diff --git a/.gitattributes b/.gitattributes
index 7748e67d116706aa9ae29581e40cc929d5553390..c174e80b7bccf0dd29d7306180903e6e2815bb09 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3846,4 +3846,4 @@ dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/2
 dataset/home_appliances/electrical_appliances/1f2b54d0fe835885919dc44870598ba2/1f2b54d0fe835885919dc44870598ba2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/265cbab0a6145493bf7df5a6061df422/265cbab0a6145493bf7df5a6061df422.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/8b0d79295481587a9390c78f9c76eed9/8b0d79295481587a9390c78f9c76eed9.usd filter=lfs diff=lfs merge=lfs -text
-dataset/home_appliances/electrical_appliances/87923dfaba255d3b8da91897c28285d2/87923dfaba255d3b8da91897c28285d2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/accd2a5ee94f53a29de4dd44f32d3eab.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/accd2a5ee94f53a29de4dd44f32d3eab.urdf b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/accd2a5ee94f53a29de4dd44f32d3eab.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fe8f24470438cd1fc78c262668e596ecbdb904de
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/accd2a5ee94f53a29de4dd44f32d3eab.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="television_25">
+   <link name="television_25">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/television_25.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_25_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="11.5000" />
+         <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>0.990654</scale>
+         <version>v0.1.5</version>
+         <category>television</category>
+         <description>modern flat-screen television with slim design and rectangular base stand</description>
+         <min_height>0.6</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.7</real_height>
+         <min_mass>8.0</min_mass>
+         <max_mass>15.0</max_mass>
+         <generate_time>20251024132334</generate_time>
+         <gs_model>mesh/television_25_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: extra white base/platform under the object.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.662397027015686</ImageAestheticChecker>
+         <overall>NO</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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/accd2a5ee94f53a29de4dd44f32d3eab.usd b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/accd2a5ee94f53a29de4dd44f32d3eab.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7e79c87f64db4a99138304606505e37d42ecfbe0
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/accd2a5ee94f53a29de4dd44f32d3eab.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42b0d84d2f79d422bd01174247988eff6de2bc0843475a038ba9323e9bb4cdf6
+size 740329
diff --git a/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/material.mtl b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/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/accd2a5ee94f53a29de4dd44f32d3eab/mesh/material_0.png b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..19fc2db2e72a1986601353563496f2f3ba8c2c4e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:034ed011f0c658985bd5c0d0903c5147d0fdd94d9050969570ce356ef5d74fe0
+size 421943
diff --git a/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/television_25.glb b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/television_25.glb
new file mode 100644
index 0000000000000000000000000000000000000000..65b258d318bf667a030aee92f40c225824e149a3
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/television_25.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:151e9ab5d63fcfccf4fac0bde2a49f308401a514765813d950575aa0f46e32d4
+size 917100
diff --git a/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/television_25.obj b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/television_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a727f7df0c149a0cbb1bb7885698f137191466e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/television_25.obj
@@ -0,0 +1,45170 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/television_25_collision.obj b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/television_25_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17f9fb88454d5601b6c5e21a2b91662fdc740461
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/television_25_collision.obj
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diff --git a/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/television_25_gs.ply b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/television_25_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b020d06ad16b55ee326524eebf8775f2764b3c70
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mesh/television_25_gs.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision.obj b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66081599f503108081d060c99b20476b9135adca
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision.obj
@@ -0,0 +1,1530 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision_0.obj b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d2f3a61b6661445bffd01c687d4510bde65c457
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision_0.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision_1.obj b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..339e0525d28cc2ff24f9f32d0729956526d2db6e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision_1.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision_2.obj b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7afec05e8ab1375a0a2e8d7a096a50273bf015f
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision_2.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision_3.obj b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c671d93826dc518a34a30f07bfc2aa25d16c182
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/mjcf/mesh/television_25_collision_3.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/video.mp4 b/dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/video.mp4
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