diff --git a/.gitattributes b/.gitattributes
index 8f4bfb604203c7046a65d261b2ea8645d99ae89c..3af2807ecb0cdab62eb77ed8495b17c4b6dfb862 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3839,3 +3839,4 @@ dataset/furniture/table/f2382ad41208550eb278b73daa0d3ff5/mesh/table.glb filter=l
 dataset/furniture/table/f2382ad41208550eb278b73daa0d3ff5/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
 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
diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/342d0d6bc8f65907bf18a1338152b989.urdf b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/342d0d6bc8f65907bf18a1338152b989.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..137d57389a3950dd84526d47af13b75cf87cbd35
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/342d0d6bc8f65907bf18a1338152b989.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="television_19">
+   <link name="television_19">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/television_19.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_19_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="10.0000" />
+         <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>0.658570</scale>
+         <version>v0.1.5</version>
+         <category>television</category>
+         <description>modern curved screen television with slim profile and dual stand supports</description>
+         <min_height>0.45</min_height>
+         <max_height>0.55</max_height>
+         <real_height>0.5</real_height>
+         <min_mass>8.0</min_mass>
+         <max_mass>12.0</max_mass>
+         <generate_time>20251024124601</generate_time>
+         <gs_model>mesh/television_19_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.781633019447327</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>9</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/342d0d6bc8f65907bf18a1338152b989/342d0d6bc8f65907bf18a1338152b989.usd b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/342d0d6bc8f65907bf18a1338152b989.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9ed354c1c6ab0c342a65f08f8ec9c93a916ceb7a
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/342d0d6bc8f65907bf18a1338152b989.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f40fa969784998635cba9ecd1bd4e827f7aa97ccb6edad293f431e61d79734e
+size 780849
diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mesh/material.mtl b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/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/342d0d6bc8f65907bf18a1338152b989/mesh/material_0.png b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0272660f7759c94de740b448e15e6c51131d3ef
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:525299dffca4a7896f9739a02011dd1072872c47c0a4fd3cb8b00d6571444b9f
+size 1394807
diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mesh/television_19.glb b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mesh/television_19.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b3985d49539aef06824917c25eff23f468cc2cbc
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mesh/television_19.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d53d88b96b25f01d5564b4186d9f77950a00b073b20fb0bfcd58730e131ead8
+size 1936304
diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mesh/television_19.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mesh/television_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..339d8c37addf962c13063affdfa9b4a6c3bf50d4
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mesh/television_19.obj
@@ -0,0 +1,49702 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mesh/television_19_collision.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mesh/television_19_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cedb0cf50fce5bc613d221f4dcecaec088081a4a
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mesh/television_19_collision.obj
@@ -0,0 +1,8554 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/342d0d6bc8f65907bf18a1338152b989.xml b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/342d0d6bc8f65907bf18a1338152b989.xml
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19.obj
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a576528cb9e6f99e496a3bb891c9dce4cac4c214
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision.obj
@@ -0,0 +1,8554 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_0.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7901e2797b22da2efb7049c2dd7845614310f90f
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_0.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_1.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcb77ed49cb0b970581bca8eefa1a962ce72b3d2
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_1.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_10.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b21facca01688d068514448382d32a0af032ebd
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_10.obj
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+f 577 590 591
+f 577 591 592
+f 577 592 593
+f 577 593 578
+f 578 593 594
+f 578 594 579
+f 579 594 587
+f 581 595 599
+f 581 599 596
+f 581 596 582
+f 581 585 595
+f 582 596 583
+f 583 596 597
+f 583 597 588
+f 588 597 589
+f 589 597 598
+f 589 598 590
+f 596 599 600
+f 596 600 598
+f 596 598 597
+
diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_11.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..454ac82c2ccf5f62e835f5415556601693d4af66
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_11.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00596854 -0.11385751 -0.20228011
+v -0.01469292 -0.13564094 -0.20228019
+v -0.01813768 -0.16473573 -0.21045907
+v -0.00596854 -0.11272688 -0.20255761
+v -0.00596854 -0.10920937 -0.20228009
+v -0.02373708 -0.13564094 -0.20228019
+v -0.02507352 -0.16473573 -0.21045907
+v -0.02111271 -0.10910881 -0.21847927
+v -0.02084586 -0.10310393 -0.21866047
+v -0.02050844 -0.09227503 -0.21889061
+v -0.02041140 -0.08142099 -0.21895587
+v -0.02051064 0.09194195 -0.21880013
+v -0.00601265 -0.01521651 -0.20227975
+v -0.02849843 -0.13556556 -0.20228019
+v -0.02541094 -0.15797709 -0.21045904
+v -0.02521466 -0.15734896 -0.21096675
+v -0.02131119 -0.10910881 -0.21847927
+v -0.02848961 -0.13564094 -0.20230632
+v -0.02169051 -0.10310393 -0.21866047
+v -0.02213599 -0.09227503 -0.21889061
+v -0.02225287 -0.08142099 -0.21895587
+v -0.02055696 0.08123867 -0.21885895
+v -0.02053711 0.07038464 -0.21886226
+v -0.02207204 0.09194195 -0.21880013
+v -0.01576031 0.09194192 -0.21045812
+v -0.02671651 -0.01521651 -0.20227975
+v -0.02583878 0.09194192 -0.21045812
+v -0.02595125 0.08123864 -0.21045816
+v -0.02565132 0.08123865 -0.21301627
+v -0.02569764 0.07038462 -0.21301631
+v -0.02581011 -0.08142101 -0.21301687
+v -0.02567779 -0.14782656 -0.21045900
+v -0.02525436 -0.14649493 -0.21159847
+v -0.02558737 -0.09227505 -0.21301691
+v -0.02216466 0.08123867 -0.21885895
+v -0.02212055 0.09194195 -0.21871851
+v -0.02549254 0.09194193 -0.21301623
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 26
+f 1 26 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 17
+f 3 17 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 14 7
+f 7 15 16
+f 7 16 17
+f 7 14 18
+f 7 18 15
+f 8 17 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 11
+f 11 21 35
+f 11 35 22
+f 11 22 23
+f 11 23 12
+f 12 23 22
+f 12 22 35
+f 12 35 24
+f 12 24 36
+f 12 36 37
+f 12 37 27
+f 12 27 25
+f 12 25 13
+f 13 25 27
+f 13 27 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 18
+f 15 32 33
+f 15 33 16
+f 15 18 32
+f 16 33 20
+f 16 20 19
+f 16 19 17
+f 18 31 32
+f 20 33 34
+f 20 34 31
+f 20 31 21
+f 21 31 30
+f 21 30 35
+f 24 35 29
+f 24 29 36
+f 27 37 29
+f 27 29 28
+f 29 37 36
+f 29 35 30
+f 31 34 33
+f 31 33 32
+
diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_12.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f7da5a077750ebd972b471638047afa3c7e1e78
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_12.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01543538 -0.11891117 -0.20227851
+v 0.00403155 -0.12497043 -0.20227853
+v 0.00121149 -0.13564190 -0.20611423
+v 0.00266552 -0.13564189 -0.21043665
+v 0.00370680 -0.13295724 -0.21045746
+v 0.01543538 -0.11852727 -0.20236097
+v 0.01543538 -0.11097534 -0.20227848
+v 0.00381994 -0.12497043 -0.20227853
+v -0.00107430 -0.13564190 -0.20614225
+v -0.00266032 -0.13564189 -0.21045747
+v 0.00386603 -0.12205487 -0.21045742
+v 0.01543538 -0.11480364 -0.20315595
+v 0.00272628 -0.11532176 -0.21045739
+v -0.00057985 -0.10821551 -0.20227847
+v -0.00143048 -0.12468854 -0.20227853
+v -0.00215120 -0.12458652 -0.20227853
+v -0.00596854 -0.11388818 -0.20227849
+v -0.00272737 -0.13564189 -0.21045747
+v -0.00260585 -0.11538082 -0.21045739
+v -0.00596854 -0.10923568 -0.20227847
+v -0.00596854 -0.11273915 -0.20255709
+v -0.00331610 -0.12476369 -0.21045743
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 7
+f 1 7 14
+f 1 14 20
+f 1 20 17
+f 1 17 16
+f 1 16 15
+f 1 15 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 18
+f 3 18 10
+f 3 10 4
+f 4 10 5
+f 5 10 18
+f 5 18 22
+f 5 22 19
+f 5 19 13
+f 5 13 11
+f 5 11 12
+f 5 12 6
+f 7 12 13
+f 7 13 14
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 11 13 12
+f 13 19 14
+f 14 19 20
+f 17 20 21
+f 17 21 18
+f 18 21 22
+f 19 22 20
+f 20 22 21
+
diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_13.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e24d1df4f215cc11a9e612d8c897ba8778b506c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_13.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.02162994 0.12415774 -0.21045751
+v 0.00314459 0.10536927 -0.21045758
+v 0.00186669 0.10659893 -0.21919309
+v 0.02162994 0.12420692 -0.21051216
+v 0.02162994 0.14202811 -0.21045745
+v -0.01575898 0.09195830 -0.21045763
+v -0.00518729 0.11379625 -0.22052009
+v 0.00313065 0.11379625 -0.21965160
+v 0.02162994 0.12515784 -0.21140496
+v -0.01577757 0.09195830 -0.21049305
+v -0.02050811 0.09195833 -0.21880141
+v 0.02162994 0.13586366 -0.21196670
+v 0.01870704 0.22223164 -0.22079703
+v 0.00836305 0.22337925 -0.21045715
+v -0.02583810 0.09195830 -0.21045763
+v -0.00518729 0.12463323 -0.22074475
+v -0.02206947 0.09195833 -0.21880141
+v 0.00271708 0.19303245 -0.22079714
+v 0.01612337 0.23370802 -0.22079699
+v 0.01247556 0.23308500 -0.21665395
+v 0.01141606 0.24146277 -0.21758923
+v 0.00567715 0.23387192 -0.21045711
+v -0.02549423 0.09195831 -0.21301654
+v -0.02584275 0.09210585 -0.21045763
+v -0.01908616 0.22223164 -0.22079703
+v -0.01595880 0.21168977 -0.22079707
+v -0.00354694 0.19309804 -0.22079714
+v -0.02212058 0.09195833 -0.21872042
+v -0.02206947 0.09210588 -0.21880040
+v 0.01526369 0.23747883 -0.22079698
+v 0.01043092 0.24869288 -0.21868949
+v 0.00598384 0.25943150 -0.22079690
+v 0.00331653 0.25213580 -0.21746064
+v -0.00545217 0.23387192 -0.21045711
+v -0.02560111 0.13548657 -0.21045747
+v -0.02553140 0.14632354 -0.21045743
+v -0.02537806 0.15717693 -0.21045739
+v -0.02519218 0.15717693 -0.21090176
+v -0.02511783 0.16819425 -0.21045735
+v -0.02212058 0.22223160 -0.21045715
+v -0.01809172 0.23036347 -0.22079700
+v -0.02512248 0.16801391 -0.21046140
+v 0.01122089 0.25066027 -0.22079693
+v -0.00559157 0.25874294 -0.22079690
+v -0.00263615 0.25213580 -0.21746064
+v -0.01791979 0.23188816 -0.21045712
+v -0.02512248 0.16801391 -0.21045735
+v -0.02092168 0.22747795 -0.21045713
+v -0.01751551 0.23342931 -0.22079699
+v -0.01967167 0.23011752 -0.21045712
+v -0.01412792 0.24110209 -0.22079696
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 12
+f 1 12 5
+f 1 5 14
+f 1 14 22
+f 1 22 34
+f 1 34 46
+f 1 46 50
+f 1 50 48
+f 1 48 40
+f 1 40 39
+f 1 39 47
+f 1 47 37
+f 1 37 36
+f 1 36 35
+f 1 35 24
+f 1 24 15
+f 1 15 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 6 10
+f 3 10 11
+f 3 11 7
+f 5 12 13
+f 5 13 14
+f 6 15 23
+f 6 23 28
+f 6 28 17
+f 6 17 11
+f 6 11 10
+f 7 16 13
+f 7 13 8
+f 7 11 17
+f 7 17 16
+f 8 13 9
+f 9 13 12
+f 13 18 27
+f 13 27 26
+f 13 26 25
+f 13 25 41
+f 13 41 49
+f 13 49 51
+f 13 51 44
+f 13 44 32
+f 13 32 43
+f 13 43 30
+f 13 30 19
+f 13 19 20
+f 13 20 14
+f 13 16 18
+f 14 20 21
+f 14 21 22
+f 15 24 23
+f 16 17 25
+f 16 25 26
+f 16 26 27
+f 16 27 18
+f 17 28 29
+f 17 29 25
+f 19 30 20
+f 20 30 21
+f 21 30 31
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 22 33 45
+f 22 45 34
+f 23 24 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 25
+f 23 25 28
+f 25 39 40
+f 25 40 41
+f 25 29 28
+f 25 38 42
+f 25 42 39
+f 30 43 31
+f 31 43 32
+f 32 44 45
+f 32 45 33
+f 34 45 46
+f 37 47 42
+f 37 42 38
+f 39 42 47
+f 40 48 49
+f 40 49 41
+f 44 50 46
+f 44 46 45
+f 44 51 50
+f 48 50 51
+f 48 51 49
+
diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_14.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da8172d5fccf8ab770af6693b7377a3a835a481f
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_14.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01564559 0.10475778 -0.20227769
+v -0.00601221 -0.01519178 -0.20227813
+v 0.01564559 0.12554906 -0.21045651
+v 0.01564559 0.14183756 -0.20227755
+v -0.02671741 -0.01519178 -0.20227813
+v -0.01569494 -0.01519175 -0.21045703
+v 0.01564559 0.13620304 -0.21045647
+v 0.00836397 0.22337869 -0.21045615
+v 0.00723302 0.23176897 -0.20227722
+v -0.02533416 -0.01519175 -0.21045703
+v -0.02868788 0.14631568 -0.20227753
+v 0.00568013 0.23388503 -0.21045611
+v 0.00662839 0.23413107 -0.20227721
+v -0.02596923 0.06785025 -0.21045672
+v -0.02879227 0.15716649 -0.20227749
+v -0.00545544 0.23386044 -0.21045611
+v -0.01854842 0.23614867 -0.20227720
+v -0.02598228 0.07040917 -0.21045671
+v -0.02877923 0.16811575 -0.20227745
+v -0.01792205 0.23189204 -0.21045612
+v -0.02429020 0.23482000 -0.20227721
+v -0.02595183 0.08125999 -0.21045667
+v -0.02870528 0.17884353 -0.20227741
+v -0.02552990 0.14631571 -0.21045643
+v -0.01967503 0.23012047 -0.21045612
+v -0.02636942 0.22222222 -0.20227725
+v -0.02201089 0.22933309 -0.20881810
+v -0.02285910 0.22222225 -0.20965874
+v -0.02537766 0.15716652 -0.21045639
+v -0.02851823 0.18969435 -0.20227737
+v -0.02091908 0.22748773 -0.21045613
+v -0.02212398 0.22222225 -0.21045615
+v -0.02479913 0.18969438 -0.20991265
+v -0.02512102 0.16799275 -0.21045635
+v -0.02499052 0.17884356 -0.21017690
+v -0.02511667 0.16816499 -0.21045635
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 21
+f 1 21 26
+f 1 26 30
+f 1 30 23
+f 1 23 19
+f 1 19 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 2 6 3
+f 3 6 10
+f 3 10 14
+f 3 14 18
+f 3 18 22
+f 3 22 24
+f 3 24 29
+f 3 29 34
+f 3 34 36
+f 3 36 32
+f 3 32 31
+f 3 31 25
+f 3 25 20
+f 3 20 16
+f 3 16 12
+f 3 12 8
+f 3 8 7
+f 4 8 9
+f 4 7 8
+f 5 11 10
+f 8 12 9
+f 9 12 13
+f 10 11 15
+f 10 15 14
+f 12 16 17
+f 12 17 13
+f 14 15 18
+f 15 19 18
+f 16 20 17
+f 17 20 21
+f 18 19 22
+f 19 23 24
+f 19 24 22
+f 20 25 21
+f 21 25 27
+f 21 27 28
+f 21 28 26
+f 23 29 24
+f 23 30 29
+f 25 31 27
+f 26 28 30
+f 27 31 32
+f 27 32 28
+f 28 32 33
+f 28 33 30
+f 29 30 34
+f 30 33 35
+f 30 35 34
+f 32 36 35
+f 32 35 33
+f 34 35 36
+
diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_15.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9c9c9c6a63ab73310dc5ec46a562e745e010e53
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_15.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00479579 -0.16820147 -0.21301810
+v 0.00459104 -0.15736039 -0.21301806
+v 0.00386480 -0.12205965 -0.21045742
+v 0.00426684 -0.16820148 -0.21045759
+v 0.00405782 -0.18960006 -0.21045767
+v 0.00451319 -0.18960005 -0.21277353
+v 0.00454731 -0.18960005 -0.21294759
+v 0.00456011 -0.18960005 -0.21301818
+v 0.00257548 -0.12482987 -0.22033489
+v 0.00179805 -0.11586472 -0.21971310
+v 0.00272478 -0.11532669 -0.21045739
+v -0.00530757 -0.18960006 -0.21045767
+v 0.00196015 -0.18960002 -0.22004019
+v -0.00267989 -0.12482987 -0.22033489
+v 0.00188550 -0.18960002 -0.22022972
+v -0.00173610 -0.11586472 -0.21971310
+v -0.00260630 -0.11538487 -0.21045739
+v -0.00609886 -0.18960005 -0.21301818
+v -0.00521479 -0.17904983 -0.21045763
+v -0.00378151 -0.12482990 -0.21301794
+v -0.00259351 -0.18960002 -0.22022972
+v -0.00598582 -0.17904982 -0.21301814
+v -0.00559018 -0.16820147 -0.21301810
+v -0.00331761 -0.12477174 -0.21045743
+v -0.00488527 -0.16820148 -0.21045759
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 17
+f 3 17 24
+f 3 24 25
+f 3 25 19
+f 3 19 12
+f 3 12 5
+f 3 5 4
+f 5 12 18
+f 5 18 21
+f 5 21 15
+f 5 15 13
+f 5 13 8
+f 5 8 7
+f 5 7 6
+f 8 13 9
+f 9 14 16
+f 9 16 10
+f 9 13 15
+f 9 15 21
+f 9 21 14
+f 10 16 11
+f 11 16 17
+f 12 19 18
+f 14 20 16
+f 14 21 18
+f 14 18 22
+f 14 22 23
+f 14 23 20
+f 16 20 17
+f 17 20 24
+f 18 19 22
+f 19 25 22
+f 20 23 24
+f 22 25 24
+f 22 24 23
+
diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_16.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ea336a2c6668e70a4ab3ed9c1e3d6d878e1cfcf
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_16.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01543106 -0.23540931 -0.20227893
+v -0.01607449 -0.23859381 -0.20227895
+v 0.00580088 -0.23452246 -0.21045783
+v 0.00607319 -0.23397829 -0.21045783
+v 0.01543106 -0.23329303 -0.20276489
+v 0.01543106 -0.21421631 -0.20227886
+v -0.02424372 -0.23436125 -0.20227893
+v -0.01919954 -0.23017905 -0.21045782
+v -0.01576328 -0.23194263 -0.21045782
+v -0.00549772 -0.23400850 -0.21045783
+v 0.00870117 -0.22242945 -0.21045779
+v 0.01543106 -0.23223488 -0.20296663
+v 0.01543106 -0.22205660 -0.20443409
+v 0.00265854 -0.13567213 -0.21045747
+v 0.00266286 -0.13564189 -0.21043665
+v 0.00120623 -0.13564190 -0.20611423
+v -0.01468702 -0.13564192 -0.20227857
+v -0.02283896 -0.22242945 -0.20944343
+v -0.02190965 -0.22918139 -0.20851556
+v -0.02651295 -0.22242948 -0.20227889
+v -0.02195288 -0.22242945 -0.21045779
+v -0.00266227 -0.13564189 -0.21045747
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+v -0.02724774 -0.21158607 -0.20227885
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_2.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..282befb5f9805c277629cae2b47203155e583052
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_2.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_3.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f96092c2ae3a464b40e75963207229fba84c8200
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_3.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_4.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..745e08ff074447d91717c884e15035ad97db6e3f
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_4.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_5.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..829a0bea2ab73cbc10f387d75955e86158aaea0b
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_5.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_6.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4ed3c850e1aaf8fb48f992423e2a698d0363f71
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_6.obj
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_7.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..293fea57b991e20c7fb194d870f3922c2f20eb59
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_7.obj
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_8.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fec4154f919bae5769241c79f61d320b2fccc80e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_8.obj
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diff --git a/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_9.obj b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9beaa79fcc809804821814d3b5ded2ca85a0f42
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/mjcf/mesh/television_19_collision_9.obj
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