diff --git a/.gitattributes b/.gitattributes
index 7c63c7f3edc389941d78631a20e8c8246d13d05c..55e64b4cf76bb8b46fc8e7fc4c3cc7119f309a19 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2656,3 +2656,5 @@ dataset/bedroom_supplies/small_electronics/3cfaa8358e755eac9074bdd55813a8b0/flas
 dataset/bedroom_supplies/small_electronics/3cfaa8358e755eac9074bdd55813a8b0/mesh/flashlight_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/6730b201cb8b5ddda258a0b96ba6ed7e/alarm_clock_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/6730b201cb8b5ddda258a0b96ba6ed7e/mesh/alarm_clock_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/flashlight_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/flashlight_034.urdf b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/flashlight_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cccded2f1e9d534e0a75ed58906897378d8a90c8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/flashlight_034.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_034">
+   <link name="flashlight_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_034.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_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>6d44ee5623825ddf9f78171c731d1275</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>tactical flashlight</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>compact gray cylindrical flashlight with textured grip and wide head</description>
+         <min_height>0.0422</min_height>
+         <max_height>0.0422</max_height>
+         <real_height>0.0422</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130821</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.050407 -0.021074 -0.021007</min>
+            <max>0.079593 0.021022 0.021210</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>16</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/flashlight_034.usd b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/flashlight_034.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/flashlight_034.usd
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034.glb b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034.mtl b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034.mtl
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+newmtl flashlight_034_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/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f03a3503e568790d12753ce2de8be2be2b40ab9c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034.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/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034_collision.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8836133c89f3fe475f54c247ebb51970a2be095
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034_collision.obj
@@ -0,0 +1,9325 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..459e7dfcb7f6e5056a9c85e0101275a846eaee1a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:576f142a8260c148596974ce892f02f0bb14075c3255fee9da20ed41f9fe7189
+size 12156675
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d34131427d4cb5b05274f601503083ece3857b9c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_034_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
+map_Kd flashlight_034_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/material_0.png
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:576f142a8260c148596974ce892f02f0bb14075c3255fee9da20ed41f9fe7189
+size 12156675
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/flashlight_034.xml b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/flashlight_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2275eb6da6c82691719aea58c2744e086d4fe163
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/flashlight_034.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  </asset>
+  <worldbody>
+    <body name="flashlight_034">
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fffbfbd1e798ec111973f32ffb3eeb32b6b9ff2a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034.obj
@@ -0,0 +1,136384 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_034_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cccf608a6b6f9d1e83a0a2296c9956b2dd22394
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision.obj
@@ -0,0 +1,9325 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_0.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d56128102eb4c7d7aa394e4972cd32f65161163
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_0.obj
@@ -0,0 +1,739 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_1.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..604290a05e11ad0f079eb24d714539409641941b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_1.obj
@@ -0,0 +1,586 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_10.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d54139b0d2e4ee033e15d4e83c2e2f066d5e511
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_10.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_11.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ce928af050696ecfd277508f60c8ec79de4824c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_11.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_12.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e377695412b5765d4ffeda23742833f7a2bcdf37
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_12.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_13.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14a8c58359e81749fea4014e110a6d188991fa9a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_13.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_14.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e08f155045c1b6f6a8478405887040a1e6ea3d9d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_14.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_15.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c46c2c3cd7afe1781337631040648301b98ed3a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_15.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_16.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f132ca42d03b0ec86a60696f04e183963b86f0b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_16.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_17.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2a7891992ecb9434a71bde2ea2a0fd9bbc990cb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_17.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_18.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3831e389f0d545efdff965c039ad0b1caf901f2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_18.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_19.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b9f94a7f06ca024914bcd26e0b53fa5ba9af8ef
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_19.obj
@@ -0,0 +1,118 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_2.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..752f503e791d66c6c03e9b954f6aca12ded056aa
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_2.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_20.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c254ed4041bada07b5abdd4bd8b1b7b03196500a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_20.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_21.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0ad373b171efae015cb1abf0851f792e591e3e2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_21.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_22.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e2f3bd378c2a52c5a8dd16695c099ebe51a69f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_22.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_23.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b84dad005b33b8f4ae9907fa3db0ceacff2cd03
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_23.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.07955995 -0.00934927 -0.00888238
+v 0.07095531 -0.00934927 -0.00888238
+v 0.07918177 -0.00768586 -0.00888238
+v 0.07915903 -0.00730677 -0.00295629
+v 0.07904195 -0.00730678 0.00070903
+v 0.07906975 -0.00883062 0.00070903
+v 0.07891056 -0.00934929 -0.00308585
+v 0.07122147 -0.00934927 -0.00855942
+v 0.07798406 -0.00883062 0.00070903
+v 0.07713168 -0.00809339 0.00070903
+v 0.07691353 -0.00790444 0.00070903
+v 0.07647134 -0.00730678 0.00070903
+v 0.07107238 -0.00921870 -0.00888238
+v 0.07908996 -0.00754450 -0.00888238
+v 0.07915650 -0.00730677 -0.00300511
+v 0.07827549 -0.00934929 -0.00308585
+v 0.07193150 -0.00934927 -0.00774167
+v 0.07317554 -0.00934928 -0.00671173
+v 0.07645197 -0.00730678 -0.00093679
+v 0.07322607 -0.00731215 -0.00888238
+v 0.07292707 -0.00747151 -0.00888238
+v 0.07127284 -0.00902094 -0.00888238
+v 0.07898973 -0.00730676 -0.00491475
+v 0.07661200 -0.00730677 -0.00190194
+v 0.07690848 -0.00730677 -0.00300417
+v 0.07700787 -0.00730677 -0.00332244
+v 0.07776760 -0.00730676 -0.00486218
+f 1 2 13
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+f 1 20 14
+f 1 14 3
+f 1 3 4
+f 1 4 5
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+
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_24.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2223d49b45b761598eef2b70e0d23fe0ec237a69
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_24.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.06090602 0.00808290 0.00922757
+v 0.06504986 0.00808289 0.01157535
+v 0.06090602 0.00808288 0.01460460
+v 0.06090602 0.01191881 0.00070910
+v 0.06504986 0.00808288 0.01485946
+v 0.06504986 0.01369438 0.00070911
+v 0.06290168 0.00808288 0.01476389
+v 0.06308989 0.00837409 0.01463923
+v 0.06090602 0.00821716 0.01453950
+v 0.06090602 0.01634681 0.00070912
+v 0.06504986 0.00843395 0.01467663
+v 0.06473388 0.00843314 0.01467663
+v 0.06473388 0.00808288 0.01485808
+v 0.06504986 0.01611789 0.00070912
+v 0.06473388 0.00946775 0.01395637
+v 0.06090602 0.00926066 0.01383032
+v 0.06090602 0.00842748 0.01441623
+v 0.06259341 0.01628857 0.00070912
+v 0.06090602 0.01634277 0.00113158
+v 0.06504986 0.00946856 0.01395637
+v 0.06504986 0.01611789 0.00082686
+v 0.06473388 0.01080246 0.01292308
+v 0.06090602 0.01065523 0.01278872
+v 0.06259341 0.01628452 0.00113158
+v 0.06504986 0.01611546 0.00113158
+v 0.06090602 0.01606611 0.00319818
+v 0.06259341 0.01604508 0.00319818
+v 0.06504986 0.01080246 0.01292308
+v 0.06473388 0.01183788 0.01188285
+v 0.06090602 0.01169065 0.01176789
+v 0.06504986 0.01594881 0.00319818
+v 0.06090602 0.01555729 0.00526478
+v 0.06259341 0.01555972 0.00526478
+v 0.06473388 0.01555486 0.00526478
+v 0.06504986 0.01555163 0.00526478
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+v 0.06473388 0.01272121 0.01084957
+v 0.06090602 0.01264598 0.01073460
+v 0.06090602 0.01500237 0.00672885
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+v 0.06504986 0.01271798 0.01084679
+v 0.06090602 0.01356249 0.00939658
+v 0.06504986 0.01360618 0.00939658
+v 0.06473388 0.01361022 0.00939658
+v 0.06090602 0.01434714 0.00815551
+v 0.06090602 0.01485110 0.00712360
+v 0.06504986 0.01440134 0.00803777
+v 0.06504986 0.01371295 0.00921928
+v 0.06504986 0.01431883 0.00819014
+v 0.06473388 0.01432045 0.00818875
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+
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_25.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74981c642e29e880dc1f13e7fb46d7b025ce2970
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_25.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.07665698 -0.00755471 0.00070903
+v 0.07691364 -0.00790432 0.00070903
+v 0.07162196 -0.00982074 0.00766997
+v 0.07099640 -0.00982074 0.00836175
+v 0.07061009 -0.00982074 0.00886980
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+v 0.07281133 -0.00785444 0.00886981
+v 0.07315065 -0.00765213 0.00886981
+v 0.07346474 -0.00755829 0.00886981
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+v 0.07713203 -0.00809354 0.00070903
+v 0.07293488 -0.00982073 0.00632875
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+v 0.07942028 -0.00982074 0.00886980
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+v 0.07896872 -0.00755473 0.00509138
+v 0.07894175 -0.00982072 0.00330520
+v 0.07826223 -0.00982072 0.00330520
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+
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_26.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00ccfcc7cc5715723fc7adfdbd2d4d4e96c896f2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_26.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.07099896 0.00909700 -0.00908730
+v 0.07102826 0.00905620 -0.00908730
+v 0.07626463 0.00003542 -0.00704821
+v 0.07102658 0.00909700 -0.00905297
+v 0.07954908 0.00909700 -0.00908730
+v 0.07203351 0.00792084 -0.00908730
+v 0.07787170 0.00003542 -0.00865735
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+v 0.07311494 0.00909700 -0.00705437
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+v 0.07914062 0.00003542 -0.00865735
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+v 0.07775620 0.00490859 -0.00704819
+v 0.07898996 0.00500439 -0.00704819
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+f 17 23 18
+f 19 26 32
+f 19 32 20
+
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_27.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b62b0f8dc0a5fe98608555a80a26af19f83d5f6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_27.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.06087255 -0.00820140 -0.00907070
+v 0.06087255 -0.00820138 -0.01449862
+v 0.06617051 -0.00820139 -0.01155229
+v 0.06617051 -0.00013627 -0.01444219
+v 0.06087255 -0.00013628 -0.01223358
+v 0.06473401 -0.00820138 -0.01465579
+v 0.06087255 -0.00726982 -0.01495509
+v 0.06473401 -0.00726981 -0.01512053
+v 0.06617051 -0.00820138 -0.01465504
+v 0.06617051 -0.00013626 -0.01674632
+v 0.06087255 -0.00013626 -0.01658013
+v 0.06617051 -0.00726981 -0.01512203
+v 0.06087255 -0.00560642 -0.01561458
+v 0.06087255 -0.00519985 -0.01577400
+v 0.06259325 -0.00519985 -0.01582288
+v 0.06473401 -0.00519985 -0.01587327
+v 0.06473401 -0.00013626 -0.01674331
+v 0.06617051 -0.00105993 -0.01675309
+v 0.06473401 -0.00105993 -0.01674933
+v 0.06087255 -0.00031784 -0.01658088
+v 0.06617051 -0.00658851 -0.01536943
+v 0.06087255 -0.00336909 -0.01626580
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+v 0.06617051 -0.00519985 -0.01584996
+v 0.06617051 -0.00278489 -0.01656810
+v 0.06087255 -0.00233411 -0.01648012
+v 0.06087255 -0.00105993 -0.01658313
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_28.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08235d78c301d5673a5b15dca4fd59cfe01939c3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_28.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_29.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7696fe819682a70b5233c6a7b12f4c1213dbf8db
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_29.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_3.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddc642aea9a1c02ec4dc23534509a361d11fc67c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_3.obj
@@ -0,0 +1,577 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_30.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1744d08d96338681afa9e9b409ebb3560bbb68b6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_30.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_31.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08eef53857f17d0e01e9df1bde985340ffff1fb5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_31.obj
@@ -0,0 +1,166 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_32.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040ab8995eb1b2fd4117d388c6b7a5fa97dc3ad5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_32.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.06090602 -0.01636086 0.00070900
+v 0.06215696 -0.01631916 0.00070900
+v 0.06090602 -0.01636009 0.00079913
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+
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_33.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fa02d1610274aafebedc98896576f3b06e2ac9e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_33.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.07029536 0.01007480 0.00884935
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+v 0.06504986 0.01007479 0.00974782
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+
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_34.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eefa778a155bac4e129f2ee9bf71e329a2bf070
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_34.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.06087255 -0.01638443 -0.00093788
+v 0.06259325 -0.01631715 -0.00093788
+v 0.06259325 -0.01630193 0.00070900
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+
diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_4.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e0f7e9da1341255f26a16ed3686e18444a31f0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_4.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.04873337 0.02114366 0.00016634
+v -0.04873337 0.02114160 -0.00093725
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_5.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f914c7ada6b5d9e9c43dca674b22b38329fb7695
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_5.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_6.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccbc223d6114a6611f4c65186d7836015e409e98
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_6.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_7.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a5013b423c3887382965863d3e503519c40509f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_7.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_8.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8103f883a1278cdd2e6e0010c784dca8b6c9288
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_8.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_9.obj b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0bd3d3c5676252058e07bbd94ef2e2bc8da889b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mjcf/mesh/flashlight_034_collision_9.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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