diff --git a/.gitattributes b/.gitattributes
index e5d4538430aadaf8d450efe9d81c598c47801d94..155accaed6ab64311cf8da2f3ec90cdfb4dd4ae7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2652,3 +2652,5 @@ dataset/bedroom_supplies/small_electronics/32334b3d67e85787971772b0132e2118/alar
 dataset/bedroom_supplies/small_electronics/32334b3d67e85787971772b0132e2118/mesh/alarm_clock_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/alarm_clock_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/364c359c50445e33a6d279434b9fde98/mesh/alarm_clock_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/flashlight_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/flashlight_009.urdf b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/flashlight_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fcaf211f25888d563606fcc764a6f9bbbed26487
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/flashlight_009.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_009">
+   <link name="flashlight_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>3fc9577e088a584087e37519412a8d13</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>blue flashlight</name>
+         <color>blue,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical blue flashlight with gray lens housing</description>
+         <min_height>0.0548</min_height>
+         <max_height>0.0548</max_height>
+         <real_height>0.0548</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506202953</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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>NO: {"summary":"Head, tail cap, lens, button, and body are inconsistently merged and split; key parts not cleanly functional.","merge_groups":[{"colors":["Pink","Maroon"],"target_part":"main body","reason":"Maroon is a thin body strip, not separate function"},{"colors":["Green","Magenta"],"target_part":"flashlight head end","reason":"Both mark front/back end caps inconsistently"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/flashlight_009.usd b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/flashlight_009.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/flashlight_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4999787
diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009.glb b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3a2927bc166a245e03e645ba6650e8e5a07ac18f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009.glb
@@ -0,0 +1,3 @@
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+size 10962448
diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009.mtl b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8eac70b51742c9566027c7cf17c5771a49a12925
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009.mtl
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+newmtl flashlight_009_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/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009.obj b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f28a27d87841ba26b7e27f385e86c6c2ce45764
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009.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/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009_collision.obj b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..679a40eaeb135a48b71a26fb63fe22db87be5042
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009_collision.obj
@@ -0,0 +1,3593 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab5c6adcabb044ab6a4719b14c8c86410edd87c3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/flashlight_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d95148549110aa595a06477048a998f34345a9bfd6bde2b561690b770cd05264
+size 7474563
diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dd3e7a00aec29c7dba50ab32963fd5567aa11eca
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab5c6adcabb044ab6a4719b14c8c86410edd87c3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d95148549110aa595a06477048a998f34345a9bfd6bde2b561690b770cd05264
+size 7474563
diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/flashlight_009.xml b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/flashlight_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..60ba6e7d1c44d1a2a75241755fdb812e7abe0ca1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/flashlight_009.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="flashlight_009">
+  <asset>
+    <material name="material_0" texture="texture_0_flashlight_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_flashlight_009_geometry_Looks_material_0" type="2d" file="mesh/flashlight_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/flashlight_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/flashlight_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/flashlight_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/flashlight_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/flashlight_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/flashlight_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/flashlight_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/flashlight_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/flashlight_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/flashlight_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="flashlight_009">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009.obj b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5cd22f6e75f5b7614fa2402938c3ad36d33c01d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009.obj
@@ -0,0 +1,118780 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_009_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision.obj b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d37c0ca3db59f8089165707fa5fbf8ad092d3355
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision.obj
@@ -0,0 +1,3593 @@
+# https://github.com/mikedh/trimesh
+
+o flashlight_009_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_0.obj b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf0a9dd3fc052a7e648755e13359bbb1888e4b7c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_1.obj b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..760e315d924c946cf77591c34bad1450097ddf9f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_2.obj b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5d965120a5ab69f91197034285a66a4a1012976
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_2.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_3.obj b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..899aeeaf61b041103336bbb2d38aaf00a45a8ea2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_3.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_4.obj b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..255d7b1288c5d98da9c2608f066b5016c570801a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_4.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_5.obj b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe1f45c50c0966fc12fc7a23156e8068a1b3880d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_5.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.00895577 -0.08544796 0.00816219
+v -0.00895577 -0.08343328 0.00023567
+v -0.00062835 -0.08728740 0.00023566
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+v 0.00854894 -0.01272335 0.00023593
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+
diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_6.obj b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0a15c0c12fe6874b20c1e9f00e62afddf38f0b6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_6.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_7.obj b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e239a2a6926693dd91dd40453d1aa40275e46757
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_7.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_8.obj b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d6bee165f268a24333dc4173e1d3696c77b413c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/3fc9577e088a584087e37519412a8d13/mjcf/mesh/flashlight_009_collision_8.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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