diff --git a/.gitattributes b/.gitattributes
index 81efd4e8ab95ead8b56c002aa7ead3fdcd42ed19..5cb28c36135b39c11cf4e24da2efc3af627123c5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2684,3 +2684,5 @@ dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/flas
 dataset/bedroom_supplies/small_electronics/d41fe878faf05cd4bc88d2d152d7279b/mesh/flashlight_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/f01413b2aca957a4b34ed047aaa341f2/flashlight_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/f01413b2aca957a4b34ed047aaa341f2/mesh/flashlight_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/flashlight_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/flashlight_011.urdf b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/flashlight_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7e97fb00263d3b54ae5134dae71f8b1ea33203cf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/flashlight_011.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_011">
+   <link name="flashlight_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>f59641d46dbd5425a81a28c0e28d7579</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>headlamp flashlight</name>
+         <color>black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>black adjustable headlamp with elastic strap and cylindrical lamp housing</description>
+         <min_height>0.1460</min_height>
+         <max_height>0.1460</max_height>
+         <real_height>0.1460</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518164849</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.101770 -0.098837 -0.047592</min>
+            <max>0.157664 0.101162 0.098388</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/flashlight_011.usd b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/flashlight_011.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3dd8d0d898af0bc4634a97ebf77275d447f3da03
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/flashlight_011.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a3245f57a213358e9cfa2a422ac2cc8a7dbab2d6f63b2e3f6510f8926d4a368
+size 5027816
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011.glb b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b4dcd658cddd804bffcb92e91076fd49782af86a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af88497c2e336d0ea834987cf11c6466beeda9948384b4819dbe6492986e4aa4
+size 16596012
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011.mtl b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc1790c4199c2643ba8a2ad143af033feb5d71ef
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011.mtl
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+newmtl flashlight_011_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/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34222e6785a1a13607bd8fc80c170bef21aa6f49
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011.obj
@@ -0,0 +1,116144 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_011_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011_collision.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1443a50d91f0289eab00f313c2d094730488802b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011_collision.obj
@@ -0,0 +1,14265 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..71aedf59ee95f381223971d8c322b90796fa1aea
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/flashlight_011_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e09faf71e11d7866c2ba326fd19764fb30f2045d80ff7a7adc10aec1e24a134
+size 13081677
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..50aef049c447e1c585a9b5ab910569733da451f8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_011_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_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..71aedf59ee95f381223971d8c322b90796fa1aea
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e09faf71e11d7866c2ba326fd19764fb30f2045d80ff7a7adc10aec1e24a134
+size 13081677
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/flashlight_011.xml b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/flashlight_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d628df53e3e6563f134faed09138fb9b2e19a66a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/flashlight_011.xml
@@ -0,0 +1,100 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="flashlight_011">
+  <asset>
+    <material name="material_0" texture="texture_0_flashlight_011_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_flashlight_011_geometry_Looks_material_0" type="2d" file="mesh/flashlight_011_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/flashlight_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/flashlight_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/flashlight_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/flashlight_011_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/flashlight_011_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/flashlight_011_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/flashlight_011_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/flashlight_011_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/flashlight_011_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/flashlight_011_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/flashlight_011_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/flashlight_011_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/flashlight_011_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/flashlight_011_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/flashlight_011_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/flashlight_011_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/flashlight_011_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/flashlight_011_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/flashlight_011_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/flashlight_011_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/flashlight_011_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/flashlight_011_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/flashlight_011_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/flashlight_011_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/flashlight_011_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/flashlight_011_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/flashlight_011_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/flashlight_011_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/flashlight_011_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/flashlight_011_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/flashlight_011_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/flashlight_011_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/flashlight_011_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/flashlight_011_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/flashlight_011_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/flashlight_011_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/flashlight_011_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/flashlight_011_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/flashlight_011_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/flashlight_011_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/flashlight_011_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/flashlight_011_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/flashlight_011_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/flashlight_011_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="flashlight_011">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" 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/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12648ecff8903d011eebb4d5c58809a7bf38b90a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011.obj
@@ -0,0 +1,116144 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_011_geometry_Looks_material_0
+v 0.106385 -0.071822 -0.005006
+v 0.106385 -0.071822 -0.005006
+v 0.107621 -0.070612 -0.005239
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+v 0.139510 -0.039680 -0.006886
+v 0.151716 0.022776 -0.001918
+v 0.151716 0.022776 -0.001918
+v 0.151111 0.023674 -0.004001
+v 0.151111 0.023674 -0.004001
+v 0.151111 0.023674 -0.004001
+v 0.152094 0.021713 -0.000766
+v 0.152094 0.021713 -0.000766
+v 0.152094 0.021713 -0.000766
+v 0.140202 -0.040060 -0.008854
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46f5afa5c0aecb9361df792c57196190781cd758
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision.obj
@@ -0,0 +1,14265 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_0.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e995e270fd1ea00cd0645849fdb777261aeb7a6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_0.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_1.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39f1e75beea8e6d6b0bc69df365403f7fa1de79c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_10.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49ee8aef2add06d5abb57aba261171c39fa6cfe8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_10.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_11.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a8df84a9df8c36d310d3653658af4c7f2c94db1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_11.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_12.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f76cc93798129e51acccd108110e04c6b59bdd9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_12.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_13.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfa9c111f2e53c1093b9c019799d52bc4aceceab
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_13.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_14.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0e681fd46338491b2319a84434396c33004b24b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_14.obj
@@ -0,0 +1,517 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_15.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..978274c392f3393a9ce50255ed1cc2a4b291f9ac
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_15.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_16.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b70181548e38b99c7c7f03550a49a43ca6301ad4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_16.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_17.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afdd8ff7979126c4e8394b9feacce0fadfc663be
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_17.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_18.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6382993eb421af2bf9bc3e8668810b965d57d3a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_18.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_19.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55b0afbf5b4ec1fd1e018df482ead1d7595c7dc1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_19.obj
@@ -0,0 +1,757 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_2.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7068bedab4b3af58ace7f96f7426f4b8d635466
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_2.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_20.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..003ed9ab04c548e6d7230ec056bf8c1461f724e2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_20.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_21.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a96cb1e816aae113b78dcd531849ad694eb6b6af
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_21.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_22.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb491c9a20ac69307465650b89e3d36ce7a77627
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_22.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_23.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cd9906f75a37b420ba4b2753c865e9a7eaef4e1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_23.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_24.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce312885682b665edbbbd59bba3692c3c9f7cd87
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_24.obj
@@ -0,0 +1,223 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_25.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..683583ec874927f9d8cb957a88cd88914f4adf53
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_25.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.03919492 0.00185209 0.02439579
+v -0.04812479 0.00185209 0.02408750
+v -0.03919492 0.00185214 0.01163928
+v -0.03919492 0.00328789 0.02438024
+v -0.04812479 0.00328789 0.02424035
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+v -0.03919492 0.02193211 -0.00207054
+v -0.03919492 0.00739321 0.02377145
+v -0.04812479 0.00758465 0.02410047
+v -0.04812479 0.02455555 -0.00207053
+v -0.03919492 0.03445371 -0.00207049
+v -0.03919492 0.01183179 0.02256680
+v -0.04812479 0.01183178 0.02344763
+v -0.04812479 0.03806980 -0.00207048
+v -0.04730575 0.03782518 -0.00207048
+v -0.03919492 0.03372338 0.00158236
+v -0.03919492 0.01525290 0.02131034
+v -0.04812479 0.01936531 0.02116786
+v -0.04812479 0.01639445 0.02213158
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+v -0.04730575 0.03700622 0.00158238
+v -0.04425075 0.03579731 0.00158237
+v -0.03919492 0.03358866 0.00197615
+v -0.04497713 0.03542507 0.00390362
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+v -0.04807934 0.01940785 0.02114195
+v -0.04812479 0.01942204 0.02114454
+v -0.04812479 0.03597811 0.00510570
+v -0.04730575 0.03585048 0.00483109
+v -0.03919492 0.03207131 0.00588289
+v -0.04730575 0.03482946 0.00694508
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+v -0.04812479 0.02793050 0.01572228
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+v -0.04812479 0.03182313 0.01184664
+v -0.03919492 0.02739873 0.01278963
+v -0.04812479 0.03064612 0.01315492
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_26.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6be2bdbd0ea368155fde5e751508e7a8602acffe
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_26.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.02581009 0.03694175 0.01420020
+v -0.02587529 0.03694175 0.01420020
+v -0.02159052 0.03693119 0.01420020
+v -0.02373065 0.04050775 0.00633464
+v -0.02922711 0.03618769 0.01420019
+v -0.02587529 0.04050775 0.00594573
+v -0.01827691 0.03615245 0.01420019
+v -0.01972464 0.04050775 0.00519323
+v -0.02159052 0.04050775 0.00611833
+v -0.02929006 0.03616302 0.01420019
+v -0.02693636 0.04050775 0.00523235
+v -0.02810984 0.04050775 0.00428655
+v -0.01811505 0.04050776 0.00341899
+v -0.01887488 0.04050775 0.00466395
+v -0.01662684 0.03324894 0.01420018
+v -0.02866735 0.03991929 0.00489177
+v -0.03919492 0.03359078 0.00197610
+v -0.03919492 0.03207206 0.00588127
+v -0.03919492 0.03174788 0.00645657
+v -0.03919492 0.03000013 0.00937681
+v -0.03919492 0.02966185 0.00986927
+v -0.03143244 0.03410519 0.01420019
+v -0.02909448 0.04050776 0.00160103
+v -0.03919492 0.03372468 0.00158259
+v -0.01737544 0.04050778 -0.00142508
+v -0.01660436 0.03319256 0.01420018
+v -0.03919492 0.02739611 0.01278951
+v -0.03919492 0.02590559 0.01420016
+v -0.02917091 0.04050776 0.00138471
+v -0.03919492 0.03460914 -0.00283574
+v -0.01795319 0.04050779 -0.00565472
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+v -0.01645599 0.03319259 0.00580763
+v -0.01702925 0.03319260 0.00158259
+v -0.02096556 0.00451335 0.01420008
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_27.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31f1d532eb10780f3721a9c55bc41772b9d77302
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_27.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.02096377 0.00450982 0.01420008
+v -0.02121718 0.00450982 0.01305177
+v -0.03919492 0.00450982 0.01420008
+v -0.02256631 -0.00944144 0.01420003
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+v -0.03919492 -0.01873041 -0.00930698
+v -0.03919492 -0.02892156 0.01344975
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+v -0.03919492 -0.03034357 0.01286064
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+f 33 36 35
+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_28.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d6929b79be0bedfcd0e7f0dc341c528516b0f2b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_28.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.05310371 0.00609617 0.02493078
+v -0.05310371 0.00645298 0.02492747
+v -0.05310371 0.00329067 0.02490099
+v -0.05087304 0.00329067 0.02470914
+v -0.05287123 0.00633405 0.02490100
+v -0.05150222 0.00767733 0.02468931
+v -0.05310371 0.00767733 0.02488778
+v -0.05310371 0.00152062 0.02481499
+v -0.05196425 -0.00059225 0.02442134
+v -0.04812527 -0.00091408 0.02383253
+v -0.04812527 0.00329067 0.02423941
+v -0.05310371 0.00867080 0.02475878
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_29.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bef1c4d6d83893ee2e8965ce66d41611d840b34d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_29.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_3.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..657cbf5884857866bdf17d42fecf2aded1998e6b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_3.obj
@@ -0,0 +1,325 @@
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_30.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9081ea0de26ec0efc489f3d4af6a34638096937
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_30.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.03919492 0.00965536 -0.04048850
+v -0.03919492 0.01183301 -0.04075853
+v -0.03852756 0.00965536 -0.04026243
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+v -0.03873321 0.01610676 -0.04101598
+v -0.03217650 0.00965535 -0.03684620
+v -0.03900944 0.00965530 -0.02507153
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+v -0.02902114 0.01772855 -0.00930914
+v -0.03919492 0.02230131 -0.00930913
+v -0.03919492 0.02037749 -0.04138334
+v -0.03873321 0.02037749 -0.04130171
+v -0.03006150 0.00965534 -0.03567815
+v -0.03854570 0.00965530 -0.02494907
+v -0.02582746 0.01748391 -0.00930915
+v -0.03655772 0.00965530 -0.02456286
+v -0.03444676 0.00965530 -0.02418293
+v -0.03919492 0.03577496 -0.00930908
+v -0.03919492 0.02465124 -0.04109445
+v -0.03873321 0.02465124 -0.04104735
+v -0.02764004 0.02465122 -0.03478009
+v -0.02758156 0.02037747 -0.03491512
+v -0.02811989 0.00965533 -0.03400772
+v -0.02469637 0.01776178 -0.00930914
+v -0.03234587 0.00965530 -0.02431167
+v -0.03018449 0.00965530 -0.02461624
+v -0.02993448 0.04050780 -0.00930906
+v -0.03919492 0.03607700 -0.01078484
+v -0.03919492 0.02986128 -0.03935806
+v -0.03865660 0.02887063 -0.03963751
+v -0.02791626 0.02689834 -0.03444725
+v -0.02289993 0.04050787 -0.02632425
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+v -0.02907961 0.00965530 -0.02526306
+v -0.02801505 0.00965531 -0.02589419
+v -0.03024498 0.04050784 -0.01956087
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+v -0.03919492 0.03628545 -0.02333507
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+v -0.02858564 0.04050787 -0.02628029
+v -0.02159746 0.02283893 -0.00930913
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+v -0.03919492 0.03552737 -0.03078294
+v -0.03919492 0.03567234 -0.02989434
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_31.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbcafe4a02084e40f7a90659279e1d73dfd0abc3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_31.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.06026770 0.00378253 -0.00017332
+v -0.06026770 -0.03162757 -0.00017345
+v -0.06026770 0.00378258 -0.01299396
+v -0.07963290 0.00378253 -0.00017332
+v -0.06026770 -0.03162752 -0.01299409
+v -0.08892835 -0.03162757 -0.00017345
+v -0.08026200 0.00378258 -0.01299396
+v -0.08183477 0.00378254 -0.00235444
+v -0.08331882 0.00376866 -0.00017332
+v -0.09671960 -0.03162752 -0.01299409
+v -0.09008978 -0.03146467 -0.00017345
+v -0.09006559 -0.03162757 -0.00064406
+v -0.09990142 -0.02672293 -0.01299407
+v -0.08083869 0.00378257 -0.01110274
+v -0.10137337 -0.02313553 -0.00017341
+v -0.09685268 -0.03162753 -0.01127480
+v -0.09874000 -0.03080260 -0.00687491
+v -0.09893357 -0.03043517 -0.01299408
+v -0.09176740 -0.03118044 -0.00017344
+v -0.09404590 -0.03162756 -0.00267333
+v -0.09951832 -0.02826190 -0.01299407
+v -0.10101849 -0.02900366 -0.01030345
+v -0.10101849 -0.02832430 -0.01030344
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+v -0.10122013 -0.02400898 -0.00264820
+v -0.10146210 -0.02431401 -0.00017342
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+v -0.10140967 -0.02662245 -0.00264821
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+v -0.09874000 -0.02949243 -0.00017344
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+v -0.10131289 -0.02753406 -0.00017343
+v -0.09466694 -0.03061892 -0.00017344
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_32.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a8f1ab7d7b22823a2e62b4f4d6c70ae07a87f90
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_32.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.04812479 0.03702457 -0.01738669
+v -0.04522450 0.03699015 -0.01738669
+v -0.03968443 0.03557862 -0.03099694
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+v -0.04812479 0.03555104 -0.02310557
+v -0.04487049 0.02079834 -0.01738675
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+v -0.04302001 0.00756061 -0.04188376
+v -0.04302001 0.01183320 -0.04205367
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+f 47 54 55
+f 47 55 51
+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_33.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7224736dc58078d2c876e6cfd92397d07b24d04d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_33.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.06026755 -0.00844399 -0.01299400
+v -0.06026755 -0.03162752 -0.01299409
+v -0.06026755 -0.00844397 -0.01896497
+v -0.08280818 -0.00844399 -0.01299400
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+v -0.09671904 -0.03162752 -0.01299409
+v -0.06026755 -0.01628450 -0.02379803
+v -0.06068275 -0.00844397 -0.01935204
+v -0.08611419 -0.00844395 -0.02378531
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+v -0.06026755 -0.03162295 -0.02216840
+v -0.06393055 -0.03162748 -0.02329681
+v -0.09893468 -0.03043612 -0.01299408
+v -0.09858158 -0.03052461 -0.01533234
+v -0.09669964 -0.03162752 -0.01322464
+v -0.06026755 -0.03101703 -0.02379808
+v -0.06561460 -0.00845075 -0.02379800
+v -0.06397712 -0.00844396 -0.02228464
+v -0.08611808 -0.00844395 -0.02379800
+v -0.09770075 -0.02358046 -0.01299406
+v -0.06026755 -0.03102384 -0.02378645
+v -0.06445439 -0.03162748 -0.02345968
+v -0.09951673 -0.02826437 -0.01299407
+v -0.09925675 -0.02662362 -0.01955939
+v -0.09874455 -0.02662360 -0.02378644
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_34.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..431e984ed56c2414a1c1b27b867de4364b86a077
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_34.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v -0.03919492 -0.03089607 -0.03871372
+v -0.03766901 -0.03089607 -0.03802344
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+v -0.03112525 -0.01380763 -0.03516959
+v -0.03144912 -0.01807921 -0.03495147
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_35.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75b05e0554751f9bb8df7f3e554063828deb79f9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_35.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.03919492 -0.00107444 0.02466720
+v -0.04812479 -0.00092041 0.02383300
+v -0.03919492 -0.00526268 0.02408230
+v -0.03919492 0.00184881 0.02439458
+v -0.04812479 0.00184881 0.02408700
+v -0.04812479 -0.00526267 0.02293586
+v -0.03919492 -0.00980487 0.02342285
+v -0.03919492 0.00184886 0.01164154
+v -0.04812479 0.00184885 0.01335189
+v -0.04812479 -0.00978519 0.02141657
+v -0.03919492 -0.01380630 0.02199677
+v -0.03919492 -0.01490408 0.00086210
+v -0.04812479 -0.01801413 0.00086208
+v -0.04812479 -0.01168269 0.02061965
+v -0.04631801 -0.03162762 0.01307214
+v -0.04368958 -0.03162762 0.01384575
+v -0.03919492 -0.01807648 0.02047282
+v -0.03919492 -0.03162757 0.00086203
+v -0.04812479 -0.03162757 0.00086203
+v -0.04812479 -0.01358017 0.01960368
+v -0.04812479 -0.01796831 0.01724320
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+v -0.04812479 -0.03162760 0.00930891
+v -0.04812479 -0.03067067 0.01004991
+v -0.04808545 -0.03089680 0.01003826
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_36.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29740ede6e5c0759c507e3b01da7fb63ead73910
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_36.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.03444731 -0.00997067 -0.02308710
+v -0.03502935 -0.00997066 -0.02319271
+v -0.03117991 -0.00997066 -0.02400866
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+v -0.03234741 0.00965228 -0.02431009
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+v -0.03919492 0.00965228 -0.02512093
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_37.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b765b6b70bf917aae5678423ae13d5e5530ea1e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_37.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.04812527 -0.03162546 -0.02880986
+v -0.05310371 -0.02507287 -0.03077465
+v -0.05310371 -0.02435591 -0.03151908
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+v -0.04812527 -0.02121779 -0.03537243
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+v -0.05310371 -0.03092256 -0.02396493
+v -0.05310371 -0.03042591 -0.02489242
+v -0.05310371 -0.01534207 -0.03827997
+v -0.04812527 -0.01866644 -0.03674230
+v -0.04812527 -0.02138611 -0.00885961
+v -0.05310371 -0.03162554 -0.00885965
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+v -0.04812527 -0.01341354 -0.03935085
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+v -0.05310371 -0.02197088 -0.00885961
+v -0.05310371 -0.01162519 -0.03986340
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+v -0.04812527 -0.01116859 -0.03993662
+v -0.05310371 -0.01116859 -0.04002815
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_38.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1d35c545648e851a2c3fb66f616d02f5528772c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_38.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_39.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c186379b5b92f8e11d6661e11883b3be1846bae2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_39.obj
@@ -0,0 +1,199 @@
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+f 35 55 36
+f 40 46 47
+f 40 47 56
+f 40 56 42
+f 40 42 41
+f 42 56 43
+f 43 47 52
+f 43 56 47
+f 44 57 58
+f 44 58 59
+f 44 59 60
+f 44 60 45
+f 45 60 46
+f 46 60 47
+f 47 60 48
+f 48 60 49
+f 49 60 61
+f 49 61 58
+f 49 58 62
+f 49 62 63
+f 49 63 64
+f 49 64 50
+f 50 65 51
+f 57 66 58
+f 58 66 67
+f 58 67 63
+f 58 63 62
+f 58 61 59
+f 59 61 60
+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_4.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5eff4a435c04283d1e9f97bebdef6c9a6593107
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_4.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.03196322 -0.03162748 -0.02378393
+v -0.03204473 -0.03162749 -0.02206235
+v -0.03229469 -0.04168003 -0.02220196
+v -0.03219960 -0.04168002 -0.02485414
+v -0.03219960 -0.04168002 -0.02580541
+v -0.03220231 -0.04168001 -0.02613628
+v -0.03276203 -0.03162747 -0.02801294
+v -0.03351736 -0.03162759 0.00591218
+v -0.03234632 -0.04168003 -0.02169014
+v -0.03268051 -0.04168001 -0.02765624
+v -0.03433247 -0.03162745 -0.03212821
+v -0.03372386 -0.03162759 0.00658944
+v -0.03505792 -0.04168010 -0.00264926
+v -0.03262346 -0.04168004 -0.01955496
+v -0.03307177 -0.04168000 -0.02861269
+v -0.03595454 -0.03162744 -0.03569030
+v -0.03986164 -0.03162762 0.01303635
+v -0.04029636 -0.03395872 0.01264344
+v -0.04010617 -0.03809641 0.00894691
+v -0.03594911 -0.04168011 0.00007012
+v -0.03333532 -0.04168000 -0.02918138
+v -0.03731306 -0.03162743 -0.03727230
+v -0.03502803 -0.04168000 -0.03125452
+v -0.04302155 -0.03162762 0.01394109
+v -0.04302155 -0.03447433 0.01291226
+v -0.04302155 -0.03661058 0.01162495
+v -0.04302155 -0.03854216 0.00951044
+v -0.04128808 -0.04168012 0.00365289
+v -0.03861180 -0.04168012 0.00209674
+v -0.03794341 -0.03162743 -0.03769106
+v -0.03633221 -0.04167999 -0.03216443
+v -0.04368994 -0.03162762 0.01384286
+v -0.04589345 -0.03402956 0.01266929
+v -0.04612441 -0.03816431 0.00901929
+v -0.04669770 -0.04168012 0.00370459
+v -0.04488000 -0.04168013 0.00408716
+v -0.04384209 -0.04168013 0.00408716
+v -0.04277158 -0.04083979 0.00546754
+v -0.04086966 -0.03303849 -0.03858546
+v -0.04017409 -0.03162743 -0.03885430
+v -0.03876939 -0.04167999 -0.03265557
+v -0.04631731 -0.03162762 0.01307254
+v -0.05972045 -0.03162757 0.00075258
+v -0.05364244 -0.04168010 -0.00275266
+v -0.05260181 -0.04168010 -0.00164630
+v -0.05158021 -0.04168011 -0.00057612
+v -0.04089411 -0.03303849 -0.03858546
+v -0.04198908 -0.03162743 -0.03887498
+v -0.04075554 -0.04167999 -0.03276931
+v -0.05972045 -0.03346666 -0.00377111
+v -0.05435973 -0.04168010 -0.00376080
+v -0.05972045 -0.03162749 -0.02208819
+v -0.04374971 -0.03222275 -0.03806847
+v -0.04308132 -0.04167999 -0.03253149
+v -0.04730360 -0.04168000 -0.03128554
+v -0.04325793 -0.03162743 -0.03848206
+v -0.05972045 -0.03404621 -0.00687825
+v -0.05466132 -0.04168009 -0.00548239
+v -0.04408391 -0.03162743 -0.03821840
+v -0.04979512 -0.04168000 -0.03033944
+v -0.05120526 -0.04168001 -0.02801297
+v -0.05256377 -0.04168002 -0.02367023
+v -0.05972045 -0.03261839 -0.01958077
+v -0.05972045 -0.03421840 -0.01113311
+v -0.05477273 -0.04168008 -0.00687827
+v -0.05972045 -0.03378543 -0.01494851
+v -0.05972045 -0.03328358 -0.01741457
+v -0.05424834 -0.04168007 -0.01096769
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 16
+f 1 16 22
+f 1 22 30
+f 1 30 40
+f 1 40 48
+f 1 48 56
+f 1 56 59
+f 1 59 52
+f 1 52 43
+f 1 43 42
+f 1 42 32
+f 1 32 24
+f 1 24 17
+f 1 17 12
+f 1 12 8
+f 1 8 2
+f 2 8 3
+f 3 9 14
+f 3 14 13
+f 3 13 20
+f 3 20 29
+f 3 29 28
+f 3 28 37
+f 3 37 36
+f 3 36 35
+f 3 35 46
+f 3 46 45
+f 3 45 44
+f 3 44 51
+f 3 51 58
+f 3 58 65
+f 3 65 68
+f 3 68 62
+f 3 62 61
+f 3 61 60
+f 3 60 55
+f 3 55 54
+f 3 54 49
+f 3 49 41
+f 3 41 31
+f 3 31 23
+f 3 23 21
+f 3 21 15
+f 3 15 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 3 8 9
+f 6 10 7
+f 7 10 11
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 11
+f 11 15 16
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 15 21 16
+f 16 21 23
+f 16 23 22
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 22 23 31
+f 22 31 30
+f 24 32 33
+f 24 33 25
+f 25 33 26
+f 26 33 34
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 28 38 37
+f 30 39 40
+f 30 31 39
+f 31 41 39
+f 32 42 33
+f 33 42 43
+f 33 43 34
+f 34 43 44
+f 34 44 45
+f 34 45 46
+f 34 46 35
+f 39 47 48
+f 39 48 40
+f 39 41 49
+f 39 49 47
+f 43 50 51
+f 43 51 44
+f 43 52 63
+f 43 63 67
+f 43 67 66
+f 43 66 64
+f 43 64 57
+f 43 57 50
+f 47 53 48
+f 47 49 54
+f 47 54 55
+f 47 55 53
+f 48 53 56
+f 50 57 58
+f 50 58 51
+f 52 59 60
+f 52 60 61
+f 52 61 62
+f 52 62 63
+f 53 59 56
+f 53 55 60
+f 53 60 59
+f 57 64 65
+f 57 65 58
+f 62 66 67
+f 62 67 63
+f 62 68 66
+f 64 66 65
+f 65 66 68
+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_40.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d2ee9c0b532913ca5df582ec8ea5cca9ac59922
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_40.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.05310371 0.03677758 -0.02042599
+v -0.05053578 0.03655700 -0.02042600
+v -0.04812527 0.03586709 -0.02240323
+v -0.04812527 0.03555264 -0.02310567
+v -0.05310371 0.03638335 -0.02130621
+v -0.05310371 0.02080176 -0.02042605
+v -0.04812527 0.03625194 -0.02042600
+v -0.05310371 0.03581077 -0.02254198
+v -0.04812527 0.03360497 -0.02698645
+v -0.05276158 0.02069851 -0.02042605
+v -0.05310371 -0.01116864 -0.02650097
+v -0.04812527 -0.01116865 -0.02559040
+v -0.04812527 0.01952989 -0.02042606
+v -0.05310371 0.03457176 -0.02465581
+v -0.04812527 0.03310748 -0.02771273
+v -0.04823493 0.01955335 -0.02042606
+v -0.05310371 -0.01116859 -0.04002727
+v -0.04812527 -0.01116859 -0.03993622
+v -0.05310371 0.03318727 -0.02666991
+v -0.05310371 0.03236595 -0.02780813
+v -0.04812527 0.02902437 -0.03232413
+v -0.05310371 0.03080310 -0.02984391
+v -0.05310371 -0.00953064 -0.04061481
+v -0.05310371 -0.00810859 -0.04099853
+v -0.05310371 -0.00537242 -0.04172265
+v -0.04812527 -0.00871402 -0.04051724
+v -0.04812527 0.02901499 -0.03233280
+v -0.05310371 0.02639616 -0.03404989
+v -0.05310371 0.02864422 -0.03193172
+v -0.05310371 0.02992547 -0.03071979
+v -0.05310371 -0.00098423 -0.04238604
+v -0.04812527 -0.00444316 -0.04122833
+v -0.04812527 -0.00525979 -0.04110476
+v -0.04812527 0.02471598 -0.03623961
+v -0.05310371 0.02544813 -0.03474800
+v -0.05310371 0.00183172 -0.04251178
+v -0.04812527 -0.00098424 -0.04156219
+v -0.04812527 0.02461273 -0.03631548
+v -0.05310371 0.02434052 -0.03551548
+v -0.05310371 0.00328663 -0.04257248
+v -0.04812527 0.00328662 -0.04174213
+v -0.04812527 -0.00016761 -0.04159688
+v -0.04812527 0.02037473 -0.03841415
+v -0.05310371 0.01879311 -0.03887594
+v -0.05310371 0.01904185 -0.03873935
+v -0.05310371 0.02071734 -0.03780059
+v -0.05310371 0.00756218 -0.04223642
+v -0.04812527 0.00756217 -0.04161419
+v -0.04812527 0.01637140 -0.04011172
+v -0.05310371 0.01626815 -0.03991661
+v -0.05310371 0.01174855 -0.04139304
+v -0.04812527 0.01183303 -0.04116757
+v -0.05310371 0.01333487 -0.04087921
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 14
+f 1 14 19
+f 1 19 20
+f 1 20 22
+f 1 22 30
+f 1 30 29
+f 1 29 28
+f 1 28 35
+f 1 35 39
+f 1 39 46
+f 1 46 45
+f 1 45 44
+f 1 44 50
+f 1 50 53
+f 1 53 51
+f 1 51 47
+f 1 47 40
+f 1 40 36
+f 1 36 31
+f 1 31 25
+f 1 25 24
+f 1 24 23
+f 1 23 17
+f 1 17 11
+f 1 11 6
+f 1 6 10
+f 1 10 16
+f 1 16 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 13
+f 3 13 12
+f 3 12 18
+f 3 18 26
+f 3 26 33
+f 3 33 32
+f 3 32 37
+f 3 37 42
+f 3 42 41
+f 3 41 48
+f 3 48 52
+f 3 52 49
+f 3 49 43
+f 3 43 38
+f 3 38 34
+f 3 34 27
+f 3 27 21
+f 3 21 15
+f 3 15 9
+f 3 9 4
+f 4 8 5
+f 4 9 8
+f 6 11 12
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+f 8 9 14
+f 9 15 14
+f 10 12 16
+f 11 17 18
+f 11 18 12
+f 12 13 16
+f 14 15 19
+f 15 20 19
+f 15 21 22
+f 15 22 20
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 25 31 32
+f 25 32 33
+f 25 33 26
+f 27 34 28
+f 28 34 35
+f 31 36 37
+f 31 37 32
+f 34 38 35
+f 35 38 39
+f 36 40 41
+f 36 41 42
+f 36 42 37
+f 38 43 44
+f 38 44 45
+f 38 45 46
+f 38 46 39
+f 40 47 48
+f 40 48 41
+f 43 49 44
+f 44 49 50
+f 47 51 52
+f 47 52 48
+f 49 52 51
+f 49 51 53
+f 49 53 50
+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_41.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4991440a28695c1f84b18e39a4cd1c972f49867
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_41.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.04812479 0.03806966 -0.00207048
+v -0.04789053 0.03800051 -0.00207048
+v -0.04730575 0.03795566 -0.00264759
+v -0.04812479 0.03818739 -0.00261311
+v -0.04812479 0.02455667 -0.00207053
+v -0.04730575 0.03782672 -0.00207048
+v -0.04730575 0.03831635 -0.00687627
+v -0.04812479 0.03848079 -0.00605032
+v -0.03919492 0.03445548 -0.00207049
+v -0.03919492 0.03462554 -0.00291742
+v -0.03919492 0.03469281 -0.00326369
+v -0.03928933 0.03618972 -0.01110197
+v -0.04812479 0.02182273 -0.01738433
+v -0.04487049 0.02079865 -0.01738433
+v -0.03919492 0.02193481 -0.00207054
+v -0.04302001 0.03729228 -0.01110196
+v -0.04812479 0.03854434 -0.00687627
+v -0.03919492 0.03607946 -0.01078268
+v -0.03919492 0.03613739 -0.01110197
+v -0.03919492 0.03617850 -0.01154867
+v -0.03919492 0.03629811 -0.01462911
+v -0.04812479 0.03702320 -0.01738427
+v -0.04116167 0.01989044 -0.01738434
+v -0.03919492 0.01945315 -0.01738434
+v -0.03919492 0.03632616 -0.01738428
+v -0.04812479 0.03835934 -0.01009912
+v -0.04093877 0.03667188 -0.01738428
+v -0.04812479 0.03751655 -0.01533063
+v -0.04522450 0.03698957 -0.01738427
+v -0.04812479 0.03827899 -0.01113643
+v -0.04116341 0.03668870 -0.01738428
+v -0.04812479 0.03767539 -0.01457514
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 17
+f 1 17 26
+f 1 26 30
+f 1 30 32
+f 1 32 28
+f 1 28 22
+f 1 22 13
+f 1 13 5
+f 1 5 15
+f 1 15 9
+f 1 9 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 7
+f 5 13 14
+f 5 14 15
+f 7 16 17
+f 7 17 8
+f 7 12 16
+f 9 15 24
+f 9 24 25
+f 9 25 21
+f 9 21 20
+f 9 20 19
+f 9 19 18
+f 9 18 11
+f 9 11 10
+f 11 18 12
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+f 12 19 20
+f 12 20 21
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+f 13 22 29
+f 13 29 31
+f 13 31 27
+f 13 27 25
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+f 13 23 14
+f 14 23 15
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+f 16 21 25
+f 16 25 17
+f 17 25 27
+f 17 27 26
+f 22 28 29
+f 26 27 30
+f 27 31 30
+f 28 32 29
+f 29 32 30
+f 29 30 31
+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_42.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a59b32306de2c4d21b9b4e47f41bb4a405e218e4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_42.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04812479 -0.03162587 -0.01635260
+v -0.04812479 -0.02020279 -0.01635255
+v -0.03919492 -0.03162587 -0.01635260
+v -0.04812479 -0.03162593 0.00086203
+v -0.03919492 -0.01785565 -0.01635255
+v -0.04812479 -0.01801776 0.00086208
+v -0.03919492 -0.01490788 0.00086210
+v -0.03919492 -0.03162593 0.00086203
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 8 7
+f 4 7 6
+
diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_5.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd28c0b95f1636ece41ae9ea172bbdeec653281d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_5.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.01825980 -0.06409154 -0.02801470
+v -0.01881067 -0.06409153 -0.02922370
+v -0.03154230 -0.04495090 -0.03080658
+v -0.03135747 -0.04360174 -0.02765881
+v -0.03220190 -0.04168220 -0.02613757
+v -0.03219827 -0.04168221 -0.02580718
+v -0.03219827 -0.04168221 -0.02485596
+v -0.03229612 -0.04168222 -0.02220196
+v -0.03234686 -0.04168222 -0.02169005
+v -0.03245196 -0.04194767 -0.01955886
+v -0.01886504 -0.06409155 -0.02378501
+v -0.02143093 -0.06409152 -0.03191400
+v -0.03632980 -0.04168218 -0.03216442
+v -0.03502873 -0.04168219 -0.03125676
+v -0.03333625 -0.04168219 -0.02918367
+v -0.03307169 -0.04168219 -0.02861366
+v -0.03268391 -0.04168220 -0.02765880
+v -0.03262230 -0.04168223 -0.01955886
+v -0.03505772 -0.04168229 -0.00265100
+v -0.02015886 -0.06409158 -0.01532926
+v -0.02182959 -0.06409152 -0.03209190
+v -0.03876523 -0.04168218 -0.03265819
+v -0.03594927 -0.04168230 0.00007197
+v -0.02147442 -0.06409161 -0.00687715
+v -0.02141281 -0.06409161 -0.00725837
+v -0.02686715 -0.06409152 -0.03286159
+v -0.04075488 -0.04168218 -0.03277074
+v -0.03183586 -0.04946798 0.00020991
+v -0.02263777 -0.06409163 -0.00355875
+v -0.03860939 -0.04168231 0.00209787
+v -0.03016150 -0.06080526 -0.03276355
+v -0.03085371 -0.06409152 -0.03140934
+v -0.03437638 -0.06078771 -0.03147104
+v -0.04307796 -0.04168218 -0.03253112
+v -0.03425679 -0.05193159 0.00302727
+v -0.02394246 -0.06409163 -0.00192133
+v -0.04128401 -0.04168231 0.00365541
+v -0.03873986 -0.05651206 -0.03128224
+v -0.04899257 -0.04982326 -0.02993161
+v -0.04989498 -0.04697575 -0.03036728
+v -0.03163653 -0.06409153 -0.03100271
+v -0.03731557 -0.05935299 -0.03076307
+v -0.04730372 -0.04168219 -0.03128944
+v -0.03555423 -0.05313159 0.00410556
+v -0.02657359 -0.06409164 -0.00019315
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_6.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c72869d80a0e22bf0d6fbbac44af29a298193777
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_6.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_7.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..595b5aa0383cf63d08f4d46dc6bcdad288d9c3fc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_7.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_8.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8474dd2a56a45923387cbb42494c4d075417605
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_8.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_9.obj b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_collision_9.obj
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index 0000000000000000000000000000000000000000..8235b38539242f0075b952a631d9f6599ec03ab7
--- /dev/null
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diff --git a/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/mjcf/mesh/flashlight_011_geometry_Looks_material_0.png
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