diff --git a/.gitattributes b/.gitattributes
index 1edf7498a731d89fe44b4b7ac6018f271fe6c4ad..8586580fc241498f57c531112ffda88f2645da93 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2644,5 +2644,5 @@ dataset/bedroom_supplies/lighting_fixtures/7c90c8a94a9a5811be2c1eecd9afa7b3/7c90
 dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/d90d4b6a0eee5d1b8d564c136581c2c2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/bdb512d3766b5bcc89c253c2bf391419.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/lighting_fixtures/de74d8bac02d56bc87561153781dd436/de74d8bac02d56bc87561153781dd436.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/alarm_clock_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/0266a3cf24ed5893b325696c6b66dff8/mesh/alarm_clock_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/flashlight_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/flashlight_026.urdf b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/flashlight_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5acfbcd563b83ec5c9d432aae7a00dd292f444f0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/flashlight_026.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_026">
+   <link name="flashlight_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_026.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/flashlight_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>180d201f5e215e09a7fd16ac9d143749</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>keyring flashlight</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>compact cylindrical flashlight with large ring loop and textured head</description>
+         <min_height>0.0209</min_height>
+         <max_height>0.0209</max_height>
+         <real_height>0.0209</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130601</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.053485 -0.018016 -0.010387</min>
+            <max>0.076515 0.018018 0.010464</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/180d201f5e215e09a7fd16ac9d143749/flashlight_026.usd b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/flashlight_026.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/flashlight_026.usd
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026.glb b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026.glb
new file mode 100644
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026.mtl b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9302d1c14011a266028aac293eeb233cbe6cda45
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026.mtl
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe3debfdfe39292493a1fffde39737b8848e75b6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026_collision.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64efb957a58b9371739ad8165450bc17802ce286
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026_collision.obj
@@ -0,0 +1,6195 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..adb2f1038aa55d67d188d9ed04b20acbbd5649be
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 7124042
diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4eac1e125cb6b97a39065507da238c99a09d258e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_026_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/flashlight_026.xml b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/flashlight_026.xml
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index 0000000000000000000000000000000000000000..c53410ba37f5dabd312a1a8f8f00d015912631dd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/flashlight_026.xml
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+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" 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/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90b1f9129a35009a3929d98bb6db19ffed309c77
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026.obj
@@ -0,0 +1,109476 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_026_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02d8a8941ffaa68ea5b80835f41b7f8482e86095
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision.obj
@@ -0,0 +1,6195 @@
+# https://github.com/mikedh/trimesh
+
+o flashlight_026_collision.obj
+v 0.00603771 -0.00006404 0.00944507
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_0.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c69e393acc8d7f1e6fb796a6e70ecd18a16f892f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_1.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9236dc0aa59ff6849ed5f881e29c2a02ebad16cf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_1.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_10.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..189ec80a69e3a45cc72edbb5f2c8549f2a75c683
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_10.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_11.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bda8d50d86c05f6c1072f0a3e5cce8c70adbdf0e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_11.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_12.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d000b89ccb01f210fc6a48037da8a10d41329bf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_12.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_13.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea6130f3ff0d4a287649486e504e2e670a44890b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_13.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_14.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93c56cbae11106c3216f0abf616cf062eec49d89
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_14.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_15.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d7ce243c4cbb69f324e0a199bceee17548fb285
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_15.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_2.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ec96403d0e05a35d8c9bd8dc33caf3f8eced471
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_2.obj
@@ -0,0 +1,157 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_3.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69847ad39b099e15c34fd2a685deb41102880504
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_3.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_4.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2534cf0294e3512c8e5a628c77d22e70415d4ec1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_4.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_5.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7884bc9e24146e6ebd65724c625eab6a03dfae3a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_5.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_6.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbe368bf5e286ab343d2184b913685da35079aa5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_6.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_7.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc2c00b25c58a070322d0c5e1f87e2d63d044966
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_7.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_8.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eb07387bb977dcfd8389eb127dcd5faa7dbf345
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_8.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_9.obj b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2183cd182696ca3956ed0062837fab051e788c90
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mjcf/mesh/flashlight_026_collision_9.obj
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