diff --git a/.gitattributes b/.gitattributes
index 29d7e3267871f6aa9aa55f8f9ec9032a1b1f64a5..8b2b7eb405da93f9b625bcb2b214485e6450aca2 100644
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diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/flashlight_010.urdf b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/flashlight_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9cd8075d7c86a41c36d282f64c299c11b74d4ff1
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diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mesh/flashlight_010_collision.obj b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mesh/flashlight_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82a0d1883ee6a17a2f82d60e90b0fdad0e318f87
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mesh/flashlight_010_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mesh/flashlight_010_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mesh/flashlight_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7867fec77fe1298bd285fb2b6a5487f16cb53ccf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mesh/flashlight_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaa96f6838c3e5efe8fd3af3f122807b2f278160fe2cbcb839da409aabd79546
+size 9649623
diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af9fd738f8066806aa6fd5e947ee3bb1d9283e24
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7867fec77fe1298bd285fb2b6a5487f16cb53ccf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaa96f6838c3e5efe8fd3af3f122807b2f278160fe2cbcb839da409aabd79546
+size 9649623
diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/flashlight_010.xml b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/flashlight_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..34ab5adb18cb37918d8c4b1f872a7ff062c96650
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/flashlight_010.xml
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010.obj b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98ad0feb695eb589c6cbfa09f8b56e21692cbf6c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010.obj
@@ -0,0 +1,120484 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_010_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision.obj b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddd71ff969ecfd82d5898c350101e14d89b2338c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision.obj
@@ -0,0 +1,6540 @@
+# https://github.com/mikedh/trimesh
+
+o flashlight_010_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_0.obj b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..709d915a9d355d940be5668c84fb93fbc477b09c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_1.obj b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce36647fbb3174e62067a6a0a4499c716f876f74
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_2.obj b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9394e1ba3628db631c0f1d0b75979c03a439984
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_2.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_3.obj b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a979d3f8722b90c5eb6f8938b7f482b6e40a9c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_3.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_4.obj b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ecff844219cbf825edffb9704423d5778ae307d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_4.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_5.obj b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..193d6a37f54378107f3a18d090e627829b3f193d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_5.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_6.obj b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65b9b91d134fe82566583f44960145dd9b9d6878
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_6.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_7.obj b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1aad2ca096dfa4555025fbe18350e8861b5b243
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_7.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_8.obj b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef4196452a3ccf97438a575d9b7a18020453fdbc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_8.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_9.obj b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57306a8e7d7470a33a13e66c64c9283852b83339
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mjcf/mesh/flashlight_010_collision_9.obj
@@ -0,0 +1,400 @@
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