diff --git a/.gitattributes b/.gitattributes
index 9fc36b0ae945f8662a054ea9b8d47cbfd7f66a28..c6255636cd2b08e44c2b9757cd4bbdbf3b9a9481 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3850,7 +3850,4 @@ dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/a
 dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/da50e797146353378f8d7c75cdefd790.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/d046cdd0878f52e592a1d4ed2308efb9/d046cdd0878f52e592a1d4ed2308efb9.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/bdc8e051cb5e54ec91a276e106b04621/bdc8e051cb5e54ec91a276e106b04621.usd filter=lfs diff=lfs merge=lfs -text
-dataset/home_appliances/electrical_appliances/eb11cc7b629452ac81cf2edacb3a49c0/eb11cc7b629452ac81cf2edacb3a49c0.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/24294f45e60b5124a6c44800d8ce6066/24294f45e60b5124a6c44800d8ce6066.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/24294f45e60b5124a6c44800d8ce6066/mesh/soup_pot.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/24294f45e60b5124a6c44800d8ce6066/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/f3fd44f93c315426b6908a53857bea40.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/f3fd44f93c315426b6908a53857bea40.urdf b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/f3fd44f93c315426b6908a53857bea40.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..980affd47fae2678234843cd9a0577a13a8c1edf
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/f3fd44f93c315426b6908a53857bea40.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="television_21">
+   <link name="television_21">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/television_21.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_21_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>0.877850</scale>
+         <version>v0.1.5</version>
+         <category>television</category>
+         <description>modern flat-screen television with thin bezels and dual stand supports</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>20251024125320</generate_time>
+         <gs_model>mesh/television_21_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.693795204162598</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>6</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/f3fd44f93c315426b6908a53857bea40/f3fd44f93c315426b6908a53857bea40.usd b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/f3fd44f93c315426b6908a53857bea40.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0ec20391e386fe1d94830072db41ab2ddc768759
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/f3fd44f93c315426b6908a53857bea40.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:275f2e24bcaa7e5b0973bae354279d79c2875ce63876a3b94818df17dbb83eb2
+size 670814
diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/material.mtl b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/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/f3fd44f93c315426b6908a53857bea40/mesh/material_0.png b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..36c0b690ea2a284e8f1f8d9e5558c4d82085bb46
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:651f4eba05f56a3ab24eade42f41459a5ff54f158ac16603b6b6b463aa4941fb
+size 512007
diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/television_21.glb b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/television_21.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2661e1cb03ec676de341b033ae2fb967c99dabc4
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/television_21.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:930ae2a38fbbd4cfffe556164f05e6676a7500e91d5358a920bc638d9383f32e
+size 958104
diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/television_21.obj b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/television_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df80a6b8a0617c72611604d077a47f22f83382d5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/television_21.obj
@@ -0,0 +1,40640 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/television_21_collision.obj b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/television_21_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a40d1eb31f46ceb34b735319799d062969719049
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/television_21_collision.obj
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diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/television_21_gs.ply b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/television_21_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4dfaaf2a68480e8859afde2dcc64e927116987c0
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mesh/television_21_gs.ply
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b9aecbf3c51b7111b5260e5a125b4ab448d59659f794c496429273068c850ad6
+size 10540906
diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/f3fd44f93c315426b6908a53857bea40.xml b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/f3fd44f93c315426b6908a53857bea40.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b269713fc0f0a632b5f6b2b44afc3a901e627885
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/f3fd44f93c315426b6908a53857bea40.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="television_21">
+  <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_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/television_21_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/television_21_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/television_21_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/television_21_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/television_21_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/television_21_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="television_21">
+      <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" />
+      <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>
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diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/material_0.png b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:651f4eba05f56a3ab24eade42f41459a5ff54f158ac16603b6b6b463aa4941fb
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diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21.obj b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b35ae7e2f13540173dd3f9393718f5d594d44b7
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diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision.obj b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06ff3f67b6475db400c3d917d21dd453083cb4bd
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision.obj
@@ -0,0 +1,1442 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_0.obj b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65ec3d13146aaf0661cb45a20bf70352b74c84aa
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_0.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_1.obj b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f1de53989a3146d998f32380155540938f72bd4
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_1.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_2.obj b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cc6a03951713b61f20a03b43d1c9f8e65b00880
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_2.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_3.obj b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..379bc785d67af0883e50ed3d05e4e43bc16cebef
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_3.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_4.obj b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b86593d479b35f9ae5ef85212faaa5014de424c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/f3fd44f93c315426b6908a53857bea40/mjcf/mesh/television_21_collision_4.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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