diff --git a/.gitattributes b/.gitattributes
index 8e9cd801a45c876b752cf85f30681dd35f9be3f8..bc41b036c1a900eac89604bbace0cbf02c683eef 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5485,4 +5485,4 @@ dataset/furniture/table/ca0ffde5d1045e34abcad2ca415bfad4/ca0ffde5d1045e34abcad2c
 dataset/furniture/table/ca0ffde5d1045e34abcad2ca415bfad4/mesh/wooden_oak_table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/ca0ffde5d1045e34abcad2ca415bfad4/mesh/wooden_oak_table_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/0dab90111dd958ae9ef67f9fadfb94fd/0dab90111dd958ae9ef67f9fadfb94fd.usd filter=lfs diff=lfs merge=lfs -text
-dataset/home_appliances/electrical_appliances/788a3a3b60135db5b88be2ebb0cc8ebc/788a3a3b60135db5b88be2ebb0cc8ebc.usd filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/0f1a4f777b7f5ed48015315531b13dfc.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/0f1a4f777b7f5ed48015315531b13dfc.urdf b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/0f1a4f777b7f5ed48015315531b13dfc.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c30c4d963a0093216d6a21c72c50a20c9b355f10
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/0f1a4f777b7f5ed48015315531b13dfc.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="television_30">
+   <link name="television_30">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/television_30.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_30_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>0.792221</scale>
+         <version>v0.1.5</version>
+         <category>television</category>
+         <description>modern flat-screen television with rectangular base stand</description>
+         <min_height>0.5</min_height>
+         <max_height>0.7</max_height>
+         <real_height>0.6</real_height>
+         <min_mass>8.0</min_mass>
+         <max_mass>15.0</max_mass>
+         <generate_time>20251024134507</generate_time>
+         <gs_model>mesh/television_30_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: extra platform-like geometry under the object.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.814771771430969</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>7</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/0f1a4f777b7f5ed48015315531b13dfc/0f1a4f777b7f5ed48015315531b13dfc.usd b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/0f1a4f777b7f5ed48015315531b13dfc.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e59f8747e0ce282c3d68569cd30666de6e48b976
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/0f1a4f777b7f5ed48015315531b13dfc.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b492d9ada287307b7631b47926fd26712a126750d23317c4831bb002e66a299
+size 814564
diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/material.mtl b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/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/0f1a4f777b7f5ed48015315531b13dfc/mesh/material_0.png b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ca9163c6b1070806855eac30bbce37a4e36f4d7
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b1733d5dbbbfc48a3408d605c821f1cddf7021fd42bc72ed94c4deb018795bd
+size 341570
diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/television_30.glb b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/television_30.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cf0226c11bdf04d4f42268ce515922210a551bb9
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/television_30.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4eb125570ae9f06877c6be7d7e4533da795afea4cd861ab54230ffac795dd7b
+size 886888
diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/television_30.obj b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/television_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2e44b8768595eee0715d122c82671cc1aa57cd2
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/television_30.obj
@@ -0,0 +1,49758 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.06433246 -0.29834724 -0.37591484
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diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/television_30_collision.obj b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/television_30_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3843d74c3ee2755b181f9598bc4bf6243ded5b0c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/television_30_collision.obj
@@ -0,0 +1,2943 @@
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diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/television_30_gs.ply b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mesh/television_30_gs.ply
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diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision.obj b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ea8d2ff816f6f9bc589f87e5b31d561ee9f8cb2
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision.obj
@@ -0,0 +1,2943 @@
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diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_0.obj b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a095d7762b703ddb466c60d9c640930cb088089a
--- /dev/null
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diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_1.obj b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ef619c77ab952516cddff17383925333f3eb504
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_1.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_2.obj b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d36d0c004956b13bc8b14c3b7eb2d842ea1aea6e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_2.obj
@@ -0,0 +1,370 @@
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+
diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_3.obj b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27efbea7b9b23d09afd9e21852f0520f8a4ac8ad
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_3.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.06235725 0.36902478 -0.29896084
+v 0.05876741 0.37091636 -0.29232205
+v 0.07246077 0.37158006 -0.29135108
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+v 0.06962653 0.36766404 -0.26463799
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+v 0.06975495 0.34992821 -0.28823670
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+v 0.05876741 0.35799236 -0.29473437
+v 0.05237319 0.35849382 -0.28818627
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+v 0.07885499 0.35188612 -0.27130709
+v 0.07898938 0.35750559 -0.27789210
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+v 0.05710390 0.33609707 -0.26463811
+v 0.05052153 0.34173125 -0.26463808
+v 0.04956284 0.34327624 -0.26463808
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+
diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_4.obj b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..664d6a418853663de8e7c18a1c42acb30c918df8
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_4.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.06745516 0.36923295 -0.29926500
+v -0.06745516 0.37449023 -0.29135053
+v -0.05929273 0.36836311 -0.29888877
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+v -0.05532977 0.36993105 -0.27838236
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+v -0.06745516 0.35472008 -0.29554002
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+v -0.06831931 0.33647970 -0.26463810
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+v -0.06195189 0.33873448 -0.27224411
+v -0.06561467 0.33559839 -0.26463811
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+
diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_5.obj b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..839126d5c5ea65a4fb1d0527008049762f76b8da
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_5.obj
@@ -0,0 +1,925 @@
+# https://github.com/mikedh/trimesh
+v 0.09515217 0.17598126 -0.29135005
+v 0.09269373 0.17598129 -0.29883065
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diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_6.obj b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10efd939a5287148309da68d44a85fe05e6cf1a1
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_6.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_7.obj b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48b708af7e1d499053fdf42e8959fda83b1944a0
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_7.obj
@@ -0,0 +1,97 @@
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diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_8.obj b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb9d566e3b67c444c92c4e1502bb1b53648cbf91
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_8.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.06271977 -0.36184832 -0.29886614
+v 0.05228362 -0.35852026 -0.28798516
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diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_9.obj b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f19886373b1f08e4e28fb2f34b068a00dac05c57
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/mjcf/mesh/television_30_collision_9.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.03079788 -0.00654525 -0.26463936
+v 0.03034754 0.00650517 -0.26463932
+v 0.02555353 0.00476859 -0.25477125
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+
diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/textures/material_0.png b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ca9163c6b1070806855eac30bbce37a4e36f4d7
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 341570
diff --git a/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/video.mp4 b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f20c10fb4bb7ac9cd9a54874bab42f66a8eabba
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+++ b/dataset/home_appliances/electrical_appliances/0f1a4f777b7f5ed48015315531b13dfc/video.mp4
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+version https://git-lfs.github.com/spec/v1
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