diff --git a/.gitattributes b/.gitattributes
index 762f46a6c12544906ed92f4eeeb4932a201e82bb..faedc180770861daf2c6871fc8aa5a2d535cdb4a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2672,3 +2672,5 @@ dataset/bedroom_supplies/small_electronics/ba30d9fb4b7853d0953037b975234638/alar
 dataset/bedroom_supplies/small_electronics/ba30d9fb4b7853d0953037b975234638/mesh/alarm_clock_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/flashlight_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/be1557885b695988a9c43ca774d144f5/mesh/flashlight_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/flashlight_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/flashlight_039.urdf b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/flashlight_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1dc31ade0b9c67dc5afd124d5a6023906dfb82c9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/flashlight_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_039">
+   <link name="flashlight_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>c2d8a9bf77085bc38b8f483fe6852c8e</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>black flashlight</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>compact cylindrical black flashlight with textured grip and wide base</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
+         <real_height>0.1600</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130953</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.027349 -0.028154 -0.073138</min>
+            <max>0.027349 0.027413 0.086862</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/flashlight_039.usd b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/flashlight_039.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1b3d676d67e08f83fd30437fb7a01a3ac8bbc80b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/flashlight_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be61e1fa5e98368360f9693e944cf55c1a167419442ae21e019881cc617f4f17
+size 4786697
diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039.glb b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6197a0e618af6c539f413aa40433ca7ba2398f00
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:348d441992c83269f05a6a04d3f30795483f8be55e557ebd96108465e8ad67b9
+size 13976596
diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039.mtl b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afb760577bcbfc218c592e6210ef9bfdf2ae61d2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039.mtl
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+newmtl flashlight_039_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/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039.obj b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39f498195e98412d2403fc021a9937262618af12
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039_collision.obj b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed2ec63052c84fe873a96a1568db51e82911fe1c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bf9dd0c666aa4df44a64c6ae97c06355d0d70dd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/flashlight_039_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:869ad31f2f68588e79136f40619fa95b8596a615a7ce76d36763dce61ea9407d
+size 10794657
diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..14503819f5a67fffe0f5c933e6d96922be2a41a5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_039_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_039_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bf9dd0c666aa4df44a64c6ae97c06355d0d70dd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:869ad31f2f68588e79136f40619fa95b8596a615a7ce76d36763dce61ea9407d
+size 10794657
diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/flashlight_039.xml b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/flashlight_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3238cd77bf6bf0029da4c0ce26c982485de02217
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/flashlight_039.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="flashlight_039">
+  <asset>
+    <material name="material_0" texture="texture_0_flashlight_039_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_flashlight_039_geometry_Looks_material_0" type="2d" file="mesh/flashlight_039_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/flashlight_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/flashlight_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/flashlight_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/flashlight_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/flashlight_039_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/flashlight_039_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/flashlight_039_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/flashlight_039_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/flashlight_039_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/flashlight_039_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/flashlight_039_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="flashlight_039">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039.obj b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46ce57191defca5f1d4af4c2e2ffa047829ea067
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039.obj
@@ -0,0 +1,109516 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_039_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision.obj b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0a007aeb54f3afba193b9cb42a93264fe945bc4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision.obj
@@ -0,0 +1,5355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_0.obj b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0186f12315c8482364b13426419d024336c96ec
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_1.obj b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe5c051d39036a68ebab43da2c2f31bf83603ce4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_2.obj b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bc74af5ed5f7db3849e7c3ee938300c18ae87ef
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_2.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_3.obj b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0f12948ee6290f89fe80c0a70d1fede4a891566
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_3.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_4.obj b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29db69d726f69168b201c2b6b5b5a9e85c7de606
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_4.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_5.obj b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f264688419b38627a791faf8fcf412406ca0d8e6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_5.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_6.obj b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aeb59d16fdf202656f66a49fd390effe76b8089
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_6.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_7.obj b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41dd3888dcc446e2fff67df4652f5975ffb3e49d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_7.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_8.obj b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..766b4f9a8b33ce1b44fd72484622eaa194309a66
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_8.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_9.obj b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8960033bb54fcd5bad5f7ef80930229ac1a9da90
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/c2d8a9bf77085bc38b8f483fe6852c8e/mjcf/mesh/flashlight_039_collision_9.obj
@@ -0,0 +1,424 @@
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