diff --git a/.gitattributes b/.gitattributes
index 55e64b4cf76bb8b46fc8e7fc4c3cc7119f309a19..e10f2fd447afd7f006bd9649d779abdd859069b7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2658,3 +2658,5 @@ dataset/bedroom_supplies/small_electronics/6730b201cb8b5ddda258a0b96ba6ed7e/alar
 dataset/bedroom_supplies/small_electronics/6730b201cb8b5ddda258a0b96ba6ed7e/mesh/alarm_clock_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/flashlight_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/mesh/flashlight_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/alarm_clock_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/alarm_clock_002.urdf b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/alarm_clock_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fd7df4201da3b1bf497688436df055bf1aacd74b
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/alarm_clock_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="alarm_clock_002">
+   <link name="alarm_clock_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/alarm_clock_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>528fd88312de521b9360bee78d4ff997</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>small_electronics</super_category>
+         <category>alarm_clock</category>
+         <name>digital alarm clock</name>
+         <color>black,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular digital alarm clock with large display screen</description>
+         <min_height>0.0619</min_height>
+         <max_height>0.0619</max_height>
+         <real_height>0.0619</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506202205</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>14</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/528fd88312de521b9360bee78d4ff997/alarm_clock_002.usd b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/alarm_clock_002.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/alarm_clock_002.usd
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002.glb b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ea93b5e05a55cd43de3350890f02a3255b01e661
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002.glb
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+size 13822484
diff --git a/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002.mtl b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d54ca8c89b53bff2d881541614d9956576bb5ff3
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002.mtl
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+newmtl alarm_clock_002_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/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002.obj b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd44b2961288d80f97ac2eb243d2f324d4ab2299
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002.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/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002_collision.obj b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a72179b6bb270e7b1e07e5a076e9dd7cbc0359
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002_collision.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002_geometry_Looks_material_0.png b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c09c652760b9f387d9dfee7e387b496f27b0f735
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/alarm_clock_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a103ec7634d93571bf5ef607f113b59dcb3f883ac6dc1c6417a6f8a15d94f7
+size 10664446
diff --git a/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/material.mtl b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7591dfa5cfe4a9b461e817e5daebacc6c43c92f9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl alarm_clock_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/material_0.png b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c09c652760b9f387d9dfee7e387b496f27b0f735
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a103ec7634d93571bf5ef607f113b59dcb3f883ac6dc1c6417a6f8a15d94f7
+size 10664446
diff --git a/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/alarm_clock_002.xml b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/alarm_clock_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..57cc5084f897289ff50d5b6671972beb4ecaa3cd
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/alarm_clock_002.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="alarm_clock_002">
+  <asset>
+    <material name="material_0" texture="texture_0_alarm_clock_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_alarm_clock_002_geometry_Looks_material_0" type="2d" file="mesh/alarm_clock_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/alarm_clock_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/alarm_clock_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/alarm_clock_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/alarm_clock_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/alarm_clock_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="alarm_clock_002">
+      <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/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002.obj b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d13552470b5a5a0874aed14f3fbe830f184181
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl alarm_clock_002_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002_collision.obj b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ae9c59dfe34459a1da7530b46f3352fbc2b416c
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002_collision.obj
@@ -0,0 +1,5541 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002_collision_0.obj b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad4bb442dc434b6c526f2558f6018616a3f98101
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002_collision_0.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002_collision_1.obj b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a385be007c708ed5d143d7a231db93944c7a75d9
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002_collision_1.obj
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diff --git a/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002_collision_2.obj b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c348e9f0310fab3f43a778d2e9ceb47a8f329645
--- /dev/null
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diff --git a/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002_collision_3.obj b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c911347af5469bdcfadfe5b310247b6a4da9de37
--- /dev/null
+++ b/dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/mjcf/mesh/alarm_clock_002_collision_3.obj
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