diff --git a/.gitattributes b/.gitattributes
index 06cff83570334191324d46e73907a4aa1199969d..4514e4354c9f11a3ac881afedc5b57468d2f2073 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2674,3 +2674,5 @@ dataset/bedroom_supplies/small_electronics/bfb30f25a2c75feaad48c620af815893/flas
 dataset/bedroom_supplies/small_electronics/bfb30f25a2c75feaad48c620af815893/mesh/flashlight_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/alarm_clock_037.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/flashlight_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/flashlight_002.urdf b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/flashlight_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f2bc8ad28e6af7149f0afb5bed34df4cb5805ffe
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/flashlight_002.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_002">
+   <link name="flashlight_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_002.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_002_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>cf532684f121563ea6616a788ae3834b</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>compact flashlight</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>cylindrical black flashlight with textured grip and labeled body</description>
+         <min_height>0.0568</min_height>
+         <max_height>0.0568</max_height>
+         <real_height>0.0568</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506202731</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>3</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/cf532684f121563ea6616a788ae3834b/flashlight_002.usd b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/flashlight_002.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/flashlight_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4966273
diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002.glb b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ca0d9f19c686bbc746d302d97452a5a8dd56d82e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12932628
diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002.mtl b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d839fb7d08ea64f65270d836916ddaed72b3a299
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002.mtl
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+newmtl flashlight_002_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/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002.obj b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a1294684ac4309d87bd7ed107e34a285da2d32a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002.obj
@@ -0,0 +1,114568 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_002_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002_collision.obj b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b38ca43dc86c67355d581a5aa5bef79e641d586b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002_collision.obj
@@ -0,0 +1,4674 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd7dc9cfbdd77e1cfa154ce6dda06604789b66db
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/flashlight_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d863959badd305bc1f64fe559799b9c2cbcf4971fc2c5ffd05d2b8df9d665cf1
+size 9490111
diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d0ff102c08a56d1a393cd61b06c2b5086f0982c3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd7dc9cfbdd77e1cfa154ce6dda06604789b66db
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d863959badd305bc1f64fe559799b9c2cbcf4971fc2c5ffd05d2b8df9d665cf1
+size 9490111
diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/flashlight_002.xml b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/flashlight_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..997428c7255cacc3a1cfafd5a4a8e5c1a38645f0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/flashlight_002.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="flashlight_002">
+  <asset>
+    <material name="material_0" texture="texture_0_flashlight_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_flashlight_002_geometry_Looks_material_0" type="2d" file="mesh/flashlight_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/flashlight_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/flashlight_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/flashlight_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/flashlight_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/flashlight_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/flashlight_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/flashlight_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/flashlight_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="flashlight_002">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002.obj b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b890175f79fd439e50b744aeab03edaaac507cd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002.obj
@@ -0,0 +1,114568 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_002_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision.obj b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4945b6254df2f7ace924cb46f9693cba2429cd3e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision.obj
@@ -0,0 +1,4674 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_0.obj b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb1efe8efe850e8b6ea5f1ea442b633a0c09c3f9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_1.obj b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb04ed9af8e3b4784d2170a7d8de7dcc55e4eb3e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_2.obj b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bfca040e92eda7177117f0a0f060a1409f49d0b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_2.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_3.obj b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c97409d22b7318733a55a6920a25b6a9b4f23f0f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_3.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_4.obj b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c36402ba1b668aba08d6e42fc800ea74115a2a80
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_4.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_5.obj b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d16acd5d8c7ec1f72c6796b720f26f4de24c1dd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_5.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_6.obj b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6679fcc4dbc13f8fa0ce6c9c1379b484ca504edf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cf532684f121563ea6616a788ae3834b/mjcf/mesh/flashlight_002_collision_6.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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