diff --git a/.gitattributes b/.gitattributes
index ab2b8c5507221f8909984c0b517ee566fee57e1c..62d7b267df771c3946a4c4b35592bd94a4f4fdaf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2648,5 +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/2934d513bc275e54a308f60e82e281d4/flashlight_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/flashlight_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/flashlight_028.urdf b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/flashlight_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d3ba104e30b0d07d64c5f756101bdb848fda6ccb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/flashlight_028.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_028">
+   <link name="flashlight_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0700" />
+         <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>22ad3d02d94d55068b2735d393282acc</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>keychain flashlight</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>compact cylindrical keychain flashlight with side button and textured grip</description>
+         <min_height>0.0268</min_height>
+         <max_height>0.0268</max_height>
+         <real_height>0.0268</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130636</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.049125 -0.019609 -0.013302</min>
+            <max>0.080875 0.019829 0.013468</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/22ad3d02d94d55068b2735d393282acc/flashlight_028.usd b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/flashlight_028.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0cd2f33e03f922975761d9227c401720d0628286
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/flashlight_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4952917
diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028.glb b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8b60056c722755cbf824af48b06bfd24860f6167
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c11d604bcfe616e485d84c98732919f47d315a824d5d1d8e47e19792be65b116
+size 14571512
diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028.mtl b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c4735984ecbdc813621f808a68cc1a026df5bf6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028.mtl
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+newmtl flashlight_028_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/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff2782ebd4a526a683ff0e7c03343d395591bac
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028.obj
@@ -0,0 +1,112036 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_028_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028_collision.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a44acbc0aa74002a912e76fabe0be17b4e770d5f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028_collision.obj
@@ -0,0 +1,4917 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..261d4e3be1f49ffc393176c0e4b6b2c868972c8d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/flashlight_028_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11125284
diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..815e69ecd4c5f38161ed6d396f28b6a28907ff50
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_028_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd flashlight_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/material_0.png
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2fb5c0102002981341bb8279a0c0e1eaf0577d1683415a51e5bf5d36ffc1deb
+size 11125284
diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/flashlight_028.xml b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/flashlight_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7ddf008c150fc6eda7438f19489286f3ff7e3853
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/flashlight_028.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  </asset>
+  <worldbody>
+    <body name="flashlight_028">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ea798ade1483b4ad373a2b7d44e4db8e268ce85
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028.obj
@@ -0,0 +1,112036 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_028_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c47f92d777b54dba6a18955e831d034c912e4f6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision.obj
@@ -0,0 +1,4917 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_0.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a93912f7a0afc92319bbe79e7b3e05bc8852b2b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_0.obj
@@ -0,0 +1,1135 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_1.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2348a83a2e8ab8a8386fd1656aaec4540a48a0d1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_1.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_10.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b3740addade8d58823ea000fd72abc8974f315b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_10.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_11.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a3b565673e513b5c1f5995dc2ac7f8890f8ad27
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_11.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_12.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56d57e1f2d45a940c0c15876ffdf7f43ee90e0f1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_12.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_2.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1eb0db78e10f38061d31ccfa13d22b099156b27
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_2.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_3.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82209248cdff147fdfa3a80e28d4219d8179a940
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_3.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_4.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3de9e65c4d55de5e123f8d2692ae50ea1090c1bf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_4.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_5.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e67fccbbb70c71e3e1551c2f5a17d2c8bfd3e9fe
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_5.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_6.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e1336bdf4de49ec49aff45d008d4eb951671bd8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_6.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_7.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf22c03927fab5afe07ade9288bc747ea4ae4f12
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_7.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_8.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcf77f1912470f3ea2f14d75c4b6492c368572c1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_8.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_9.obj b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b508335fa796214db18b009cea90b6180c2e2236
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_collision_9.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/mjcf/mesh/flashlight_028_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/textures/material_0.png b/dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/textures/material_0.png
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