diff --git a/.gitattributes b/.gitattributes
index df71d412d7dc563dae80de104fa5b72144e9afd2..199436c4291af39c54c1989d247ec2377d1614fc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2646,5 +2646,5 @@ dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/bdb5
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 dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/alarm_clock_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/mesh/alarm_clock_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/19716ae29f3251dcb89ad5c2ee9b173a/alarm_clock_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/19716ae29f3251dcb89ad5c2ee9b173a/mesh/alarm_clock_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/flashlight_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/flashlight_015.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/flashlight_015.urdf b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/flashlight_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..56b883bab36e144f855c8a09ca168ab6f395b569
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/flashlight_015.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_015">
+   <link name="flashlight_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>1bbd477181695a7caa460612372bdfe4</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>tactical flashlight</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>compact gray black cylindrical flashlight with textured grip and side button</description>
+         <min_height>0.0306</min_height>
+         <max_height>0.0306</max_height>
+         <real_height>0.0306</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518165022</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060202 -0.015012 -0.015420</min>
+            <max>0.059798 0.014909 0.015156</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>16</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
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+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/flashlight_015.usd
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diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/flashlight_015.glb b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/flashlight_015.glb
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..5dce9aa1cb17ca76291d871748c6c4e04aeae7bc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/flashlight_015.mtl
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+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/1bbd477181695a7caa460612372bdfe4/mesh/flashlight_015.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/flashlight_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..786521f7af005aedb5dbe6a71c9e892e6df3f09f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/flashlight_015.obj
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+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/flashlight_015_collision.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/flashlight_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85316a5d7cc828bd499098f704553399b7364d38
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/flashlight_015_collision.obj
@@ -0,0 +1,6187 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/flashlight_015_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/flashlight_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac111abbdfc44cc2db968c7ad1a48a533997d004
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/flashlight_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56f2291e62896bd47354afc94060cba47067297baaf709e57f6ed3cffc5db8e1
+size 11763362
diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..791e56562dda94beb008faffd30868f240aae839
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_015_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac111abbdfc44cc2db968c7ad1a48a533997d004
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56f2291e62896bd47354afc94060cba47067297baaf709e57f6ed3cffc5db8e1
+size 11763362
diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/flashlight_015.xml b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/flashlight_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a03e2359abe392ccb33cc47315266f654c472bae
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/flashlight_015.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/flashlight_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_2" file="mesh/flashlight_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/flashlight_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/flashlight_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/flashlight_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/flashlight_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/flashlight_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/flashlight_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/flashlight_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/flashlight_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
+    <body name="flashlight_015">
+      <joint type="free" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e7d3204b70bea443043abb5e1f84acac60722ce
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015.obj
@@ -0,0 +1,114926 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43aef53a2a08c96638fe6bd99be0b64ec5e05918
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision.obj
@@ -0,0 +1,6187 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_0.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c4cade4420654808ce29a6eece225f46a0b18d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_1.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..904608a5ddaff8af204ec81632992c5cb93f77d6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_10.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..689b2a1aac66869ae67197af056a3dd9869f154a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_10.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_2.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..710085e76f899192b6772c2d1e9c832102c22d4f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_2.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_3.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1a27f1d314e9a6d93829ee378c7136f3744e314
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_3.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_4.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8eb1a4b58763008aec605c3a2439092f4349d8d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_4.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_5.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50405fa085ed81ff192ef874e4976a63f0eda292
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_5.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_6.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45506aa7c911bd3bb3f18a3a89ce337813c718c1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_6.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_7.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55070583eedeb610aefa74472655b1e2a6cf3588
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_7.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_8.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49b6c590db8da59c28e69cbd20e5fa4ef8259cc1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_8.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_9.obj b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e4cec887d89121a442c967a3078a93fc17b5b1
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/1bbd477181695a7caa460612372bdfe4/mjcf/mesh/flashlight_015_collision_9.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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