diff --git a/.gitattributes b/.gitattributes
index cf572595eaf6800969d9cab15949597fc81a672c..96b1d9a97093a73bc2eb3d25849028aae4adb176 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2678,5 +2678,7 @@ dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/flas
 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/dcae01195ce651659426d641183dfcb0/flashlight_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/dcae01195ce651659426d641183dfcb0/mesh/flashlight_029.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/d41fe878faf05cd4bc88d2d152d7279b/flashlight_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/flashlight_031.urdf b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/flashlight_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8cb72a0f274e27d98e76f18735ac16d8801a9db7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/flashlight_031.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_031">
+   <link name="flashlight_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_031.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_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>d41fe878faf05cd4bc88d2d152d7279b</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>tactical flashlight</name>
+         <color>green,black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>olive green cylindrical flashlight with side switch and pocket clip</description>
+         <min_height>0.0426</min_height>
+         <max_height>0.0426</max_height>
+         <real_height>0.0426</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130726</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.065052 -0.020263 -0.019352</min>
+            <max>0.064948 0.018898 0.023272</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>12</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/d41fe878faf05cd4bc88d2d152d7279b/flashlight_031.usd b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/flashlight_031.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/flashlight_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:557c1871232e8f492dbae8e8b0baf68492faf8115c1c0ebca2bbf008a11efba9
+size 5014700
diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031.glb b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cd795829ed32164f65dffb5f7be1f15569422bee
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15311572
diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031.mtl b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2cbbcf990b880a9e8fbcabfd231bed6734c2a39a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031.mtl
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+newmtl flashlight_031_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/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f03f140afb415f283f0c36cb88888875bacb122
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031.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/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031_collision.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b07e8c92bdc98a73cf8b8ad24b2f41258fe9607
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0303e9faa277b17622f7a555ca7cc38ed44877dd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab80c87a1a0a455f9b2ebbbf3d0ce94e29ec1bfdc6ac543e40b3c08f2dc10b8a
+size 11793273
diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cdb0d7bfe4df96623ffbd60d7566f419292c4923
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_031_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_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0303e9faa277b17622f7a555ca7cc38ed44877dd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab80c87a1a0a455f9b2ebbbf3d0ce94e29ec1bfdc6ac543e40b3c08f2dc10b8a
+size 11793273
diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/flashlight_031.xml b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/flashlight_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3e160b78ff3c0262e51365fb913d2a252786f815
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/flashlight_031.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="flashlight_031">
+  <asset>
+    <material name="material_0" texture="texture_0_flashlight_031_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_flashlight_031_geometry_Looks_material_0" type="2d" file="mesh/flashlight_031_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/flashlight_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/flashlight_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/flashlight_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/flashlight_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/flashlight_031_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/flashlight_031_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/flashlight_031_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/flashlight_031_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/flashlight_031_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/flashlight_031_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/flashlight_031_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/flashlight_031_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/flashlight_031_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/flashlight_031_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/flashlight_031_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/flashlight_031_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/flashlight_031_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="flashlight_031">
+      <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" />
+      <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/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..388f73e79446e59b16038ab34c55a336ca72f031
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031.obj
@@ -0,0 +1,109758 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_031_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efa2da182da699cd11324a010fde06b879e07e5a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision.obj
@@ -0,0 +1,6693 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_0.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..567b875f99939cf655c2a77e07f88e70fb20e3ca
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_0.obj
@@ -0,0 +1,1921 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_1.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8efcc9cf4c7212b63ff541d0b4113bbb3b879e7c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_1.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_10.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02744189b7712ad5ed2de37570d7fcbd79e723fc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_10.obj
@@ -0,0 +1,367 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_11.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bd9cb03b61c8826d9ed726e439a775e22a417f9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03752770 0.00661900 0.00601146
+v -0.03752770 -0.00013759 0.00601144
+v -0.03752770 0.00661902 -0.00060786
+v -0.05934439 0.00661900 0.00601146
+v -0.03752770 -0.00013757 -0.00060788
+v -0.05680523 -0.00013759 0.00601144
+v -0.05675398 0.00661902 -0.00060786
+v -0.05579725 -0.00013757 -0.00060788
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+
diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_12.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e6a3342065b173d861354eb4c34d087c197caea
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_12.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.03752770 -0.00013758 0.00361178
+v -0.03752770 -0.00698792 0.00361175
+v -0.03752770 -0.00013756 -0.00317183
+v -0.05552279 -0.00013758 0.00361178
+v -0.03752770 -0.00698790 -0.00248991
+v -0.05781885 -0.00698792 0.00361175
+v -0.03752770 -0.00073300 -0.00317183
+v -0.05582668 -0.00013756 -0.00317183
+v -0.05583860 -0.00013758 0.00213898
+v -0.03752968 -0.00698790 -0.00317186
+v -0.05584654 -0.00013758 0.00179901
+v -0.05720710 -0.00698790 -0.00317186
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 11
+f 1 11 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 7 10
+f 3 10 12
+f 3 12 8
+f 4 9 6
+f 5 10 7
+f 6 9 11
+f 6 11 8
+f 6 8 12
+
diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_13.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee8136c703736692c99eafabcc8e9ba431a09c92
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_13.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.05934434 0.00661900 0.00601146
+v -0.05680607 -0.00013759 0.00601144
+v -0.06346089 0.00661899 0.00894780
+v -0.03753041 0.00661900 0.00601146
+v -0.06476256 -0.00013761 0.01180908
+v -0.03753041 -0.00013759 0.00601144
+v -0.06456731 0.00661898 0.00981792
+v -0.03753041 0.00661896 0.01682691
+v -0.06510968 -0.00013762 0.01286212
+v -0.06488460 0.00661898 0.01056490
+v -0.03753041 -0.00013764 0.01797610
+v -0.03753041 0.00661432 0.01682925
+v -0.04826110 0.00661896 0.01670143
+v -0.06522629 -0.00013762 0.01322682
+v -0.06500121 0.00661898 0.01099644
+v -0.03753041 0.00038424 0.01799017
+v -0.04826110 0.00038424 0.01789284
+v -0.04826110 -0.00013764 0.01787173
+v -0.03753041 0.00455659 0.01746601
+v -0.04826110 0.00658853 0.01671316
+v -0.06111516 0.00661896 0.01634260
+v -0.06523171 0.00246117 0.01322683
+v -0.06490629 -0.00013762 0.01430684
+v -0.06517476 0.00453742 0.01322684
+v -0.06498493 0.00661897 0.01322684
+v -0.03753041 0.00040144 0.01799017
+v -0.05897282 0.00038425 0.01752814
+v -0.05897282 -0.00013763 0.01751641
+v -0.03753041 0.00246115 0.01784242
+v -0.04826110 0.00246115 0.01771460
+v -0.05897282 0.00246116 0.01738626
+v -0.03753041 0.00453741 0.01747070
+v -0.04826110 0.00453741 0.01732646
+v -0.06111516 0.00612883 0.01652554
+v -0.06171176 0.00661896 0.01627693
+v -0.06246023 0.00593040 0.01645283
+v -0.06479239 -0.00013762 0.01468561
+v -0.06479239 0.00038426 0.01466919
+v -0.06473545 0.00246117 0.01471494
+v -0.06461884 0.00453742 0.01471026
+v -0.06443714 0.00661897 0.01445814
+v -0.06111516 0.00453741 0.01695121
+v -0.06269073 0.00453741 0.01661466
+v -0.05955857 -0.00013763 0.01736279
+v -0.05897282 0.00453741 0.01701453
+v -0.06320869 0.00661896 0.01557920
+v -0.06376190 0.00453741 0.01574337
+v -0.06324665 -0.00013763 0.01564837
+v -0.06258226 0.00287985 0.01658299
+v -0.06329547 0.00661896 0.01550063
+v -0.06103923 -0.00013763 0.01689959
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+f 1 15 25
+f 1 25 41
+f 1 41 50
+f 1 50 46
+f 1 46 35
+f 1 35 21
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+f 1 13 8
+f 1 8 4
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+f 1 6 2
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+f 4 16 11
+f 4 11 6
+f 5 9 10
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+f 20 21 34
+f 20 34 33
+f 21 35 36
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+f 22 23 37
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+f 22 39 24
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+f 24 40 25
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+f 27 31 42
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+f 29 32 30
+f 30 32 33
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+f 30 42 31
+f 33 34 45
+f 34 36 42
+f 34 42 45
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+f 36 43 42
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+f 39 47 40
+f 40 47 41
+f 41 47 50
+f 43 49 44
+f 44 49 51
+f 46 50 47
+f 48 51 49
+
diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_14.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..826fe142b2891a6151131ebb427b0a628f23c142
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_14.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.04397549 0.00038439 -0.01910520
+v -0.04397549 -0.00013749 -0.01908650
+v -0.04611844 0.00038439 -0.01908066
+v -0.04611844 0.00246131 -0.01892639
+v -0.04397549 0.00246131 -0.01894509
+v -0.03752770 0.00038439 -0.01909352
+v -0.03752770 0.00036582 -0.01909352
+v -0.04611844 -0.00013749 -0.01906079
+v -0.03752770 -0.00013749 -0.01907482
+v -0.04772226 -0.00013749 -0.01902690
+v -0.04826138 0.00038439 -0.01903508
+v -0.04806903 0.00254686 -0.01887848
+v -0.04722919 0.00350574 -0.01878498
+v -0.04397549 0.00352298 -0.01878966
+v -0.04247733 0.00352696 -0.01879083
+v -0.03838109 0.00351237 -0.01878732
+v -0.03752770 0.00264168 -0.01890769
+v -0.03752770 0.00254885 -0.01891587
+v -0.03752770 -0.00013753 -0.00716748
+v -0.04826138 -0.00013749 -0.01901522
+v -0.05861036 -0.00013749 -0.01878733
+v -0.05908717 0.00038306 -0.01876513
+v -0.05897068 0.00246131 -0.01859450
+v -0.04806903 0.00433399 -0.01853605
+v -0.04611844 0.00454553 -0.01851268
+v -0.04397549 0.00456145 -0.01851852
+v -0.06111362 0.00453757 -0.01810482
+v -0.05897068 0.00453757 -0.01816793
+v -0.03752770 0.00434991 -0.01856994
+v -0.03752770 0.00347723 -0.01878148
+v -0.05660829 -0.00013753 -0.00716748
+v -0.03752770 0.00663700 -0.00716746
+v -0.05880270 -0.00013749 -0.01877798
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+v -0.06111362 0.00246131 -0.01823104
+v -0.04826138 0.00661450 -0.01780682
+v -0.06111362 0.00661449 -0.01748076
+v -0.04611844 0.00661450 -0.01784655
+v -0.04397549 0.00661450 -0.01786057
+v -0.04183255 0.00661450 -0.01786408
+v -0.06113800 0.00663703 -0.01746908
+v -0.06315090 0.00453756 -0.01738026
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+v -0.03752770 0.00661450 -0.01785006
+v -0.05920637 0.00663700 -0.00716746
+v -0.06315903 0.00663701 -0.00993131
+v -0.06412620 -0.00013751 -0.01273024
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+v -0.06111362 -0.00013749 -0.01811069
+v -0.04826138 0.00663704 -0.01779630
+v -0.04611844 0.00663704 -0.01783720
+v -0.06111362 0.00663703 -0.01747142
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+v -0.04183255 0.00663704 -0.01785356
+v -0.06302086 0.00246130 -0.01729496
+v -0.06409369 0.00246130 -0.01655053
+v -0.06422102 0.00453756 -0.01658675
+v -0.06389592 0.00661449 -0.01627706
+v -0.06389050 0.00663703 -0.01627122
+v -0.06318883 0.00663701 -0.00995351
+v -0.06488476 0.00663701 -0.01153119
+v -0.06427249 -0.00013751 -0.01291605
+v -0.06363584 -0.00013750 -0.01663235
+v -0.06390405 -0.00013750 -0.01645705
+v -0.06466532 -0.00013750 -0.01568457
+v -0.06489560 -0.00013750 -0.01542514
+v -0.06489018 0.00246130 -0.01551862
+v -0.06483329 0.00453756 -0.01555484
+v -0.06464907 0.00661449 -0.01524514
+v -0.06390676 0.00663703 -0.01625602
+v -0.06489289 0.00663701 -0.01154988
+v -0.06487122 -0.00013751 -0.01370489
+v -0.06489560 -0.00013751 -0.01419689
+v -0.06519361 0.00453755 -0.01362073
+v -0.06520174 0.00661448 -0.01362073
+v -0.06519902 0.00663702 -0.01362189
+v -0.06464635 0.00663703 -0.01523930
+v -0.06520174 0.00663702 -0.01359852
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+f 59 69 70
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+f 71 78 79
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+f 77 80 78
+
diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_15.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fef36481761a12fbafdd4ef233311189cf564fc4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03752770 0.00663697 -0.00060786
+v -0.03752770 -0.00013756 -0.00060788
+v -0.03752770 0.00663700 -0.00716746
+v -0.05676747 0.00663697 -0.00060786
+v -0.03752770 -0.00013753 -0.00716748
+v -0.05579763 -0.00013756 -0.00060788
+v -0.05920799 0.00663700 -0.00716746
+v -0.05660831 -0.00013753 -0.00716748
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 6
+f 6 7 8
+
diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_2.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..804cb50d0e73ef8192e835848233831ec4746aeb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_2.obj
@@ -0,0 +1,1195 @@
+# https://github.com/mikedh/trimesh
+v -0.02004282 0.00038202 0.01932733
+v -0.00755194 0.00291417 0.01790486
+v -0.00755488 0.00292182 0.01790486
+v -0.02004282 0.00213004 0.01884811
+v -0.03111648 0.00453597 0.01810265
+v -0.03325844 0.00453597 0.01804560
+v -0.03111648 0.00333492 0.01836888
+v -0.03325844 0.00310159 0.01833845
+v -0.03325844 0.00206502 0.01846777
+v -0.03325844 0.00038202 0.01856284
+v -0.03329952 -0.00176763 0.01848296
+v -0.03261292 -0.00286158 0.01841450
+v -0.02004282 -0.00107913 0.01913715
+v -0.00755194 -0.00266268 0.01790484
+v -0.00755194 0.00292182 0.01790106
+v -0.00755194 0.00816209 0.01457690
+v -0.02138668 0.01186851 0.01431068
+v -0.02254862 0.00930957 0.01609446
+v -0.02254862 0.00826918 0.01663454
+v -0.01619609 0.00426057 0.01790487
+v -0.02254862 0.00661295 0.01732295
+v -0.03111648 0.00661295 0.01748269
+v -0.03325844 0.00661295 0.01741423
+v -0.03752770 0.00453598 0.01747128
+v -0.03446146 0.00169017 0.01841832
+v -0.03456416 0.00038202 0.01844493
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_3.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27dc47122b98c1dca4760a9e9539a34df96a2e06
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_3.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_4.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a9649d8f9b9ade80d47b465ac636e320d491ed
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_4.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_5.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..659f5e6f57ea79db84b70433152e7ee7ae8e79f2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_5.obj
@@ -0,0 +1,166 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_6.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0de3c58f008a85626781ceb7023701a1f00c796
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_6.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_7.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aef713e92e20d29ae0f0570093984b2612ab9d5b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_7.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_8.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89c64008884983baababa0ebc7614beb3c1b4f4c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_8.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_9.obj b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_9.obj
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index 0000000000000000000000000000000000000000..76f4510c4abf1d4223b03f479915fb1cda53b8b7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_collision_9.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mjcf/mesh/flashlight_031_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/textures/material_0.png b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/video.mp4 b/dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/video.mp4
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