diff --git a/.gitattributes b/.gitattributes
index 1a0e3544df3ae0eb2aebf66cf0ed3e8a401cdfb1..08d7490e809151d3aa4effcb0da1bfd8be21ef2e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3017,3 +3017,5 @@ dataset/desktop_supplies/electronic_accessories/7f60b1a8e6ad528c88166c53d47e6926
 dataset/desktop_supplies/electronic_accessories/7f60b1a8e6ad528c88166c53d47e6926/mesh/earbud_case_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/mesh/tv_remote_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/8ceadbc0908d5e5fabf56e77c3fb7807/tv_remote_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/charging_head_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/charging_head_010.urdf b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/charging_head_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d9b6882418cd82b55fbffcb1da8fbaad1c014b14
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/charging_head_010.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="charging_head_010">
+   <link name="charging_head_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/charging_head_010.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/charging_head_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>1.000000</scale>
+         <uuid>93c16f93045d537fa0ec682468dc97c9</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>charging_head</category>
+         <name>green charger</name>
+         <color>green</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact green charging head with dual prongs and usb port</description>
+         <min_height>0.0254</min_height>
+         <max_height>0.0254</max_height>
+         <real_height>0.0254</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506204000</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/charging_head_010.usd b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/charging_head_010.usd
new file mode 100644
index 0000000000000000000000000000000000000000..abafe8e0102dfd51f8f7d73c6c06cf142f8caa0a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/charging_head_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3474bca720a8ad1ae87da54bb59af24bf8886ab121d8957993c3bd08e80e1b49
+size 4614481
diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010.glb b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cfcd7632acf6a60bc72dfaf80b55599de4388385
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81447a64c67da87b7386817e398eda87cf6b9009780f97be97b401435db8ff87
+size 11871656
diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010.mtl b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2b4236a41e3f874191fefc45cba02a8803c0295f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010.mtl
@@ -0,0 +1,6 @@
+newmtl charging_head_010_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010.obj b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e25cdeb56db3d778d6278d95ecf9ee1421556379
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010.obj
@@ -0,0 +1,105736 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_head_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010_collision.obj b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe66047c7a4f0e4326314be1f21fbd718752e121
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010_collision.obj
@@ -0,0 +1,3789 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/charging_head_010_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2c195e4ded9eec0490a626212a485e61cd46320d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl charging_head_010_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:aedaf9581d1bafeea28dcc4676036ba9981aa17c2b51603459a3d544582d27a8
+size 9000679
diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/charging_head_010.xml b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/charging_head_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..542f2a4e4f58a3ab6a016f7f948871630ceb35d9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/charging_head_010.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="charging_head_010">
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+    <mesh name="collision_mesh_0_0" file="mesh/charging_head_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/charging_head_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/charging_head_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010.obj b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91b5fa8b83c3e2d751949c49bd2e8dd4a593ecb0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010.obj
@@ -0,0 +1,105736 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision.obj b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56cb6e2aef68a3a6f9e3aabc019093bc928e788d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision.obj
@@ -0,0 +1,3789 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f8ba5ce39ea3d2f0ff64b1bb84cbc50decf0d0a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb6be544eaabc36d36f341d9a6c01eda9fd0e067
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_1.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b69674e1b5c6f31d5ed35175405efea5cabd1192
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_2.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5c85469c999a813334d09cfafe4985a46c4c30
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_3.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a16599f8d7d96045ac0f87d79f9f319b2beeb564
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_4.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..947481ea7bd953909c584e282c601ea1b5f18388
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_5.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16bd89bb5df67ba78fa44c2ced58d0347fba121b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/93c16f93045d537fa0ec682468dc97c9/mjcf/mesh/charging_head_010_collision_6.obj
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