diff --git a/.gitattributes b/.gitattributes
index 3647a8f76f2c7856b3ff775eb48d9ddb0fd70238..64a16bd52ee356e84e236e41a3d7e8e43bd3ef4f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2680,5 +2680,5 @@ dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/flas
 dataset/bedroom_supplies/small_electronics/e447b8904e9e5d3cb379211a97e9fc4a/mesh/flashlight_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/alarm_clock_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/d591678549495e6982d626b5e6e34bc8/mesh/alarm_clock_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/dc9c8b200e3c5bdbb13fa0a46a49ac3b/alarm_clock_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/dc9c8b200e3c5bdbb13fa0a46a49ac3b/mesh/alarm_clock_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/flashlight_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/flashlight_008.urdf b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/flashlight_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fb0bd682af969746563d0d5b7a52b0a37a927345
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/flashlight_008.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_008">
+   <link name="flashlight_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_008.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_008_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>e6b3a87874be50489fa723da3b38d0c8</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>handheld flashlight</name>
+         <color>white,red</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>compact cylindrical flashlight with textured grip and red button</description>
+         <min_height>0.0691</min_height>
+         <max_height>0.0691</max_height>
+         <real_height>0.0691</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506202932</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>14</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/e6b3a87874be50489fa723da3b38d0c8/flashlight_008.usd b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/flashlight_008.usd
new file mode 100644
index 0000000000000000000000000000000000000000..de61061d0a20b453b0602383dbb7d90ce191aded
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/flashlight_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:461938d950c022ef772d4d4e601ce5ddfa869f47c15bfdbbecb7e1544a2304bd
+size 5023048
diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008.glb b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b869515ff70d1fc5790c570360f5bdafe347f066
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 18128920
diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008.mtl b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8913f1df745efca9a4480d3b984333a02c02f752
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008.mtl
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+newmtl flashlight_008_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/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008.obj b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0509b2e1cb8762bd70d7fdf67c0ec69fb52fe412
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008.obj
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+mtllib material.mtl
+usemtl flashlight_008_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008_collision.obj b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3c906d55802ec250dfd7e12bd808e76afeacc29
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/flashlight_008_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0a61d961e93f3a3f4448c376d47983298ef35e7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_008_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_008_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..48f01c3b51d8d5f5348b282a58296e72e658fee4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1c74f5542f5569132f7a543d6f63a884f3d8d97d8612c4051cba388a00da146
+size 14610901
diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/flashlight_008.xml b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/flashlight_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f9af9481fc9da7336a95036b23277c2b5ec3c344
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/flashlight_008.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="flashlight_008">
+  <asset>
+    <material name="material_0" texture="texture_0_flashlight_008_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_flashlight_008_geometry_Looks_material_0" type="2d" file="mesh/flashlight_008_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/flashlight_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/flashlight_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/flashlight_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/flashlight_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/flashlight_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/flashlight_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/flashlight_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/flashlight_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/flashlight_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/flashlight_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/flashlight_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="flashlight_008">
+      <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/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008.obj b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ba7ce74cd2123260dd82427ef98dff9e87d8159
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008.obj
@@ -0,0 +1,119234 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_008_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision.obj b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf0e9928e980e69789d0ddf32043b4c83e8d7417
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision.obj
@@ -0,0 +1,6660 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_0.obj b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60369ccdc32c22dfe28538c7af02778d4ddb7d89
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_1.obj b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a21d431c82e33a0babca2b4e8b9d79dd8c29ae2a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_2.obj b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0544439e9d37fc6e2f5d009dcf4c833b7d3e75c0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_2.obj
@@ -0,0 +1,586 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_3.obj b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c9404410ac854751e11c25153183a8803284e9d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_3.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_4.obj b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d73f0414c808a9005e597a1ca39d217e164cc146
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_4.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_5.obj b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..975a8983f06be506044c9109701bc864a210eb6d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_5.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_6.obj b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e828ac7b76922745f481708450cf3f8ef3671383
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_6.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_7.obj b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7df518fed6d436a9868494756a5c5bab0fa4745c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_7.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_8.obj b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fec935d386a06ce6b0682f9f7bfdecefd7ecf366
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_8.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_9.obj b/dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/mjcf/mesh/flashlight_008_collision_9.obj
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