diff --git a/.gitattributes b/.gitattributes
index f884b9fbac168dd1ea83fdf951824b5067311a19..ddc138b2577c3366ebdcc810256ebd199dc15f13 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2668,3 +2668,5 @@ dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/alar
 dataset/bedroom_supplies/small_electronics/802db1a1feba5ccbb6a16ebac2c3f714/mesh/alarm_clock_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/alarm_clock_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/84c9aaa17ee05b23be966230dec027d5/mesh/alarm_clock_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/alarm_clock_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/alarm_clock_023.urdf b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/alarm_clock_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..16509e68d35b692aaa0f10bedf9c7e76ad1caf6a
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/alarm_clock_023.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_023">
+   <link name="alarm_clock_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_023.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/alarm_clock_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>6b5b2d04bc53529a92a7348915f00a62</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>smart alarm clock</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>rounded gray alarm clock with perforated speaker base</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611125457</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.063375 -0.063353 -0.063666</min>
+            <max>0.064021 0.063242 0.066334</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/6b5b2d04bc53529a92a7348915f00a62/alarm_clock_023.usd b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/alarm_clock_023.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/alarm_clock_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c48a087ca5c6ae6faab17bd9ae180b317bb2b14864d9c2f87636859e50ccc751
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diff --git a/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023.glb b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023.mtl b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..09ba49e029e037b2b01e0950b9e680f637984c82
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023.mtl
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+newmtl alarm_clock_023_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/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023.obj b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2dd46e8bc8b0e05a3b4f0d6f63ed720768d1d25
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023.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/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023_collision.obj b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f906cf4033d03d74e72042c6ac9d3b1ce18c2a71
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023_collision.obj
@@ -0,0 +1,31347 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b92fa3aae64a155202753beb42f55d0b68355629
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/alarm_clock_023_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a99ee15f900c8a738602b9723a1905c6284c06c0837a05a238834b4c643b4770
+size 16004891
diff --git a/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..132911e34b7916ba88bba83fde471ea2be06dcc5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl alarm_clock_023_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 alarm_clock_023_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b92fa3aae64a155202753beb42f55d0b68355629
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a99ee15f900c8a738602b9723a1905c6284c06c0837a05a238834b4c643b4770
+size 16004891
diff --git a/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/alarm_clock_023.xml b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/alarm_clock_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..690dbc11497c25389eb12fa18f99579a586bf2f0
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/alarm_clock_023.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="alarm_clock_023">
+  <asset>
+    <material name="material_0" texture="texture_0_alarm_clock_023_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_alarm_clock_023_geometry_Looks_material_0" type="2d" file="mesh/alarm_clock_023_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/alarm_clock_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/alarm_clock_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/alarm_clock_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/alarm_clock_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/alarm_clock_023_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="alarm_clock_023">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023.obj b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79d1034352d2d7c9112c6535e5225ed3de1b5ac
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023.obj
@@ -0,0 +1,126301 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_023_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision.obj b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e853b5b4cf41097eb9b3b3c3a6d55333d19c2c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision.obj
@@ -0,0 +1,31347 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision_0.obj b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4e403b908809045fdc0736a00f252a480b19d09
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision_1.obj b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..258c7ad2e8255e6a123fa8d3c9d358f9c7d9c06b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision_2.obj b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ce6a4c3f0831df572814efa10bac773b2cc381f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision_2.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision_3.obj b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc859607a87537c0a5010f322eb23402cf5d077d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/mjcf/mesh/alarm_clock_023_collision_3.obj
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