diff --git a/.gitattributes b/.gitattributes
index 49cc317d140a292789a537ab929e3afca7b815ca..7fc5cc54ebf647a982579e9fe4d9407ff4c339fd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2648,3 +2648,5 @@ dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/flas
 dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/flashlight_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/mesh/flashlight_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/flashlight_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/flashlight_027.urdf b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/flashlight_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c64796e02c7e7a39828ea1cec867d896102feef2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/flashlight_027.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_027">
+   <link name="flashlight_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_027.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>206a091aaa2c55c2873ec5a42e9f909a</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>yellow flashlight</name>
+         <color>black,yellow</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>black and yellow ribbed handheld flashlight with side switch</description>
+         <min_height>0.0409</min_height>
+         <max_height>0.0409</max_height>
+         <real_height>0.0409</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130618</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.058693 -0.020020 -0.020240</min>
+            <max>0.071307 0.019938 0.020707</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/206a091aaa2c55c2873ec5a42e9f909a/flashlight_027.usd b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/flashlight_027.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/flashlight_027.usd
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027.glb b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027.mtl b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..95c02745a94fad5c0de73238c59e7481f90db672
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027.mtl
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+newmtl flashlight_027_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027.obj b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7897d30a772cd25ee0b1462bda20bf25e67a1a86
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027.obj
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+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027_collision.obj b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21254e451391392b41316dd005a5a8b8688f900d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027_collision.obj
@@ -0,0 +1,7036 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b7b00d708780097afe6048c6c12b5a65bd36a3e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/flashlight_027_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c39b656d35fa077daeb768f503c8aa30ca6749b8938a241c1b334b3a582077f
+size 11997230
diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ea9e5a1b0d697b54acbe8337b40a92261df99df8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_027_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd flashlight_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b7b00d708780097afe6048c6c12b5a65bd36a3e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c39b656d35fa077daeb768f503c8aa30ca6749b8938a241c1b334b3a582077f
+size 11997230
diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/flashlight_027.xml b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/flashlight_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..46151f07e67db01bbeef06c5bf7c2b25865eb224
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/flashlight_027.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="flashlight_027">
+  <asset>
+    <material name="material_0" texture="texture_0_flashlight_027_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_flashlight_027_geometry_Looks_material_0" type="2d" file="mesh/flashlight_027_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/flashlight_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/flashlight_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/flashlight_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/flashlight_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/flashlight_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/flashlight_027_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/flashlight_027_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/flashlight_027_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/flashlight_027_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/flashlight_027_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/flashlight_027_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/flashlight_027_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="flashlight_027">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027.obj b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..896abfcde1474f5c76c7769582002df32cecea3e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027.obj
@@ -0,0 +1,117756 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_027_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision.obj b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e2b181cc900e2a3d7e4fa881813f047fba96d25
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision.obj
@@ -0,0 +1,7036 @@
+# https://github.com/mikedh/trimesh
+
+o flashlight_027_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_0.obj b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..662eac8191e610bebf4d45b12d05408aae49a513
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_1.obj b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eda1c8ec78253f9f522dea37d95c85a09cdbde3d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_10.obj b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1893f16213654fc87bd08bfbca8ccef495a4420e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_10.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_2.obj b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..660bdb5b2df77bcdf2245567675b98da7c778f82
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_2.obj
@@ -0,0 +1,2344 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_3.obj b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc15d2446c82e87a2658ebc56f7e3b88b2f35db7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_3.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_4.obj b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebfed541e3f4b5b9aacb2e4c45158e32d2c7edcf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_4.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_5.obj b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d687349d9f3f6aaffef0546c2a0c8437e12440de
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_5.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_6.obj b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed41ae647a596eb78787af2937a78812c1013c9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_6.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_7.obj b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a259fc2caaeb24470a52fb5608665541e65bb221
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_7.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_8.obj b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c11908dcbf9cf7d5c1e8eb7c72d5023534f915c7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/mjcf/mesh/flashlight_027_collision_8.obj
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