diff --git a/.gitattributes b/.gitattributes
index efb1372bbd3644356def56be130500cba8fc4887..cbbd1a01e09dbc1887dc622355e9b2c74ee82990 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5300,3 +5300,5 @@ dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97
 dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/usb_drive_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/2a62fcaaad9657b2b83699770780dca2/earbud_case_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/2a62fcaaad9657b2b83699770780dca2/mesh/earbud_case_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/charging_head_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/charging_head_003.urdf b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/charging_head_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..059c6059f5369f6145fae4e88f4b9958257484be
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/charging_head_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="charging_head_003">
+   <link name="charging_head_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/charging_head_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>2aa5e1d7c3325c7caf2b72db7b8e0e88</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>charging_head</category>
+         <name>compact charger</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular charging head with plug and usb port</description>
+         <min_height>0.0215</min_height>
+         <max_height>0.0215</max_height>
+         <real_height>0.0215</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506203736</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>8</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/2aa5e1d7c3325c7caf2b72db7b8e0e88/charging_head_003.usd b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/charging_head_003.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4c989a9383e5063f0ce4ab3c277c61e548e59d9b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/charging_head_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e004adfaa7e5749a5ca867715660646e940935cbf04cd09298b73a1b9fda6197
+size 4609640
diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003.glb b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8c4dc444fbeb06153bf07ff36343bf023409c9fe
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2abb211bd92eee99ab80ffc118bf721b42b56f0f177024df9861905b78261a2
+size 10468736
diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003.mtl b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8be87df427f0a9931dff553cf4d29c34a5c7303c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003.mtl
@@ -0,0 +1,6 @@
+newmtl charging_head_003_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/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003.obj b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d551328151dc2bf9f9d1808a6bf27c10f2632034
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003.obj
@@ -0,0 +1,108074 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_head_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003_collision.obj b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57047c8b7543fb8a1f71fecca860de84eaa77bb2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..01787f7059ce79aef74ad0bfcb1c9cfc8f333d2b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/charging_head_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40b49d91f7a26d2fabbfeaba35abcbb91a1d1f6f704dd26330bcb00be2e0f15e
+size 7608184
diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..522bb0ed22e5223a10b71a46695df0701b1e4f63
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl charging_head_003_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd charging_head_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..01787f7059ce79aef74ad0bfcb1c9cfc8f333d2b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/charging_head_003.xml b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/charging_head_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4bc3240f965538ed7e983413b65e9394cd919067
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/charging_head_003.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="charging_head_003">
+  <asset>
+    <material name="material_0" texture="texture_0_charging_head_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_charging_head_003_geometry_Looks_material_0" type="2d" file="mesh/charging_head_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/charging_head_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/charging_head_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/charging_head_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/charging_head_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/charging_head_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/charging_head_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/charging_head_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="charging_head_003">
+      <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/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003.obj b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003.obj
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index 0000000000000000000000000000000000000000..99ef0338935dddd93db5c8a91db578d25f97bd1b
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+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision.obj b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..160a18e759f4f3fb7fe1c2666fbb4a588a24ad6c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision.obj
@@ -0,0 +1,7097 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4b7521b8bc923abf7111eec6af8649deec0f701
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8b13b8b7cc414e6783b3266f66be56da8d46425
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_1.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30ec57965ee0e527f0e705b10ab6189a4eab412e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_2.obj
@@ -0,0 +1,1471 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df23984ddc5b05fcc12272879b58de3f0577a824
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_3.obj
@@ -0,0 +1,2614 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..426e3b64041caf6a7bf4e250d9ee24abe48745f3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_4.obj
@@ -0,0 +1,1168 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a409abdef013d0797dc6bdef0368c182b32d3b38
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2aa5e1d7c3325c7caf2b72db7b8e0e88/mjcf/mesh/charging_head_003_collision_5.obj
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