diff --git a/.gitattributes b/.gitattributes
index bb5c18c348475e1575d33ddd6047b3d6647cf3a0..06cff83570334191324d46e73907a4aa1199969d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2672,3 +2672,5 @@ dataset/bedroom_supplies/small_electronics/ba30d9fb4b7853d0953037b975234638/alar
 dataset/bedroom_supplies/small_electronics/ba30d9fb4b7853d0953037b975234638/mesh/alarm_clock_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/bfb30f25a2c75feaad48c620af815893/flashlight_006.usd filter=lfs diff=lfs merge=lfs -text
 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
diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/alarm_clock_037.urdf b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/alarm_clock_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0599a15d0c2833976865f3b396113963174016a5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/alarm_clock_037.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_037">
+   <link name="alarm_clock_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_037.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_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>cecf1e1702155512937bfb4c11f82100</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>digital alarm clock</name>
+         <color>black,white</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>black rectangular digital alarm clock with angled display and small base</description>
+         <min_height>0.1767</min_height>
+         <max_height>0.1767</max_height>
+         <real_height>0.1767</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611130236</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.051925 -0.065427 -0.086015</min>
+            <max>0.053424 0.064573 0.090722</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/cecf1e1702155512937bfb4c11f82100/alarm_clock_037.usd b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/alarm_clock_037.usd
new file mode 100644
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+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/alarm_clock_037.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4806153
diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037.glb b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4bcd750cd2fe0aec2694f19d02958c7716c499a5
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12320828
diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037.mtl b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f6ff3b5f6a3e32bc1ae35ff66ffc83ddd3db1aff
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037.mtl
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+newmtl alarm_clock_037_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/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037.obj b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2329e6352d5597e0e5118b4bb4e5fc2d83c6978
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037.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/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037_collision.obj b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f68ae4342265310773aba58e148eceeef2241cdb
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037_collision.obj
@@ -0,0 +1,5255 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7acec10b6410966a88ee41112f703776605bd26
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/alarm_clock_037_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d4185be771bb12da5ea9a8725f1d0452191ee8c9b458869a174ad674abe1777
+size 9171016
diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dbdc0e58835cd71e779ef2bdc61b53ae2a396c0f
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl alarm_clock_037_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_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7acec10b6410966a88ee41112f703776605bd26
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d4185be771bb12da5ea9a8725f1d0452191ee8c9b458869a174ad674abe1777
+size 9171016
diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/alarm_clock_037.xml b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/alarm_clock_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ee6fb894444f03dc4ff321f75e05b04f6947c003
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/alarm_clock_037.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="alarm_clock_037">
+  <asset>
+    <material name="material_0" texture="texture_0_alarm_clock_037_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_alarm_clock_037_geometry_Looks_material_0" type="2d" file="mesh/alarm_clock_037_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/alarm_clock_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/alarm_clock_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/alarm_clock_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/alarm_clock_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/alarm_clock_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/alarm_clock_037_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/alarm_clock_037_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/alarm_clock_037_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/alarm_clock_037_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/alarm_clock_037_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="alarm_clock_037">
+      <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/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037.obj b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a0caaa0baaaf6ad43e00510e64626e63b3a5052
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037.obj
@@ -0,0 +1,116184 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_037_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision.obj b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97b6e5660af9705502a5a5999c29085306dc129d
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision.obj
@@ -0,0 +1,5255 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_0.obj b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff69712329df5279e3e94c1b8c1a8b0c34054194
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_1.obj b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58b4749e483ce6ff2c6ff14ffe33fee6b8cf5c1c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_2.obj b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00b7014dc5afde1a4c127464d5e294704445e788
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_2.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_3.obj b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f78f70891dbff89f143a8eb2fd76bdbc5fff1b53
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_3.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_4.obj b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac0ffb520d77096efd8dd6c9b0a33acd55f89fd4
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_4.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_5.obj b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139e83f6c73320477b1eec91a21fccb6d8a087a2
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_5.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_6.obj b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9080684d700a541121705157715ea38976e9ebbc
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_6.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_7.obj b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fff1f0f84894b94f682e2dc716a26d2d297d219
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_7.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_8.obj b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3b4e12adaf95588ddd96739fc4278086ad7bb1b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_collision_8.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7acec10b6410966a88ee41112f703776605bd26
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/mjcf/mesh/alarm_clock_037_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/textures/material_0.png b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/video.mp4 b/dataset/bedroom_supplies/small_electronics/cecf1e1702155512937bfb4c11f82100/video.mp4
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