diff --git a/.gitattributes b/.gitattributes
index 6e486e3000bf681578a3697d46381d6b70c6226b..29d7e3267871f6aa9aa55f8f9ec9032a1b1f64a5 100644
--- a/.gitattributes
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dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/alarm_clock_039.usd filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/small_electronics/b11d649311825fe2b09dd75deba0da2a/mesh/alarm_clock_039.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mesh/flashlight_019_collision.obj b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mesh/flashlight_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f2261b9562de0677e004d373f711fc86eba8ccf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mesh/flashlight_019_collision.obj
@@ -0,0 +1,4958 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mesh/flashlight_019_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mesh/flashlight_019_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mesh/material.mtl
new file mode 100644
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mesh/material_0.png
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@@ -0,0 +1,38 @@
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019.obj b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a4f1d1c59d4d70c7d64fdf9eeae3b507ad399b5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019.obj
@@ -0,0 +1,113286 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_019_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision.obj b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73834e5a2d62a744e4630792808efd8db7b7e0ad
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision.obj
@@ -0,0 +1,4958 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_0.obj b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3b5383f3b1db9466bf0114d5a4aaff3250135c8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_1.obj b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c252585492d977df3ada0d13f579887ec22c1d60
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_10.obj b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35d953be3cd1e7d3bf68756c4708f689d90b7d2f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_10.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_11.obj b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3654563c0771f01361a3502ce5c63f6881fdb94a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_11.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_2.obj b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c766a948b4c57661107cad9695c5b20c02efd34
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_2.obj
@@ -0,0 +1,685 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_3.obj b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a50996abb434a6d97482b3565235213239729ed4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_3.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_4.obj b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec3a926069f20d26d722e0cb9708dc31f50a7d8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_4.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_5.obj b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1488b010aa73fb41d937ff5ca26b764662458dd3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_5.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_6.obj b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b0a3e304d8f4c2fc3daf5f41b09027f05f56e56
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_6.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_7.obj b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19191ba709e26373699b10e16ed3e11821866ae1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_7.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_8.obj b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd2353cc8f68a2322f3f126e73f260f47b8c5989
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/b868546c772a5cc1b83ff4b527cd1990/mjcf/mesh/flashlight_019_collision_8.obj
@@ -0,0 +1,160 @@
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