diff --git a/.gitattributes b/.gitattributes
index a7fb3dad39f8fc7ceaf5c225281d08cce11a26f9..0621a530ce6e238730b97aea4e9424431f63d600 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2648,5 +2648,5 @@ dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/flas
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 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/2037921d1ea3507eac503b6ad59e0b85/alarm_clock_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/mesh/alarm_clock_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/flashlight_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/flashlight_033.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/flashlight_033.urdf b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/flashlight_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8e13123613ecca773d7941805371ae0133e9eccf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/flashlight_033.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_033">
+   <link name="flashlight_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_033.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_033_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>2b922f7af3565e32b0c6ec1843186d7e</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>gray flashlight</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>gray cylindrical handheld flashlight with side button and top clip</description>
+         <min_height>0.0421</min_height>
+         <max_height>0.0421</max_height>
+         <real_height>0.0421</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130802</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
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+            <max>0.067102 0.018557 0.022789</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
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new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/flashlight_033.usd
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/flashlight_033.glb b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/flashlight_033.glb
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/flashlight_033.mtl
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+d 1.000000
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/flashlight_033.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/flashlight_033.obj
new file mode 100644
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/flashlight_033_collision.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/flashlight_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e930726c944ff5b1c79cda6c1eba809517aaa3e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/flashlight_033_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/flashlight_033_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/flashlight_033_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..019bde0be4503bb669df22f6dd8e65f8f882f4ef
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/flashlight_033_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa10181118bb52a20617a2fa14e5cbec9a1e16d999d6dad6bf6ac7d151ab3360
+size 11393220
diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d35c5f26eb3974f976d24c1672d662465a3b1de4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_033_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_033_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..019bde0be4503bb669df22f6dd8e65f8f882f4ef
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa10181118bb52a20617a2fa14e5cbec9a1e16d999d6dad6bf6ac7d151ab3360
+size 11393220
diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/flashlight_033.xml b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/flashlight_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d6ee13e0c7a8e639c1998e952b4caa2936c71d31
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/flashlight_033.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="flashlight_033">
+  <asset>
+    <material name="material_0" texture="texture_0_flashlight_033_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_flashlight_033_geometry_Looks_material_0" type="2d" file="mesh/flashlight_033_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/flashlight_033.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/flashlight_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/flashlight_033_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/flashlight_033_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/flashlight_033_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/flashlight_033_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/flashlight_033_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/flashlight_033_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/flashlight_033_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/flashlight_033_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/flashlight_033_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/flashlight_033_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/flashlight_033_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/flashlight_033_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="flashlight_033">
+      <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/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26741fa028592ab0d04a6b13a2372e66f385e858
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033.obj
@@ -0,0 +1,112320 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_033_geometry_Looks_material_0
+v -0.053329 -0.018492 -0.001356
+v -0.053329 -0.018492 -0.001356
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da117519f257ab7664a4f865730a975594b72c33
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision.obj
@@ -0,0 +1,6393 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_0.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d6e30db71466ee9abe8e03a7ba2d75a30daa669
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_1.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ac25512df04a672ba0fbcf9d6188534a284152c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_10.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45b90b2785ce53d28e01f2c7d2473f45ff19e86d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_10.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_11.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f6595bb6eeb5e5be3010570eca0c38f247cf6c9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_11.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_12.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8dbde497d4cf9a60eb6656224f7bfc016314c14
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_12.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_2.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de84edb1f9b67236f520edf64591e1e502e05a80
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_2.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_3.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1294c3e033a002c53f97fed8c60b1b9444cd9b5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_3.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_4.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97a90e0886ea619abe83ea3ca3d9a77a2d34c3bf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_4.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_5.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcff6154083508ff829dfc7cf4bdf37ba3d769db
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_5.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_6.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61af0e8c04e4df5d4caa8f04f85544a4900398b5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_6.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_7.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec0ba6b6d721f3b10643b16fcd6954bc2a373ae
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_7.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_8.obj b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f501a897847c235e283488acf4b02ac57c63d0f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/mjcf/mesh/flashlight_033_collision_8.obj
@@ -0,0 +1,496 @@
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