diff --git a/.gitattributes b/.gitattributes
index a960089fcc9a265b477f2df8f81948d4b8bf391f..b1c8c8af71e7ab7c121678877c642ce21d3c774a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3841,3 +3841,4 @@ dataset/home_appliances/electrical_appliances/1bf67b24f40c5ef38704a84c09b42fed/1
 dataset/home_appliances/electrical_appliances/0471e7fcfb9d53c2b34057079cf91efd/0471e7fcfb9d53c2b34057079cf91efd.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/342d0d6bc8f65907bf18a1338152b989.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/37fbcc432b035633bc93b27fe2888cb1/37fbcc432b035633bc93b27fe2888cb1.usd filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/5a05c47c5f465471a0888acda6258458.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/5a05c47c5f465471a0888acda6258458.urdf b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/5a05c47c5f465471a0888acda6258458.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e81005cf7eebb8a83be7bb9a7399977d90e41446
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/5a05c47c5f465471a0888acda6258458.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="television_27">
+   <link name="television_27">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/television_27.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/television_27_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="9.0000" />
+         <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>0.887831</scale>
+         <version>v0.1.5</version>
+         <category>television</category>
+         <description>flat-screen television with thin bezels and central stand</description>
+         <min_height>0.55</min_height>
+         <max_height>0.65</max_height>
+         <real_height>0.6</real_height>
+         <min_mass>6.0</min_mass>
+         <max_mass>12.0</max_mass>
+         <generate_time>20251024133342</generate_time>
+         <gs_model>mesh/television_27_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.649142503738403</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/5a05c47c5f465471a0888acda6258458.usd b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/5a05c47c5f465471a0888acda6258458.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c777aa9827e3248b9d0370d78ded5344ac1e94b0
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/5a05c47c5f465471a0888acda6258458.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c0008e8f60175569c4d5005f868fa6d3f3f4e7a205664700a6eebc67b9f4833
+size 688395
diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/material.mtl b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/material_0.png b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ee903dfc3dbadecb407001d81c6855b4f8de8c0
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:252cba5128a9bf18e67918f0afa6a5752f6cdc17e82b839b1615e0746bd1055e
+size 433752
diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/television_27.glb b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/television_27.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5f945ca8fcf77543728ce7e7bf91e8389d3a1735
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/television_27.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999ce6c02b2b7023f4e834f4729b77fbbf808fda1c7c477c3d4bd81368c4f52f
+size 887912
diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/television_27.obj b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/television_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ebe81edf2586b1119a8509d9b6447903ae2bec7
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/television_27.obj
@@ -0,0 +1,41346 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/television_27_collision.obj b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/television_27_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bc113495ceec1613cce8087b3292abb56851226
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/television_27_collision.obj
@@ -0,0 +1,1302 @@
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diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/television_27_gs.ply b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/television_27_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..953682866189c136c647fb904f6c05744b81f2c7
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mesh/television_27_gs.ply
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+version https://git-lfs.github.com/spec/v1
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+size 10666346
diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/5a05c47c5f465471a0888acda6258458.xml b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/5a05c47c5f465471a0888acda6258458.xml
new file mode 100644
index 0000000000000000000000000000000000000000..77369ffec94641018c009de4d5d708bcba04cbed
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/5a05c47c5f465471a0888acda6258458.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="television_27">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/television_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/television_27_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/television_27_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/television_27_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/television_27_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="television_27">
+      <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/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/material_0.png b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 433752
diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27.obj b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64da39446f9a0fefda12aff987fc978df7459689
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27.obj
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diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision.obj b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d5bc972bcc079dd1cf1f22e85febe9afa76f328
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision.obj
@@ -0,0 +1,1302 @@
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diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision_0.obj b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616fe4f7e9d152cbd426946c42cd4a6994f9e7c7
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision_0.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision_1.obj b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaacbc42bb0bf6b06314e31ef720836b29a5ab93
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision_1.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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+v 0.05574550 -0.16829541 -0.27911126
+v 0.05556240 -0.17961242 -0.27928214
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+
diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision_2.obj b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f237aa205288402a02b13e9caba2a547e756e0f1
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision_2.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v -0.00699238 -0.01229170 0.29979657
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diff --git a/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision_3.obj b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5638296d92855fda7315d990102d370ada9f2b22
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/mjcf/mesh/television_27_collision_3.obj
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