diff --git a/.gitattributes b/.gitattributes
index 792d05c0d0509f0c2ccde99a19a5ccd8c475d7b7..7705b199e5c49f4a0712874aaece0eb96ef9d9fb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2684,6 +2684,7 @@ 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/storage/051d18b94cee54f998aebb84d70060ae/051d18b94cee54f998aebb84d70060ae.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/051d18b94cee54f998aebb84d70060ae/mesh/plastic_bin.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/051d18b94cee54f998aebb84d70060ae/mesh/plastic_bin_gs.ply 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
+dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/flashlight_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/flashlight_021.urdf b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/flashlight_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ecd49fe737a7c3bdf1c41539f2785dee0cf0ab15
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/flashlight_021.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_021">
+   <link name="flashlight_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7000" />
+         <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>f28f1b6ecd34512baa8b1eb78c6df8f2</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>handled flashlight</name>
+         <color>green,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>olive green cylindrical flashlight with top handle and side solar panel</description>
+         <min_height>0.0844</min_height>
+         <max_height>0.0844</max_height>
+         <real_height>0.0844</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130432</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.062470 -0.027658 -0.031356</min>
+            <max>0.067530 0.027641 0.053007</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>12</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/flashlight_021.usd b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/flashlight_021.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/flashlight_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28d9394dfdeb048494a8ac2dadd6fd8e0cc7fec8e9b97e49a0755488f15379c5
+size 5016876
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021.glb b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 16284548
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021.mtl b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4478bd4823d8fe0fe023d05fd6c3dee9f26fe7ab
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021.mtl
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+newmtl flashlight_021_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/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec4a2804f50a8c1dcb9de8817beb77718c3e034c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021.obj
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+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021_collision.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10a85aaced6774a55e7b0d88bf22f481876f6980
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e43c08110bc700f4bed5c9a101e37e1c7ce76663
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/flashlight_021_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a73dab64d59b8f86711dd7cc64b412bccf6f9d8e82bc06a774d9400270500088
+size 12785952
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..949aaef8c0fdfdbaf288548464e6bc145f2b21a4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_021_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_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e43c08110bc700f4bed5c9a101e37e1c7ce76663
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a73dab64d59b8f86711dd7cc64b412bccf6f9d8e82bc06a774d9400270500088
+size 12785952
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/flashlight_021.xml b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/flashlight_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a9893499b2ac850e04248e6200989f35993e16b9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/flashlight_021.xml
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="flashlight_021">
+  <asset>
+    <material name="material_0" texture="texture_0_flashlight_021_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_flashlight_021_geometry_Looks_material_0" type="2d" file="mesh/flashlight_021_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/flashlight_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/flashlight_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/flashlight_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/flashlight_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/flashlight_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/flashlight_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/flashlight_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/flashlight_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/flashlight_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/flashlight_021_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/flashlight_021_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/flashlight_021_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/flashlight_021_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/flashlight_021_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/flashlight_021_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/flashlight_021_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/flashlight_021_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/flashlight_021_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/flashlight_021_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/flashlight_021_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/flashlight_021_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/flashlight_021_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/flashlight_021_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/flashlight_021_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/flashlight_021_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="flashlight_021">
+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f3cb5409a9cd68f64d6faad8cdfaa7ba3f46297
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021.obj
@@ -0,0 +1,120012 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_021_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fec0b656413facc4070fb11079c08f3608e50e0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision.obj
@@ -0,0 +1,9146 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_0.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d504ae520a0bd7fba07abd412f230f7a4ce588c3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_1.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0766ae2cd57de7d3d42a439de14a012f02bacd34
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_10.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07fcf141fafaed2e4389c14048c6f1887aeb4c43
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_10.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.05817429 0.02578792 0.00920692
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_11.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642b755520babb35f1ff4c7c526e1c8533d223f8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_11.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_12.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8343d5e8498bbbe3800b81a4df5aa7bac6af80c7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_12.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_13.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0a7a94c50474832a03d8723c9662f7f98997688
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_13.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_14.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22dd53845e470810fd3ee48e48b362164d5e1db3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_14.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_15.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2938269b47be9f6ba52f5c34383ef6bfffe029bc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_15.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_16.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58d08975ec4bae4f1bc66e01ff9854a06700c691
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_16.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_17.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c55813a04be6ee8b4f440d246e1b68d8d4c6c7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_17.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.05588655 0.00919462 0.00539380
+v 0.05475660 -0.00105324 0.00539377
+v 0.05620796 -0.00105324 0.00436314
+v 0.05727765 -0.00105323 0.00358692
+v 0.05838752 -0.00105323 0.00252764
+v 0.05839254 0.00103785 0.00252764
+v 0.05828707 0.00248188 0.00235781
+v 0.05829712 0.00444357 0.00040228
+v 0.05839756 0.00463192 -0.00106693
+v 0.05839756 0.00463577 -0.00157372
+v 0.05742329 0.00568132 -0.00157372
+v 0.05405853 0.00919465 -0.00157371
+v 0.00730355 0.00919462 0.00539380
+v 0.05471140 -0.00137998 0.00539376
+v 0.05432470 -0.00366838 0.00539376
+v 0.05828707 -0.00248060 0.00235779
+v 0.05427951 -0.00389517 0.00539376
+v 0.05859342 -0.00105322 0.00105229
+v 0.05859342 0.00103786 0.00105229
+v 0.05839756 0.00315714 0.00108640
+v 0.05859844 0.00312767 -0.00106694
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+v 0.00730355 0.00919465 -0.00157371
+v 0.00730355 -0.00389517 0.00539376
+v 0.05789034 -0.00387466 0.00180871
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+v 0.00730355 -0.00389514 -0.00157375
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+v 0.05842769 -0.00389515 -0.00023414
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+f 1 2 3
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+f 21 29 22
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+f 25 28 32
+f 25 32 26
+f 26 33 29
+f 26 29 27
+f 29 33 34
+f 29 34 35
+f 29 35 30
+
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_18.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8f08d5d65ed666bcb3f55377f739d8f6f88fd43
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_18.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00730354 -0.00823989 -0.00157446
+v 0.00730354 -0.00823993 0.00780302
+v 0.00730354 -0.00389557 -0.00157444
+v 0.05372365 -0.00823989 -0.00157446
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+v 0.05742242 -0.00569369 -0.00157445
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+v 0.05844485 -0.00428556 -0.00157445
+v 0.05842981 -0.00389558 -0.00023335
+f 1 2 5
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+f 1 3 7
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+f 1 19 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
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+f 13 19 18
+f 13 18 14
+f 14 18 15
+f 15 18 20
+f 15 20 16
+
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_19.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d1b0e3b085bfe7356a55f3c0ec2c9b714fb3108
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00730358 -0.01103810 -0.00157447
+v 0.00730358 -0.01103814 0.00780301
+v 0.00730358 -0.00823989 -0.00157446
+v 0.05526353 -0.01103810 -0.00157447
+v 0.00730358 -0.00823993 0.00780302
+v 0.05888982 -0.01103814 0.00780301
+v 0.05372311 -0.00823989 -0.00157446
+v 0.05691001 -0.00823993 0.00780302
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 6
+f 6 7 8
+
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_2.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1462a2e6141e3a00c07a2ccc0ff1913fd2d2fb0c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_2.obj
@@ -0,0 +1,625 @@
+# https://github.com/mikedh/trimesh
+v -0.02423816 0.00993526 0.04766963
+v -0.02423816 0.00988660 0.04554952
+v -0.02637693 0.00992942 0.04766963
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+v -0.00285045 0.00993137 0.04766963
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+v -0.01354431 0.00990802 0.04554952
+v -0.02423816 0.00961601 0.04343250
+v -0.02637693 0.00986908 0.04554952
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+v -0.02851570 0.00990995 0.04766963
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_20.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..644041be06b491c3de6c205aa57428c4f0d387f7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_20.obj
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_21.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e9bf5d16f9ff5c0e7e00f5cea5e3991babd7eff
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_21.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.05853734 0.00919461 0.00913941
+v 0.05591421 -0.00389518 0.00913937
+v 0.05427914 -0.00389517 0.00539376
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+v 0.00730354 0.00919461 0.00913941
+v 0.00730354 -0.00389518 0.00913937
+v 0.00730354 -0.00389517 0.00539376
+v 0.00730354 0.00919462 0.00539380
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_22.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15344e2c25bb8a55f80e172efec9b1307c883174
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_22.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+v -0.05491933 -0.00127755 0.01653254
+v -0.06060982 -0.00127758 0.02460361
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_23.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2628033101436b70d1e39fedd17b5214548b1be5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_23.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+v -0.06242417 -0.01923633 0.01653095
+v -0.06267679 -0.01714546 0.01653096
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+
diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_3.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2376f3a078aaf4add2820d9e544cda47b68057b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_3.obj
@@ -0,0 +1,1069 @@
+# https://github.com/mikedh/trimesh
+v -0.03835697 0.00103659 0.02115195
+v 0.00729853 0.00677380 0.02086481
+v 0.00729853 0.00730850 0.02086003
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_4.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eaff1b0af14b7cc3cc7450627c26fd5080fdb3e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_4.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_5.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9230f9d095dac103078187df8dad95c761301e95
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_5.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_6.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c51a3c920849d981b301e5c019d28fa6d7e5894a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_6.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_7.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71ed04596e822ab6a04b9dac1b249f734cb840dc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_7.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_8.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f6f4828e99c56034c469acdc4d032c48388a159
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_8.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_9.obj b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d80f82ad542c1b97760907b302c9dae3c8f0ba4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/f28f1b6ecd34512baa8b1eb78c6df8f2/mjcf/mesh/flashlight_021_collision_9.obj
@@ -0,0 +1,526 @@
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