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_36.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3dcf9d39223db0d7bd8d85db8dde7d59b9db75f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_36.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02452862 0.00948697 0.01309957
+v 0.02461209 0.00404638 0.01634797
+v 0.02452862 0.00948697 0.01251057
+v 0.02452306 0.00948694 0.02284483
+v 0.02460653 -0.00566017 0.01634794
+v 0.02452306 0.00404640 0.01122419
+v 0.02452306 0.00948698 0.01122421
+v 0.02451750 0.00948693 0.02388004
+v 0.02451750 0.00926086 0.02410697
+v 0.02452306 0.00440840 0.02410696
+v 0.02452306 0.00016209 0.02414519
+v 0.02452306 -0.00404162 0.02414518
+v 0.02451750 -0.00724601 0.02414516
+v 0.02455645 -0.00724598 0.01634793
+v 0.02455645 -0.00724598 0.01631606
+v 0.02454532 -0.00724597 0.01469185
+v 0.02450637 -0.00724596 0.01112088
+v 0.02451193 -0.00566015 0.01112089
+v 0.02451193 -0.00369263 0.01112090
+v 0.02450637 0.00016214 0.01112091
+v -0.03221817 0.00948698 0.01122421
+v 0.02450637 0.00948693 0.02410697
+v -0.03221817 0.00016209 0.02414519
+v -0.03221817 -0.00724601 0.02414516
+v -0.03221817 -0.00724596 0.01112088
+v -0.03221817 0.00016214 0.01112091
+v -0.03222373 0.00890050 0.01147409
+v -0.03221817 0.00948693 0.02410697
+v -0.03222373 -0.00724596 0.01147530
+f 1 2 3
+f 1 3 7
+f 1 7 21
+f 1 21 28
+f 1 28 22
+f 1 22 8
+f 1 8 4
+f 1 4 2
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+f 2 6 7
+f 2 7 3
+f 2 4 8
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+f 11 23 24
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+f 17 20 19
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+f 21 26 27
+f 21 27 28
+f 23 28 27
+f 23 27 29
+f 23 29 24
+f 25 29 27
+f 25 27 26
+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_37.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53d3301810e4c13f1da54796ab9e6869a359fe35
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_37.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.03221974 0.00286443 -0.00440844
+v -0.03221974 0.00286437 0.01122294
+v -0.03222586 0.00525841 0.01122295
+v -0.03221974 0.00525847 -0.00440843
+v 0.02459926 0.00286443 -0.00440844
+v 0.02450742 0.00286437 0.01122294
+v 0.02451354 0.00525841 0.01122295
+v 0.02457477 0.00525847 -0.00440843
+v 0.02460538 0.00362893 -0.00440844
+v 0.03014646 0.00286441 0.00037615
+v 0.02871374 0.00286439 0.00616447
+v 0.02834638 0.00484406 0.00741609
+v 0.02835862 0.00525842 0.00745587
+v 0.02452579 0.00404768 0.01122294
+v 0.02858516 0.00525844 0.00377754
+v 0.03006686 0.00336478 0.00067298
+v 0.03026892 0.00286441 0.00123606
+v 0.02946071 0.00286439 0.00523264
+v 0.02980359 0.00286439 0.00479351
+v 0.03005462 0.00286439 0.00439569
+v 0.02999339 0.00328180 0.00421667
+v 0.03010360 0.00340766 0.00335064
+v 0.02860353 0.00525843 0.00494347
+v 0.03015870 0.00347000 0.00172568
+v 0.03032402 0.00286440 0.00172568
+v 0.03025667 0.00286440 0.00335064
+v 0.03028728 0.00286440 0.00267128
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 10
+f 1 10 17
+f 1 17 25
+f 1 25 27
+f 1 27 26
+f 1 26 20
+f 1 20 19
+f 1 19 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 14
+f 2 14 7
+f 2 7 3
+f 3 7 13
+f 3 13 23
+f 3 23 15
+f 3 15 8
+f 3 8 4
+f 5 9 10
+f 6 11 12
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+f 8 15 16
+f 8 16 10
+f 8 10 9
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+f 11 18 12
+f 12 18 19
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+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 23
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+f 15 24 16
+f 16 24 17
+f 17 24 25
+f 20 26 21
+f 21 26 22
+f 22 26 27
+f 22 27 24
+f 22 24 23
+f 24 27 25
+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_38.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f0367904fdf1007e66890eef377c8c20b07e0b7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_38.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.02499956 0.01951284 0.04339730
+v 0.02499956 0.02949177 0.04339283
+v 0.01949147 0.02949177 0.04339283
+v 0.01091566 0.02832037 0.04338831
+v 0.01716966 0.01951284 0.04339279
+v 0.02499956 0.01951291 0.02419331
+v 0.02499956 0.02949190 0.00820205
+v 0.01422052 0.02949177 0.04338832
+v 0.01091566 0.01951284 0.04338828
+v 0.01091566 0.02949177 0.04338382
+v 0.02452665 0.01951301 -0.00263459
+v 0.02483274 0.02949194 -0.00263455
+v 0.01091566 0.01951301 -0.00263459
+v 0.01091566 0.02949194 -0.00263455
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 11
+f 1 11 6
+f 1 6 7
+f 1 7 2
+f 2 7 12
+f 2 12 14
+f 2 14 10
+f 2 10 8
+f 2 8 3
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 14
+f 4 14 13
+f 4 13 9
+f 6 11 12
+f 6 12 7
+f 11 13 14
+f 11 14 12
+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_39.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f88b2787cd2205b0968d363f682052f4cc283ee
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_39.obj
@@ -0,0 +1,700 @@
+# https://github.com/mikedh/trimesh
+v 0.02482244 0.01951218 -0.04268475
+v 0.02482244 0.02375327 -0.04402009
+v 0.02587158 0.02334049 -0.04402009
+v 0.02754234 0.02306614 -0.04402010
+v 0.03076101 0.01951218 -0.04268475
+v 0.02482244 0.01951210 -0.02153318
+v 0.02482244 0.03379596 -0.04402006
+v 0.02756077 0.02306866 -0.04402010
+v 0.03397969 0.01951218 -0.04264366
+v 0.03237035 0.01951218 -0.04267888
+v 0.03397969 0.01951211 -0.02347606
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+v 0.02555217 0.03417099 -0.04402005
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+v 0.02921679 0.02331280 -0.04402009
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+v 0.03339861 0.02962787 -0.04402007
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+v 0.03654111 0.03155837 -0.04148727
+v 0.03657797 0.02993996 -0.04153131
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_4.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f90cb274f490cce89d645ef9bb45641df9d08776
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_4.obj
@@ -0,0 +1,163 @@
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+f 1 3 8
+f 1 8 4
+f 1 4 11
+f 1 11 19
+f 1 19 24
+f 1 24 29
+f 1 29 34
+f 1 34 40
+f 1 40 45
+f 1 45 50
+f 1 50 53
+f 1 53 47
+f 1 47 42
+f 1 42 36
+f 1 36 31
+f 1 31 25
+f 1 25 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 4 8 16
+f 4 16 9
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 13 14
+f 6 14 7
+f 6 12 13
+f 7 15 8
+f 7 14 13
+f 7 13 22
+f 7 22 27
+f 7 27 33
+f 7 33 39
+f 7 39 44
+f 7 44 49
+f 7 49 55
+f 7 55 51
+f 7 51 46
+f 7 46 41
+f 7 41 35
+f 7 35 30
+f 7 30 28
+f 7 28 23
+f 7 23 17
+f 7 17 16
+f 7 16 15
+f 8 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 17 23 18
+f 18 23 19
+f 19 23 24
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 24 28 30
+f 24 30 29
+f 25 31 32
+f 25 32 26
+f 26 32 27
+f 27 32 33
+f 29 30 34
+f 30 35 34
+f 31 36 37
+f 31 37 32
+f 32 37 38
+f 32 38 39
+f 32 39 33
+f 34 35 41
+f 34 41 40
+f 36 42 43
+f 36 43 37
+f 37 43 44
+f 37 44 38
+f 38 44 39
+f 40 41 45
+f 41 46 45
+f 42 47 43
+f 43 47 48
+f 43 48 44
+f 44 48 49
+f 45 46 50
+f 46 51 50
+f 47 52 48
+f 47 53 52
+f 48 52 54
+f 48 54 55
+f 48 55 49
+f 50 51 55
+f 50 55 54
+f 50 54 52
+f 50 52 53
+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_40.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d14f8b62127c00ffaefcab5f9818cbdef41d4826
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_40.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.03222232 0.00948868 -0.00440842
+v -0.03222232 0.00948857 0.02410813
+v -0.03222791 0.01861129 0.01147168
+v -0.03222232 0.01951106 -0.00440838
+v 0.02452703 0.00948868 -0.00440842
+v -0.03222232 0.01951095 0.02410817
+v 0.02451584 0.00948857 0.02410813
+v 0.02452703 0.01951106 -0.00440838
+v 0.02489045 0.01951095 0.02410817
+v 0.02459412 0.00948863 0.00822529
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 10
+f 1 10 7
+f 1 7 2
+f 2 6 3
+f 2 7 9
+f 2 9 6
+f 3 6 4
+f 4 6 9
+f 4 9 8
+f 5 8 9
+f 5 9 10
+f 7 10 9
+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_41.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec75be465dc294a53d0cd6479c3da791a43ed241
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_41.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.03222565 -0.01537064 -0.00299166
+v -0.03223124 -0.01537069 0.00984951
+v -0.03222565 -0.00724755 -0.00299163
+v -0.03222006 -0.01932695 -0.00299167
+v -0.03222565 -0.01932696 -0.00061948
+v -0.03222565 -0.01932704 0.02121901
+v -0.03222565 -0.01407483 0.02414641
+v -0.03222565 -0.01051699 0.02414642
+v -0.03222565 -0.00889827 0.02121905
+v -0.03222565 -0.00724762 0.01637904
+v 0.02451193 -0.00724755 -0.00299163
+v 0.02452311 -0.01932695 -0.00299167
+v -0.03222006 -0.01932705 0.02414639
+v -0.03222006 -0.00724765 0.02414643
+v 0.02453987 -0.00724756 0.00007389
+v 0.02452869 -0.00889818 -0.00299163
+v 0.02452869 -0.01876294 -0.00299167
+v 0.02485840 -0.01932705 0.02414639
+v 0.02451752 -0.00724765 0.02414643
+v 0.02456781 -0.00724758 0.00656885
+v 0.02455664 -0.00724762 0.01634450
+f 1 2 3
+f 1 3 11
+f 1 11 16
+f 1 16 17
+f 1 17 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 14
+f 3 14 19
+f 3 19 21
+f 3 21 20
+f 3 20 15
+f 3 15 11
+f 4 12 18
+f 4 18 13
+f 4 13 6
+f 4 6 5
+f 6 13 7
+f 7 13 18
+f 7 18 19
+f 7 19 14
+f 7 14 8
+f 8 14 9
+f 9 14 10
+f 11 15 16
+f 12 17 18
+f 15 20 18
+f 15 18 16
+f 16 18 17
+f 18 20 21
+f 18 21 19
+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_42.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f81980d0528aa62273facefab783e58d662e1019
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_42.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.02499990 0.01951291 0.02419685
+v 0.02841579 0.01951291 0.02527523
+v 0.02499990 0.01951284 0.04339402
+v 0.02499990 0.02949191 0.00820040
+v 0.02841579 0.01951284 0.04339402
+v 0.02841579 0.02949190 0.01061210
+v 0.02593196 0.01951284 0.04339747
+v 0.02499990 0.02949080 0.04339406
+v 0.02499990 0.02949188 0.01754403
+v 0.02841579 0.02831951 0.04339405
+v 0.02841579 0.02949188 0.01754403
+v 0.02754092 0.02949080 0.04339406
+v 0.02841579 0.02949080 0.04339062
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 13
+f 2 13 10
+f 2 10 5
+f 3 7 8
+f 4 9 11
+f 4 11 6
+f 5 10 7
+f 7 12 8
+f 7 10 12
+f 8 12 11
+f 8 11 9
+f 10 13 12
+f 11 12 13
+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_43.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..172f2b1f7a75c6acccd70ad5acd08fa38e29527e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_43.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.03222314 -0.00724755 -0.00299163
+v -0.03222910 -0.00724760 0.01112088
+v -0.03222314 -0.00554000 -0.00299162
+v 0.02451257 -0.00724755 -0.00299163
+v -0.03222314 -0.00554005 0.01112089
+v 0.02450662 -0.00724760 0.01112088
+v 0.02453636 -0.00554000 -0.00299162
+v 0.02850988 -0.00554002 0.00337255
+v 0.02808755 -0.00614943 0.00303272
+v 0.02774254 -0.00724757 0.00357284
+v 0.02451257 -0.00554005 0.01112089
+v 0.02747486 -0.00724760 0.00965797
+v 0.02451257 -0.00566190 0.01112089
+v 0.02852773 -0.00554002 0.00347615
+v 0.02836712 -0.00724758 0.00494735
+v 0.02835522 -0.00661093 0.00411437
+v 0.02720124 -0.00598481 0.00929052
+v 0.02765332 -0.00554004 0.00850864
+v 0.02780797 -0.00724759 0.00933748
+v 0.02853963 -0.00554003 0.00483132
+v 0.02840876 -0.00724758 0.00656636
+v 0.02839686 -0.00724758 0.00593091
+v 0.02837307 -0.00724758 0.00501366
+v 0.02827790 -0.00687636 0.00869788
+v 0.02836118 -0.00554004 0.00756099
+v 0.02835522 -0.00724759 0.00830418
+v 0.02837902 -0.00724759 0.00807763
+v 0.02840876 -0.00724758 0.00659814
+v 0.02845635 -0.00554003 0.00647658
+v 0.02837307 -0.00554004 0.00750850
+v 0.02837307 -0.00724759 0.00814256
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 15
+f 1 15 23
+f 1 23 22
+f 1 22 21
+f 1 21 28
+f 1 28 27
+f 1 27 31
+f 1 31 26
+f 1 26 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 11
+f 2 11 5
+f 3 5 11
+f 3 11 18
+f 3 18 25
+f 3 25 30
+f 3 30 29
+f 3 29 20
+f 3 20 14
+f 3 14 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 10 16 15
+f 11 13 12
+f 11 12 17
+f 11 17 18
+f 12 19 17
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 17 19 24
+f 17 24 18
+f 18 24 25
+f 19 26 24
+f 20 27 28
+f 20 28 21
+f 20 29 27
+f 24 26 30
+f 24 30 25
+f 26 31 30
+f 27 30 31
+f 27 29 30
+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_44.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a31803975cf96da45ab0adb4ba28f4ea63f21235
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_44.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.02478669 0.00525846 -0.00137418
+v 0.02835543 0.00650811 0.00414645
+v 0.02858940 0.00525844 0.00377864
+v 0.02478669 0.00525843 0.00548166
+v 0.02478669 0.00539923 -0.00124173
+v 0.02825451 0.00948823 0.00605408
+v 0.02827880 0.00944434 0.00604343
+v 0.02860510 0.00525843 0.00494356
+v 0.02839318 0.00948823 0.00679442
+v 0.02842681 0.00948822 0.00822307
+v 0.02617150 0.00525842 0.00780203
+v 0.02642081 0.00728408 0.00932412
+v 0.02627802 0.00948821 0.01027142
+v 0.02609750 0.00948821 0.00987523
+v 0.02574391 0.00948822 0.00881203
+v 0.02478669 0.00560667 0.00517417
+v 0.02478669 0.00603650 -0.00036774
+v 0.02743297 0.00948823 0.00543082
+v 0.02820255 0.00948823 0.00600914
+v 0.02838645 0.00948822 0.00938325
+v 0.02836402 0.00801576 0.00906866
+v 0.02835916 0.00525842 0.00745670
+v 0.02634119 0.00525842 0.00803620
+v 0.02665179 0.00639672 0.00908048
+v 0.02654826 0.00948821 0.01069718
+v 0.02569196 0.00948822 0.00822307
+v 0.02478669 0.00579797 0.00497076
+v 0.02478669 0.00565718 0.00512923
+v 0.02478669 0.00621910 0.00151031
+v 0.02573494 0.00948822 0.00718706
+v 0.02590276 0.00948823 0.00657326
+v 0.02625037 0.00948823 0.00568509
+v 0.02638455 0.00948823 0.00540125
+v 0.02780524 0.00948821 0.01012596
+v 0.02706481 0.00948821 0.01070664
+v 0.02746324 0.00739920 0.00928627
+v 0.02749427 0.00525842 0.00803265
+v 0.02708462 0.00525842 0.00807877
+v 0.02687493 0.00639672 0.00908048
+v 0.02478669 0.00625057 0.00312109
+v 0.02478669 0.00624891 0.00335052
+f 1 2 3
+f 1 3 8
+f 1 8 22
+f 1 22 37
+f 1 37 38
+f 1 38 23
+f 1 23 11
+f 1 11 4
+f 1 4 16
+f 1 16 28
+f 1 28 27
+f 1 27 41
+f 1 41 40
+f 1 40 29
+f 1 29 17
+f 1 17 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 3
+f 3 7 9
+f 3 9 10
+f 3 10 8
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 19 18
+f 6 18 33
+f 6 33 32
+f 6 32 31
+f 6 31 30
+f 6 30 26
+f 6 26 15
+f 6 15 14
+f 6 14 13
+f 6 13 25
+f 6 25 35
+f 6 35 34
+f 6 34 20
+f 6 20 10
+f 6 10 9
+f 6 9 7
+f 8 10 20
+f 8 20 21
+f 8 21 22
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 17 29 26
+f 17 26 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 23 38 24
+f 24 39 35
+f 24 35 25
+f 24 38 39
+f 26 29 40
+f 26 40 41
+f 26 41 27
+f 35 39 36
+f 36 39 37
+f 37 39 38
+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_5.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ad62d535b3f15b598c53396a9ba392a0665d273
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_5.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00473211 0.00016090 0.04340686
+v 0.00156511 0.00016089 0.04511780
+v 0.00160069 -0.00889795 0.04514030
+v 0.00476906 -0.00889794 0.04340683
+v -0.00575567 0.00016090 0.04340686
+v 0.00017458 0.00016089 0.04554554
+v 0.00471568 -0.01051540 0.04340682
+v 0.00017458 -0.00889795 0.04557018
+v 0.00143372 -0.01051541 0.04504461
+v -0.00921282 -0.01345857 0.04340681
+v -0.00567493 0.00016090 0.04359735
+v -0.00143492 0.00016089 0.04556248
+v -0.00143492 -0.00566304 0.04559056
+v -0.00143492 -0.00727914 0.04559827
+v 0.00330326 -0.01212200 0.04340682
+v 0.00114220 -0.01149103 0.04487729
+v -0.00143492 -0.00889795 0.04558326
+v -0.00143492 -0.01051541 0.04546570
+v 0.00017458 -0.01051541 0.04540928
+v -0.00464846 -0.01359426 0.04340681
+v -0.00465393 -0.01299857 0.04483610
+v -0.00550248 -0.01296601 0.04480220
+v -0.00612931 -0.01198359 0.04490776
+v -0.00707777 -0.01134312 0.04478763
+v -0.00711472 -0.01051540 0.04482474
+v -0.00712156 -0.00959811 0.04483075
+v -0.00513979 0.00016090 0.04440970
+v -0.00536151 0.00016090 0.04408343
+v -0.00304306 0.00016089 0.04540224
+v -0.00465393 -0.01051541 0.04537518
+v 0.00182515 -0.01343822 0.04340681
+v 0.00006646 -0.01207180 0.04498798
+v -0.00054258 -0.01298907 0.04482194
+v -0.00143492 -0.01213422 0.04514200
+v -0.00465393 -0.01213422 0.04509931
+v 0.00147204 -0.01370146 0.04340681
+v -0.00304306 -0.01302435 0.04486377
+v -0.00626343 -0.01051541 0.04511969
+v -0.00433504 0.00016089 0.04504594
+v -0.00465804 0.00016090 0.04479174
+v -0.00143492 -0.01302028 0.04485669
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 15
+f 1 15 31
+f 1 31 36
+f 1 36 20
+f 1 20 10
+f 1 10 5
+f 1 5 11
+f 1 11 28
+f 1 28 27
+f 1 27 40
+f 1 40 39
+f 1 39 29
+f 1 29 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 7
+f 5 10 11
+f 6 12 13
+f 6 13 14
+f 6 14 8
+f 7 9 16
+f 7 16 15
+f 8 14 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 16
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 11
+f 12 29 30
+f 12 30 13
+f 13 30 14
+f 14 30 17
+f 15 16 31
+f 16 19 32
+f 16 32 33
+f 16 33 31
+f 17 30 18
+f 18 34 19
+f 18 30 35
+f 18 35 34
+f 19 34 33
+f 19 33 32
+f 20 36 37
+f 20 37 21
+f 21 35 22
+f 21 37 35
+f 22 35 23
+f 23 38 24
+f 23 35 30
+f 23 30 38
+f 24 38 25
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 29 39 38
+f 29 38 30
+f 31 33 36
+f 33 34 41
+f 33 41 36
+f 34 35 37
+f 34 37 41
+f 36 41 37
+
diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_6.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4bfd812f0e44b86ac9442f01be45ab1c293afd3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_6.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.03727953 -0.01375351 0.03909136
+v 0.03724292 -0.01013289 0.04071587
+v 0.03727953 -0.01698894 0.03909135
+v 0.03727953 -0.01375351 0.03746686
+v 0.03727842 -0.01013288 0.03909137
+v 0.03680135 -0.01013289 0.04214406
+v 0.03724292 -0.01698895 0.04071585
+v 0.03724181 -0.01860712 0.04071584
+v 0.03727731 -0.01932620 0.03909134
+v 0.03727842 -0.01860711 0.03746684
+v 0.03727953 -0.01698894 0.03746685
+v 0.03727842 -0.01537077 0.03584235
+v 0.03727842 -0.01013288 0.03746687
+v 0.03617449 -0.01013290 0.04276540
+v 0.03680135 -0.01213535 0.04214406
+v 0.03680024 -0.01932621 0.04213862
+v 0.03680135 -0.01375352 0.04214225
+v 0.03680135 -0.01537079 0.04214043
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_7.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..205867fee24b59fd8e3d5f82bbe68417bc56000e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_7.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_8.obj b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b35ea5bc47ee5119982c46a98c6c74710d6c45a5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e2b71f8a54455d1480b4c451022f23c7/mjcf/mesh/alarm_clock_035_collision_8.obj
@@ -0,0 +1,484 @@
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