diff --git a/.gitattributes b/.gitattributes
index 8b2b7eb405da93f9b625bcb2b214485e6450aca2..fc96d4428791f1f409feb45e022f9e30b761db4c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2668,7 +2668,5 @@ dataset/bedroom_supplies/small_electronics/8f4d6f59c0975583a670702dd9f521ef/alar
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 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
-dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/flashlight_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/small_electronics/af78dd4c5bd3533097f2d0bdf4ac8190/mesh/flashlight_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/alarm_clock_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/alarm_clock_025.urdf b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/alarm_clock_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d3f00ce9cb51cd19e180285225ea5a40ccca2fcf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/alarm_clock_025.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_025">
+   <link name="alarm_clock_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>ae348fb3ef715cdc9e69ca89d584d39e</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>digital alarm clock</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>square gray digital alarm clock with black display face</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611125555</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.039314 -0.047525 -0.076551</min>
+            <max>0.040884 0.047504 0.053449</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/ae348fb3ef715cdc9e69ca89d584d39e/alarm_clock_025.usd b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/alarm_clock_025.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/alarm_clock_025.usd
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025.glb b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025.glb
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025.glb
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+version https://git-lfs.github.com/spec/v1
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+size 13432904
diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025.mtl b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..24df52078984a07d0232c3961c3a103291c69051
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025.mtl
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+newmtl alarm_clock_025_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/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025.obj b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd02dc7c87f5b003c4f429e148659f4350fa34f7
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025.obj
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+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025_collision.obj b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..625289be3bff59fa79585aa1b0455f68ab440135
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9184eea93d613f14172b28be495f3f4533a12bf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/alarm_clock_025_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1d785bb9439e6a0262b81073c9d1cdde0c54afd1b0d023dc1c31f21ed72c460
+size 10046360
diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0b72d83b69308b97746b01782336d603fa0e271
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl alarm_clock_025_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_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9184eea93d613f14172b28be495f3f4533a12bf
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1d785bb9439e6a0262b81073c9d1cdde0c54afd1b0d023dc1c31f21ed72c460
+size 10046360
diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/alarm_clock_025.xml b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/alarm_clock_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..54acca74fc35ea5a9322552506788d3a95b6fa98
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/alarm_clock_025.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="alarm_clock_025">
+  <asset>
+    <material name="material_0" texture="texture_0_alarm_clock_025_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_alarm_clock_025_geometry_Looks_material_0" type="2d" file="mesh/alarm_clock_025_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/alarm_clock_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/alarm_clock_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/alarm_clock_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/alarm_clock_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/alarm_clock_025_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/alarm_clock_025_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/alarm_clock_025_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/alarm_clock_025_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/alarm_clock_025_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/alarm_clock_025_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="alarm_clock_025">
+      <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/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025.obj b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..731baaf01a29ef95e4372527e5954a35ee87eb30
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025.obj
@@ -0,0 +1,137160 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_025_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision.obj b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f677231493b0ef0068c3a9fc9b6cd95c3e07e3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision.obj
@@ -0,0 +1,10202 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_0.obj b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5edc276eb8e99b5eed95f1b4fc5eda49e54816f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_1.obj b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..858d3c002f62e6b76254ae3247c6db42f76b7292
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_2.obj b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..610883a38ca522fcf97dfb083c75b02236e3e91d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_2.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_3.obj b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a8de69dc1df70319263be5bfa9c14008b29e28e
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_3.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_4.obj b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bec288f1e86df3da81e64391640a2c5df46825af
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_4.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_5.obj b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f335a6993c698a13e06dee19b0cbdb56e0a836f8
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_5.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_6.obj b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a75fb82248d05afa4d87b71a2e8f5b68961f8c6d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_6.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_7.obj b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d1bef2b3b202f0c4c2af91c7c5201cc980674b3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_7.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_8.obj b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..182f2d5b089dad6e7fafc3d096c08beb20e07871
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/ae348fb3ef715cdc9e69ca89d584d39e/mjcf/mesh/alarm_clock_025_collision_8.obj
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