diff --git a/.gitattributes b/.gitattributes
index 64a16bd52ee356e84e236e41a3d7e8e43bd3ef4f..3dc019c0d920d25c5c0ef37792227e5f858a70d1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2680,5 +2680,5 @@ dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/flas
 dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/mesh/flashlight_023.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/e6b3a87874be50489fa723da3b38d0c8/flashlight_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/flashlight_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/flashlight_018.urdf b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/flashlight_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a39acecb8bf97d614762d4df4e63344053526a26
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/flashlight_018.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_018">
+   <link name="flashlight_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_018.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_018_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>ed475ad82d8751feb8d1318516746199</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>purple flashlight</name>
+         <color>purple</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>compact cylindrical purple flashlight with side switch and wider lamp head</description>
+         <min_height>0.0441</min_height>
+         <max_height>0.0441</max_height>
+         <real_height>0.0441</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518165132</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.069086 -0.022076 -0.022142</min>
+            <max>0.070914 0.021831 0.021939</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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/ed475ad82d8751feb8d1318516746199/flashlight_018.usd b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/flashlight_018.usd
new file mode 100644
index 0000000000000000000000000000000000000000..456704250a7f56a7c3804e14cd23f293ef4075c2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/flashlight_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4896320
diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018.glb b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b71ce7068ce20c982b2c5fcf2eaf7cc9b47ec0d5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14933464
diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018.mtl b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db0b1c85a53025a85c1bc5cf80ebc5c8de018742
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018.mtl
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+newmtl flashlight_018_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/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41cb220f131f9b4de5f264b6d6ee69b9cae8e1ae
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018.obj
@@ -0,0 +1,109848 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_018_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018_collision.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb8d7c91ae400bbcbfc024d8c3e320861f172dc0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..38f4bd30af180655ebc92151571618376df17d7f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/flashlight_018_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 11611347
diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebcc317eae2381ef31bb213bc933a3e10dd6a31c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..38f4bd30af180655ebc92151571618376df17d7f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b571a6cd84a85dca248028d411eaeda0c628b93c8f11919df1c94ed858711b9
+size 11611347
diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/flashlight_018.xml b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/flashlight_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b454ac937d8a1372d5591f32fe672febc3dcc674
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/flashlight_018.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="flashlight_018">
+  <asset>
+    <material name="material_0" texture="texture_0_flashlight_018_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_flashlight_018_geometry_Looks_material_0" type="2d" file="mesh/flashlight_018_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/flashlight_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/flashlight_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/flashlight_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/flashlight_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/flashlight_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/flashlight_018_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/flashlight_018_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/flashlight_018_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/flashlight_018_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/flashlight_018_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/flashlight_018_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/flashlight_018_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/flashlight_018_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/flashlight_018_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="flashlight_018">
+      <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/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ba83091fa4cc07ead76cb4ec788a4f4a5340a2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018.obj
@@ -0,0 +1,109848 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_018_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fa11a5ab4b7d9d24097ee91e29a06ddd464a1f5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision.obj
@@ -0,0 +1,4272 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_0.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6ea3da996d2cfcb833fb474e49a8abb55df8dd1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_1.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90bbe1631f776f22262e1d236c305ab11eacaf95
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_1.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_10.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72f4f24bee5394873d8e961b21c6fce1db46db7c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_10.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_11.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ff2bf88e96614cced893278c26943bf724bb67b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_11.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_12.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62c1e6b2cc55aa381f43ae29d59032eb7d85de12
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_12.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_2.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c170e22020f1e4eec897daaba3f7d691a73f338
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_2.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_3.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4ae3257073810c729bae627970f3b39feef7574
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_3.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_4.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d1ab79eef0292b939c623a82e5396cdec49fbe0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_4.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.06477655 0.00821764 -0.02062185
+v -0.06573440 0.00821764 -0.02057799
+v -0.06708262 0.00898807 -0.02020318
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+v -0.06708262 0.00821764 -0.02050024
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+v -0.04127845 0.00821763 -0.02033077
+v -0.06763926 0.00821764 -0.02043245
+v -0.06708262 0.01194229 -0.01850056
+v -0.06477655 0.01204161 -0.01857832
+v -0.04173388 0.01175975 -0.01839490
+v -0.06836578 0.00821763 -0.02023308
+v -0.06852121 0.00821763 -0.01996792
+v -0.06867663 0.00969810 -0.01898104
+v -0.06853566 0.01155036 -0.01823341
+v -0.04053747 0.00821763 -0.02020517
+v -0.04019047 0.01148594 -0.01820749
+v -0.03252765 0.00873438 -0.01562967
+v -0.03252765 0.00821762 -0.01589682
+v -0.06708262 0.01305499 -0.01774096
+v -0.06477655 0.01315431 -0.01782270
+v -0.04173388 0.01287244 -0.01759741
+v -0.06896941 0.00821763 -0.01898902
+v -0.06888628 0.01222415 -0.01689565
+v -0.06861157 0.01391534 -0.01623972
+v -0.06793926 0.01539715 -0.01559774
+v -0.04005312 0.01383749 -0.01619386
+v -0.03252765 0.01127519 -0.01368383
+v -0.03252765 0.00989539 -0.01476839
+v -0.03252765 0.00821756 -0.00025440
+v -0.06640309 0.01552198 -0.01572334
+v -0.06713323 0.01453276 -0.01647298
+v -0.06477655 0.01434485 -0.01679197
+v -0.04173388 0.01416499 -0.01648494
+v -0.06915375 0.00821763 -0.01844674
+v -0.06938869 0.00989540 -0.01676805
+v -0.06892965 0.01453275 -0.01473249
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+v -0.06713323 0.01625884 -0.01473248
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+v -0.06708262 0.01752322 -0.01322725
+v -0.04006396 0.01595550 -0.01403470
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+v -0.05176422 0.00821756 -0.00025440
+v -0.03252765 0.01703997 -0.00025437
+v -0.06477655 0.01759704 -0.01331697
+v -0.06477655 0.01656487 -0.01454508
+v -0.06477655 0.01553540 -0.01573730
+v -0.06935978 0.00821762 -0.01676806
+v -0.06945015 0.01879290 -0.00025436
+v -0.06940315 0.01212079 -0.01454510
+v -0.06887905 0.01668970 -0.01241583
+v -0.06939954 0.01434484 -0.01232213
+v -0.06937785 0.01656889 -0.01010116
+v -0.06875615 0.01846410 -0.01010115
+v -0.06848506 0.02014723 -0.00746351
+v -0.06810553 0.01988147 -0.00894482
+v -0.06708262 0.01825605 -0.01211477
+v -0.04173388 0.01622797 -0.01435967
+v -0.04173388 0.01734067 -0.01296409
+v -0.04025915 0.01793929 -0.01161635
+v -0.03252765 0.01336099 -0.01137713
+v -0.06691274 0.01581720 -0.00025437
+v -0.06840554 0.00821761 -0.01443346
+v -0.03252765 0.01703594 -0.00120934
+v -0.03968805 0.02065724 -0.00025435
+v -0.06477655 0.01832182 -0.01220449
+v -0.04173388 0.01808962 -0.01185360
+v -0.06924773 0.00821762 -0.01615999
+v -0.06944653 0.01879290 -0.00120933
+v -0.06885013 0.01700641 -0.00025437
+v -0.06883206 0.02073912 -0.00025435
+v -0.06883206 0.02073509 -0.00120932
+v -0.06942122 0.01879291 -0.00343229
+v -0.06930917 0.01879292 -0.00565524
+v -0.06887182 0.01900098 -0.00807358
+v -0.06869470 0.02040358 -0.00565524
+v -0.06708262 0.02152030 -0.00343228
+v -0.06708262 0.02106798 -0.00565523
+v -0.06723443 0.02030024 -0.00807358
+v -0.06656936 0.01997543 -0.00913621
+v -0.06723443 0.01946137 -0.00996757
+v -0.06477655 0.01943452 -0.01028457
+v -0.04173388 0.01905870 -0.01010115
+v -0.04033144 0.02008012 -0.00724819
+v -0.03252765 0.01516760 -0.00838460
+v -0.03252765 0.01418511 -0.01010117
+v -0.06878868 0.00821761 -0.01488603
+v -0.03252765 0.01677422 -0.00342233
+v -0.03979649 0.02053780 -0.00343228
+v -0.03969166 0.02065322 -0.00120932
+v -0.04056638 0.02099146 -0.00025435
+v -0.06708262 0.02176726 -0.00025435
+v -0.06880314 0.02061967 -0.00343228
+v -0.06708262 0.02175786 -0.00120932
+v -0.06477655 0.02191759 -0.00120932
+v -0.06477655 0.02167197 -0.00343228
+v -0.06477655 0.02120086 -0.00565523
+v -0.06477655 0.02049352 -0.00787819
+v -0.06477655 0.01999288 -0.00917409
+v -0.04173388 0.01976201 -0.00864377
+v -0.04173388 0.02018481 -0.00753130
+v -0.04173388 0.02075793 -0.00565523
+v -0.04173388 0.02120354 -0.00343228
+v -0.04004227 0.02031097 -0.00565524
+v -0.03252765 0.01623868 -0.00564528
+v -0.03252765 0.01623600 -0.00565525
+v -0.03252765 0.01567630 -0.00727412
+v -0.03252765 0.01677287 -0.00343230
+v -0.04173388 0.02142231 -0.00120932
+v -0.04173388 0.02143036 -0.00025435
+v -0.06477655 0.02192833 -0.00025435
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+f 1 25 36
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+
diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_5.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73b8d4f3a192566175ca7f01d01b2efcce25914a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_5.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.05062619 0.00741683 -0.00025440
+v -0.04999067 -0.00007965 0.00643357
+v -0.05490953 -0.00007967 0.00985574
+v -0.05891644 0.00741679 0.00985577
+v -0.03252404 0.00741683 -0.00025440
+v -0.04171333 0.00104088 -0.00025443
+v -0.04864469 -0.00007965 0.00552013
+v -0.03252404 -0.00007967 0.00985574
+v -0.03252404 0.00741679 0.00985577
+v -0.03252404 -0.00007963 -0.00025443
+v -0.04007026 -0.00007963 -0.00025443
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 11
+f 2 11 10
+f 2 10 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 5 9 8
+f 5 8 10
+f 6 11 7
+
diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_6.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5380cb21d18879f66aeca622e0cdf761b6bc71a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_6.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.03252659 -0.00008069 0.00699462
+v -0.03252659 -0.01062456 0.00699458
+v -0.03252659 -0.00008066 -0.00025443
+v -0.05079151 -0.00008069 0.00699462
+v -0.03252659 -0.01062453 -0.00025447
+v -0.05858396 -0.01062456 0.00699458
+v -0.04006891 -0.00008066 -0.00025443
+v -0.05058477 -0.00008069 0.00684916
+v -0.05486768 -0.01062453 -0.00025447
+v -0.05859928 -0.01062250 0.00699458
+v -0.05858652 -0.01062456 0.00698820
+v -0.04864495 -0.00008068 0.00552083
+v -0.04999006 -0.00008068 0.00643406
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 12
+f 1 12 13
+f 1 13 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
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+f 4 8 9
+f 4 9 10
+f 6 10 11
+f 7 9 12
+f 8 13 9
+f 9 11 10
+f 9 13 12
+
diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_7.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41332f7d20999f693e22a94c7f72bd70915aab68
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_7.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.05800432 0.00821625 -0.00950399
+v -0.05347244 -0.00019245 -0.00950402
+v -0.05176644 0.00821622 -0.00025530
+v -0.03252404 0.00821625 -0.00950399
+v -0.05305841 -0.00019245 -0.00919075
+v -0.03252404 -0.00019245 -0.00950402
+v -0.05165420 -0.00019245 -0.00813777
+v -0.05077377 -0.00019245 -0.00747863
+v -0.04883331 -0.00019246 -0.00603452
+v -0.04804516 -0.00019246 -0.00546411
+v -0.04711983 -0.00019246 -0.00479502
+v -0.04658359 -0.00019246 -0.00443014
+v -0.04596753 -0.00019247 -0.00401366
+v -0.04171999 -0.00019248 -0.00128387
+v -0.04006885 -0.00019248 -0.00025533
+v -0.03252404 0.00821622 -0.00025530
+v -0.03252404 -0.00019248 -0.00025533
+f 1 2 3
+f 1 3 16
+f 1 16 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 17
+f 2 17 15
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 11
+f 2 11 10
+f 2 10 9
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+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 17
+f 3 17 16
+f 4 16 17
+f 4 17 6
+
diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_8.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adb80c4700ee2779a40a44e1d25ee8a967a654a1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_8.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.03252404 -0.00019249 -0.00025443
+v -0.03252404 -0.00963061 -0.00025447
+v -0.03252404 -0.00019246 -0.00907936
+v -0.04006941 -0.00019249 -0.00025443
+v -0.03252404 -0.00963058 -0.00907940
+v -0.05344318 -0.00963061 -0.00025447
+v -0.05290792 -0.00019246 -0.00907936
+v -0.04172174 -0.00019249 -0.00128325
+v -0.04171140 -0.00127617 -0.00025443
+v -0.05894060 -0.00963058 -0.00907940
+v -0.04596763 -0.00019248 -0.00401383
+v -0.04712089 -0.00019247 -0.00479388
+v -0.04804661 -0.00019247 -0.00546421
+v -0.04883270 -0.00019247 -0.00603434
+v -0.05077464 -0.00019246 -0.00747867
+v -0.05165381 -0.00019246 -0.00813778
+v -0.05244248 -0.00019246 -0.00872950
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 8
+f 1 8 4
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+f 1 9 6
+f 1 6 2
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+f 2 10 5
+f 3 5 10
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+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 6 7 10
+f 8 11 9
+
diff --git a/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_9.obj b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56be20b1dd218b4c1ff16b752c0d3c9b474d8887
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/mjcf/mesh/flashlight_018_collision_9.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.06477677 0.02194095 0.00101536
+v -0.06477677 0.02192816 -0.00025435
+v -0.06708286 0.02177888 0.00101536
+v -0.06708286 0.02157272 0.00323810
+v -0.06477677 0.02173337 0.00323810
+v -0.04173394 0.02125142 0.00323810
+v -0.04173394 0.02144051 0.00101536
+v -0.04173394 0.02143056 -0.00025435
+v -0.06708286 0.02176608 -0.00025435
+v -0.06883231 0.02073961 -0.00025435
+v -0.06883231 0.02074530 0.00101536
+v -0.06880701 0.02064293 0.00323810
+v -0.06871303 0.02043961 0.00546083
+v -0.06708286 0.02114904 0.00546083
+v -0.06477677 0.02129406 0.00546083
+v -0.04173394 0.02083769 0.00546083
+v -0.03999534 0.02035005 0.00546082
+v -0.03977846 0.02056189 0.00323810
+v -0.03968449 0.02066284 0.00101536
+v -0.04056644 0.02099125 -0.00025435
+v -0.06918292 0.01963068 -0.00025436
+v -0.06944679 0.01879330 -0.00025436
+v -0.06944679 0.01879330 0.00101535
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