diff --git a/.gitattributes b/.gitattributes
index 558def39246e8f73ec894561c45191378334b755..f33d49a6f71acb8d07031b2a4084d9dda345eb17 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2641,3 +2641,4 @@ dataset/bedroom_supplies/lighting_fixtures/1973a76702ee5e7c9d6718d88e85d786/1973
 dataset/bedroom_supplies/lighting_fixtures/0a4489b1a2875c82a580f8b62d346e08/0a4489b1a2875c82a580f8b62d346e08.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/lighting_fixtures/8cd95dbecb515a27babac094c0136b3b/8cd95dbecb515a27babac094c0136b3b.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/lighting_fixtures/7c90c8a94a9a5811be2c1eecd9afa7b3/7c90c8a94a9a5811be2c1eecd9afa7b3.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/d90d4b6a0eee5d1b8d564c136581c2c2.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/d90d4b6a0eee5d1b8d564c136581c2c2.urdf b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/d90d4b6a0eee5d1b8d564c136581c2c2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fee2498be5a0b3450a18bee8ac70fca6692c6ab2
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/d90d4b6a0eee5d1b8d564c136581c2c2.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lamp">
+   <link name="lamp">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/lamp.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/lamp_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="3.2500" />
+         <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>0.550000</scale>
+         <version>v0.1.5</version>
+         <category>lamp</category>
+         <description>modern lamp with cylindrical base and rounded white shade</description>
+         <min_height>0.5</min_height>
+         <max_height>0.6</max_height>
+         <real_height>0.55</real_height>
+         <min_mass>2.5</min_mass>
+         <max_mass>4.0</max_mass>
+         <generate_time>20251014000325</generate_time>
+         <gs_model>mesh/lamp_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.3620007038116455</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/d90d4b6a0eee5d1b8d564c136581c2c2.usd b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/d90d4b6a0eee5d1b8d564c136581c2c2.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8993ca6f01158293bf620a3289cbf4880ac1859c
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/d90d4b6a0eee5d1b8d564c136581c2c2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d29380a03a41ac5cf2f126615222c3c03b990d6e3ed9660820007381f7f82c0
+size 487769
diff --git a/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/lamp.glb b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/lamp.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1b09bfe1f5aa4acf515d49040cab2d92a6805224
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/lamp.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e809c71a225b7cf83a48229436ac5d05df00c45331ec1959079ae68fb80c7d4d
+size 726020
diff --git a/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/lamp.obj b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/lamp.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a76369565605bed9fc5b6d1edb37de7a515128b8
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/lamp.obj
@@ -0,0 +1,29820 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/lamp_collision.obj b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/lamp_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf8e76dd7ce0b5859dd484d3a254095324fec62c
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/lamp_collision.obj
@@ -0,0 +1,11774 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/lamp_gs.ply b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/lamp_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7737d0778f02243b2b4989dc0c30ac31911bb946
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/lamp_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:065c4e62ad852ecb421c031c533ff9bfb14ce19999b0d0512102b449fe734948
+size 13128554
diff --git a/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/material.mtl b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/material_0.png b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c370d4e45257166be2f2c37042146db62a3a8f91
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5be9bcab35519f0b0d51828a957ad4e6f9187a05a249cff2171bbaee3c4dd55
+size 398360
diff --git a/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/d90d4b6a0eee5d1b8d564c136581c2c2.xml b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/d90d4b6a0eee5d1b8d564c136581c2c2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..54649bc91d3c861daf9574fef54199b8929ff0a1
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/d90d4b6a0eee5d1b8d564c136581c2c2.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lamp">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lamp.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lamp_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lamp_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lamp_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lamp">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp.obj b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp.obj
new file mode 100644
index 0000000000000000000000000000000000000000..843a7a8bc7e1d522e3c0f913b45dbce60cea8a03
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp.obj
@@ -0,0 +1,29820 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp_collision.obj b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3735733f8189f9172ccee850cb51f6fbaf9fe4a6
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp_collision.obj
@@ -0,0 +1,11774 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp_collision_0.obj b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c48b9985055a06bac0994a267033d2eb5f0c2eb4
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp_collision_0.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp_collision_1.obj b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2788a9d6c4e68bd46fd6bce8382d77055da25c9c
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp_collision_1.obj
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp_collision_2.obj b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e4d2303e4a1f2bf9a6bcbfd96f6c709c6b78f6
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/mjcf/mesh/lamp_collision_2.obj
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