diff --git a/.gitattributes b/.gitattributes
index 3af2807ecb0cdab62eb77ed8495b17c4b6dfb862..4b264e70093dfce18ac6e2a4f32697665d2468a3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3840,3 +3840,4 @@ dataset/furniture/table/f2382ad41208550eb278b73daa0d3ff5/mesh/table_gs.ply filte
 dataset/home_appliances/electrical_appliances/1bf67b24f40c5ef38704a84c09b42fed/1bf67b24f40c5ef38704a84c09b42fed.usd filter=lfs diff=lfs merge=lfs -text
 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/2c7c20cb44a15a5fbfbd678d18de879d/2c7c20cb44a15a5fbfbd678d18de879d.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/2c7c20cb44a15a5fbfbd678d18de879d.urdf b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/2c7c20cb44a15a5fbfbd678d18de879d.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..182fa4d5ca36e519c43aff010f6476d83d7eed16
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/2c7c20cb44a15a5fbfbd678d18de879d.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="television_18">
+   <link name="television_18">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/television_18.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_18_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>1.100303</scale>
+         <version>v0.1.5</version>
+         <category>television</category>
+         <description>modern flat-screen television with slim bezels and sleek metallic 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>20251024124308</generate_time>
+         <gs_model>mesh/television_18_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.836062788963318</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/2c7c20cb44a15a5fbfbd678d18de879d/2c7c20cb44a15a5fbfbd678d18de879d.usd b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/2c7c20cb44a15a5fbfbd678d18de879d.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5da5d9b2d220ec4f90f56707e30fda4b84bfe156
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/2c7c20cb44a15a5fbfbd678d18de879d.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:922f6602d27326e1842cec22ce7adcecffcb2d7b472658b914ef250a0a2bdfc7
+size 643572
diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/material.mtl b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/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/2c7c20cb44a15a5fbfbd678d18de879d/mesh/material_0.png b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4056fa201fe44e79272a6868880eda0c750b966
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61005bd00d617431204539023670f04ca4f76176219fd17848a3649c675a33ee
+size 684228
diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/television_18.glb b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/television_18.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c75e189bc7e835e634fc7e91e286ecabf11a5673
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/television_18.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04582d53256db552b81b65b49e7ec4b150efb7bd16faa90f0866888804445305
+size 1111932
diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/television_18.obj b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/television_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b592420ffe25edebaf27b2281d646e5ecd3022d5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/television_18.obj
@@ -0,0 +1,38976 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/television_18_collision.obj b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/television_18_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67f83dc0ac87344f5847c792cb61f85d4d10267b
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/television_18_collision.obj
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diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/television_18_gs.ply b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mesh/television_18_gs.ply
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+version https://git-lfs.github.com/spec/v1
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+size 9743466
diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/2c7c20cb44a15a5fbfbd678d18de879d.xml b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/2c7c20cb44a15a5fbfbd678d18de879d.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+    <mesh name="collision_mesh_0_1" file="mesh/television_18_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/television_18_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/television_18_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/television_18_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/television_18_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/material_0.png b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 684228
diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18.obj b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18.obj
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diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision.obj b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..224456a194f9b2d56396eb20fa6cf3edcf3f459b
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision.obj
@@ -0,0 +1,1304 @@
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diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_0.obj b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..391ab9dd3af28d467ec41190d5210fd7afaa774f
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_0.obj
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+
diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_1.obj b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6bfb442d1e1a7318843a880a2e3824ae9a54665
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_1.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00647772 -0.48678953 -0.35983729
+v 0.00346422 -0.48728879 -0.35943161
+v -0.00647772 -0.49648294 -0.35983732
+v -0.01517734 -0.48849440 -0.35824463
+v -0.01870180 -0.42623013 -0.30625745
+v -0.00647772 -0.42623012 -0.30895446
+v 0.00346422 -0.49552092 -0.35943164
+v 0.00350540 -0.42623013 -0.30513807
+v 0.00362895 -0.42623013 -0.30508547
+v 0.00367013 -0.42623013 -0.30493525
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+v 0.00510805 -0.48115130 -0.34731382
+v -0.01517734 -0.49320715 -0.35824465
+v -0.00647772 -0.54558356 -0.30317023
+v -0.01536609 -0.54564447 -0.30322279
+v -0.02594978 -0.46283627 -0.29330592
+v -0.02521880 -0.42623017 -0.29330579
+v -0.02513987 -0.42623017 -0.29347108
+v 0.00486783 -0.49659259 -0.34777215
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+v 0.00153898 -0.54492599 -0.30259175
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+v 0.00788095 -0.44464281 -0.29330585
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+v -0.02274447 -0.53559789 -0.29330619
+v -0.02495455 -0.51740444 -0.29330612
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+v -0.02644738 -0.50945247 -0.28309651
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+v 0.00732500 -0.45259489 -0.28309630
+v 0.00736618 -0.46283631 -0.28309634
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+
diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_2.obj b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adae8838857b391299eccec52ee5986654ae6d19
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_2.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.03801214 -0.07576137 -0.33343625
+v 0.03295617 -0.00793946 -0.32011699
+v 0.03276638 -0.02615366 -0.32033141
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+
diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_3.obj b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ed641c588b0259261952a1831a8c7b187eba1b2
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_3.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00647687 0.49741101 -0.36014549
+v 0.00364484 0.49604469 -0.35933839
+v -0.00647687 0.48817626 -0.36014553
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diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_4.obj b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06853475487a95f2ba94e2f545fdf270d44ed0ae
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_4.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_5.obj b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..febc5ce95f8f72faab3f32e082b7398d2e3c5979
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/mjcf/mesh/television_18_collision_5.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/textures/material_0.png b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4056fa201fe44e79272a6868880eda0c750b966
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 684228
diff --git a/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/video.mp4 b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cac762815d90af3dbc8b6f9327c787e296d98fd8
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2c7c20cb44a15a5fbfbd678d18de879d/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5c8f3672cfa095a09639e1ba6c239ff34aec442dcbaf4327df3041f71e0707c
+size 122621