diff --git a/.gitattributes b/.gitattributes
index b1cf454ddd3d022b872233279859b8f61c55032e..762f46a6c12544906ed92f4eeeb4932a201e82bb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2670,3 +2670,5 @@ dataset/bedroom_supplies/small_electronics/974c98fda3f357649459dffa5eaca022/alar
 dataset/bedroom_supplies/small_electronics/974c98fda3f357649459dffa5eaca022/mesh/alarm_clock_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/ba30d9fb4b7853d0953037b975234638/alarm_clock_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/ba30d9fb4b7853d0953037b975234638/mesh/alarm_clock_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/flashlight_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/flashlight_014.urdf b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/flashlight_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f309b8889633fda81a5aaaaef715265e4b86b8f2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/flashlight_014.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_014">
+   <link name="flashlight_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>be1557885b695988a9c43ca774d144f5</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>black flashlight</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>compact black handheld flashlight with textured grip and wide head</description>
+         <min_height>0.0376</min_height>
+         <max_height>0.0376</max_height>
+         <real_height>0.0376</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518165002</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.062698 -0.018529 -0.018795</min>
+            <max>0.077302 0.018474 0.018800</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/be1557885b695988a9c43ca774d144f5/flashlight_014.usd b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/flashlight_014.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/flashlight_014.usd
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014.glb b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014.glb
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014.mtl b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff31394a0a4007f6c60718bfd2f18dcb3f94b149
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014.mtl
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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/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85e546448551929ade846915d4411f7cf1c7bb4c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014.obj
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+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014_collision.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f522b520953d61f9c46926a182572d5514418245
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..20f17786ffde9d93fd8f4d90f8953c95a66fc169
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:486870d4431370ff61b88ff4f3f8a100e8e53c7fbd9053223ba04d9469b12c28
+size 9860637
diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c5ea36079f9be62f04a7fc3bb6dfd926b794fe5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..20f17786ffde9d93fd8f4d90f8953c95a66fc169
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:486870d4431370ff61b88ff4f3f8a100e8e53c7fbd9053223ba04d9469b12c28
+size 9860637
diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/flashlight_014.xml b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/flashlight_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f793fabdc11ffe178a5e6fe08635d4a020101c2e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/flashlight_014.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="flashlight_014">
+  <asset>
+    <material name="material_0" texture="texture_0_flashlight_014_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_flashlight_014_geometry_Looks_material_0" type="2d" file="mesh/flashlight_014_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/flashlight_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/flashlight_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/flashlight_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/flashlight_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/flashlight_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/flashlight_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/flashlight_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/flashlight_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/flashlight_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/flashlight_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/flashlight_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/flashlight_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/flashlight_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/flashlight_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/flashlight_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/flashlight_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/flashlight_014_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/flashlight_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/flashlight_014_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/flashlight_014_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/flashlight_014_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="flashlight_014">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" 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/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4954c5b5a2f658ea4541fbe2f25b8400379b05e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014.obj
@@ -0,0 +1,116678 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_014_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcf6923b81716834dce1fc8e691aff29201bb576
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision.obj
@@ -0,0 +1,6301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_0.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78bd5dbcb6fefe5df734e7eac142dd0238228acc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_1.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13c9e5b5d54846d2f25118b1f9600521fcb599e5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_10.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2ee5c92fe52f0034a903bb50dcb34f379006c9e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_10.obj
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+
diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_11.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b659577efc69df4372b80d5841dcdc57cbd07104
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_11.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.06373356 0.00107495 0.01487567
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+v 0.06373356 0.00677409 0.01331634
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+v 0.06895966 0.01403182 0.00271987
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+
diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_12.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0eadcc0ff61e2aa35855f10e4f5c6a3fae0506e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_12.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00377998 0.00914699 0.00020101
+v 0.00377998 -0.00002482 0.00020098
+v 0.00377998 0.00914701 -0.00610409
+v -0.05026399 0.00914699 0.00020101
+v 0.00377998 -0.00002480 -0.00610412
+v -0.04308531 -0.00002482 0.00020098
+v -0.05328629 0.00914701 -0.00610409
+v -0.04688973 -0.00002480 -0.00610412
+f 1 2 5
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+f 1 4 6
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+f 2 8 5
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+f 4 8 6
+
diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_13.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e9225ddb40fe0c21833d7185df21a8e79b78b96
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_13.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.04653200 0.00562220 0.00020283
+v -0.04343012 -0.00237566 0.00020280
+v -0.05239478 -0.00237570 0.01021029
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+
diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_14.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd2bc01652a814ba7dce63da1fb413139a43fddf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_14.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.06373382 -0.00001763 -0.01415770
+v 0.06142768 -0.00112622 -0.01384578
+v 0.06142768 -0.00001763 -0.01385016
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+v 0.06718579 -0.00001763 -0.01407607
+v 0.06834608 -0.00112622 -0.01403526
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+v 0.06604176 -0.00332579 -0.01377146
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+v 0.05908360 -0.00001768 0.00073251
+v 0.06834608 -0.00001763 -0.01403818
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_15.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef8b55fb7478739d59d6acf436c65c13b3be86a9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_15.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_16.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..118a40f455f05b0e860d6328918154d68b46c805
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_16.obj
@@ -0,0 +1,361 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_17.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea6dd5faa2b4f27d55ca2135efd83f540a6c6aa4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_17.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.05479600 -0.00789981 -0.00805135
+v -0.04887248 -0.00789984 0.00020095
+v -0.04904451 -0.00002479 -0.00805132
+v 0.00378556 -0.00789981 -0.00805135
+v -0.04308657 -0.00002482 0.00020098
+v 0.00378556 -0.00789984 0.00020095
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+v 0.00378556 -0.00002482 0.00020098
+f 1 2 3
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+f 1 6 2
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+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/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_18.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..960a348360f9c096d9b2ddb20efb7c4b48477c31
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_18.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_19.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d090bf1d3c7cdd6dba2c8dd29c154d1f85320da8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_19.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_2.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59d19a37f3adc26ea884d6aac7f470faf842bded
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_2.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.00378556 -0.00237569 0.00681918
+v 0.00378556 -0.01226123 0.00681914
+v 0.00378556 -0.00237566 0.00020097
+v -0.04820505 -0.00237569 0.00681918
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+v -0.01239089 -0.01582822 0.00681913
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_3.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..733e04c997930a344d9a64f753f20af5288c654f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_3.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_4.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2194b8df677b48ce400f02247ede3aaed9533568
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_4.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_5.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13fa737fd11d85644fe97a353f933ccbad29eeda
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_5.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_6.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f72a4e8c6c72190abc58f694d5db1b737de498a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_6.obj
@@ -0,0 +1,265 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_7.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a9253fcb571474b61ef82380ae74f6bde32fa3b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_7.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_8.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f632d0deeade2646e1d13435ca18ca5485283dd6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_8.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_9.obj b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31e711a33645b9d68367b3a046631aa11c721ecd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mjcf/mesh/flashlight_014_collision_9.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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