diff --git a/.gitattributes b/.gitattributes
index 98d1ec598d6205bd9546273c259ac57f4163f902..ab2b8c5507221f8909984c0b517ee566fee57e1c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2648,5 +2648,5 @@ dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/flas
 dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/mesh/flashlight_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/flashlight_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/mesh/flashlight_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/3024cb48f0e45284b98882c871329faf/flashlight_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/3024cb48f0e45284b98882c871329faf/mesh/flashlight_024.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/flashlight_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/flashlight_005.urdf b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/flashlight_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d1db3d9d8d619c97c645afee1bdfaefc8b0057b0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/flashlight_005.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="flashlight_005">
+   <link name="flashlight_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/flashlight_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</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>2934d513bc275e54a308f60e82e281d4</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>flashlight</category>
+         <name>compact flashlight</name>
+         <color>green,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical flashlight with textured grip and visible lens</description>
+         <min_height>0.0629</min_height>
+         <max_height>0.0629</max_height>
+         <real_height>0.0629</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506202830</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>8</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
diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/flashlight_005.usd b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/flashlight_005.usd
new file mode 100644
index 0000000000000000000000000000000000000000..844cbfcb13d12242f05da956f729abb34a3245c6
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/flashlight_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5004688
diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005.glb b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3c8671dabdffacc9c4efde7cb45726ff58de8c99
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:814f0c26aee0e9c6d881a6b662444ab54aec36d3eab2c5f04d4b4a31cadb237f
+size 12025752
diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005.mtl b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cd38cd3080162d0e730eb74159ffd5830b154043
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005.mtl
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+newmtl flashlight_005_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/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005.obj b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..773940a6efe082e4b4cf3607d50e446a68d05b2f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005.obj
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+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005_collision.obj b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c93a6ccd72232d2b3fcd24f7f46158419be68a05
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005_collision.obj
@@ -0,0 +1,5369 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed56036969dc67affbb8b0b8c7de00b7f1995573
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/flashlight_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:459504ea9ebab993b578e5673d014b661adf4248694c714c9325edba4e5fa677
+size 8532734
diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..26d905a8014d09f99bce989232bac69c3e6c2fc0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl flashlight_005_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_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed56036969dc67affbb8b0b8c7de00b7f1995573
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:459504ea9ebab993b578e5673d014b661adf4248694c714c9325edba4e5fa677
+size 8532734
diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/flashlight_005.xml b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/flashlight_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..be8b70aaa16701a0763abf4adaa86cfac4610205
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/flashlight_005.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="flashlight_005">
+  <asset>
+    <material name="material_0" texture="texture_0_flashlight_005_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_flashlight_005_geometry_Looks_material_0" type="2d" file="mesh/flashlight_005_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/flashlight_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/flashlight_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/flashlight_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/flashlight_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/flashlight_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/flashlight_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/flashlight_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/flashlight_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/flashlight_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/flashlight_005_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="flashlight_005">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005.obj b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c4aac0ed4c92fa2d2eb60cd912c9a515087acb5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005.obj
@@ -0,0 +1,117412 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl flashlight_005_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision.obj b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d74b38949bb4cdecbc4cee6b0a93d9095873f735
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision.obj
@@ -0,0 +1,5369 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_0.obj b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ca3d8956b0ee2794dfbbdb4c7e48f0ea30a349
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_1.obj b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b71a16e6ed996f57555d9fd79b9e901d10bca92
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_2.obj b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ac628334e7fce623f23e275392127430fd0519
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_2.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_3.obj b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc614caca684b1c16f0934a3ce897cb752bed083
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_3.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_4.obj b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c51aca00a53ac755108d25560c5729c963d6e3f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_4.obj
@@ -0,0 +1,634 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_5.obj b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05798b5418262ae388fb1823a00db94da1c2f310
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_5.obj
@@ -0,0 +1,37 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_6.obj b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95b802177d2280d4976e579fabca1d022dd3b6a8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_6.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_7.obj b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b1db84cbae62b8a7bbd68374dffe51aee78ff7d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_7.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_8.obj b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb0462c6eb32d6beb98d3ca702079a27221d34ea
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/2934d513bc275e54a308f60e82e281d4/mjcf/mesh/flashlight_005_collision_8.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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