diff --git a/.gitattributes b/.gitattributes
index ac5b387b603cfb7412e60643b864b1518eabd959..579fee97be6379e9dc5b87564afc2e91d08ce3c8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2668,3 +2668,5 @@ dataset/bedroom_supplies/small_electronics/8f4d6f59c0975583a670702dd9f521ef/alar
 dataset/bedroom_supplies/small_electronics/8f4d6f59c0975583a670702dd9f521ef/mesh/alarm_clock_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/8f7f6872762f5ca7ad1566e70ede941f/flashlight_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/8f7f6872762f5ca7ad1566e70ede941f/mesh/flashlight_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/flashlight_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/flashlight_035.urdf b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/flashlight_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d980304a6c680415c728bab0d791f7d6d6ef832
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/flashlight_035.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_035">
+   <link name="flashlight_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_035.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_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>a6221a8915fc547992a2eb607f134189</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>black flashlight</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>compact black cylindrical flashlight with textured head and side clip</description>
+         <min_height>0.0345</min_height>
+         <max_height>0.0345</max_height>
+         <real_height>0.0345</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130841</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.065948 -0.017112 -0.017117</min>
+            <max>0.064052 0.016926 0.017360</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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":"Button/side detail is fragmented, and lens face is isolated as nonfunctional surface.","merge_groups":[{"colors":["Purple","Magenta"],"target_part":"body/head-tail housing","reason":"Side strip is tiny body fragment near switch area"},{"colors":["Orange","Pink"],"target_part":"front head/lens end","reason":"Lens face should stay with head, not separate part"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/flashlight_035.usd b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/flashlight_035.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0292582f79f2f4c33c15e07d2c016014c2e9c7b9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/flashlight_035.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4de5bbc38d9846ab776e4a054c04cb413bcfbe5789a418abaeaa3cea9280b97e
+size 4987237
diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035.glb b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f7314f827484169073187f6200c74c5f2a0edf31
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25d10085b0e0e091cb4513b412df7cc8362d5ab5b62990e8eaecbe6c5b647152
+size 14454464
diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035.mtl b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0331c78ac3c1773a22847da3833d266d062c8c51
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035.mtl
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+newmtl flashlight_035_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/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035.obj b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1df4b1877870670e2f7767a6970bf32ad5ad294
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035.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/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035_collision.obj b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd77be10bdfae182e3b0f3db099d78681b1be438
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035_collision.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..5b89439968c99922787c11f0877cfb2aa459cead
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/flashlight_035_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15077b93cdfeac6b5a35e12fd4755ad58cba742877f8c03e44001313314b51d4
+size 10960689
diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8c86b02cfcf4c09b118118145e946eb0b92b254
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_035_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_035_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b89439968c99922787c11f0877cfb2aa459cead
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15077b93cdfeac6b5a35e12fd4755ad58cba742877f8c03e44001313314b51d4
+size 10960689
diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/flashlight_035.xml b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/flashlight_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..91d30c7fb601e8e7261191364ea0816e2d971d19
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/flashlight_035.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="flashlight_035">
+  <asset>
+    <material name="material_0" texture="texture_0_flashlight_035_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_flashlight_035_geometry_Looks_material_0" type="2d" file="mesh/flashlight_035_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/flashlight_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/flashlight_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/flashlight_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/flashlight_035_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/flashlight_035_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/flashlight_035_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/flashlight_035_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/flashlight_035_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/flashlight_035_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/flashlight_035_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/flashlight_035_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="flashlight_035">
+      <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/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035.obj b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8216e9b82ec196d322494f41ed51f643b6076ad6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035.obj
@@ -0,0 +1,114574 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_035_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision.obj b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f7aea073a8b1e3867c31e8032bed44d74b6c9e3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision.obj
@@ -0,0 +1,3981 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_0.obj b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7239a08bc71629f69560819c0213e8a38dbd81bb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_1.obj b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e29c2fcf180026b75be9a6679bd263382f8a55a3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_1.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_2.obj b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22714865b7777ae5763d103f5a78bc7658e728c4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_2.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_3.obj b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77eafbd9673930730cb240fde9440684fee21ee0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_3.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_4.obj b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0703a00b655e71266fcf64b3c27798b76b2b066a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_4.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_5.obj b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d947e21c58f9d17f66f2c78e0961ad567d5721
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_5.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_6.obj b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acba82d251de469bc52efe7c1be9272f97152670
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_6.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_7.obj b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38c8a7583409b7aa8df1893cb8d75d52e45a7781
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_7.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_8.obj b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6672b9698c190e48f94719a56d7bf2c280f8816b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_8.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_9.obj b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8026d3e3ca61fb3578cae9632abdbfd916783e0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/a6221a8915fc547992a2eb607f134189/mjcf/mesh/flashlight_035_collision_9.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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