diff --git a/.gitattributes b/.gitattributes
index 7029d5a42c1854192ebcbd13a0672fa754bfb6de..1bc89be54e4a8c8d36a61c4f4ea23f53824fa549 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3011,3 +3011,5 @@ dataset/desktop_supplies/electronic_accessories/6b85303069285d3a87cc26607d1f5828
 dataset/desktop_supplies/electronic_accessories/6b85303069285d3a87cc26607d1f5828/mouse_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931/mesh/mouse_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/688b235ba5785bff9bf38163a62cb931/mouse_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/charging_head_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/charging_head_009.urdf b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/charging_head_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..44a8aabad22982ec35f4add1f8057b8088c1584f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/charging_head_009.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="charging_head_009">
+   <link name="charging_head_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/charging_head_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1000" />
+         <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>6fe6ced6f867560abaa684acbb20743c</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 usb port and prongs</description>
+         <min_height>0.0340</min_height>
+         <max_height>0.0340</max_height>
+         <real_height>0.0340</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506203938</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>5</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/6fe6ced6f867560abaa684acbb20743c/charging_head_009.usd b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/charging_head_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..249dc41aeab0f08b222aa7170900f62c065f26ca
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/charging_head_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fbd7bc48fba30bf69617811d5627623311c8a851d8a1a2de20ac6aea7b8ef88
+size 4523344
diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009.glb b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d401da2f49aa918257c32d8ef096d9999c75c229
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40e13523e3c4b6b0b4d886e15084502e611853f3095b574e33d6b388e5267ff3
+size 10760036
diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009.mtl b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2a99de905200196d095a78f201377a31911975a5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009.mtl
@@ -0,0 +1,6 @@
+newmtl charging_head_009_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/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009.obj b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a737eb711dc736efd82d332ef13bc20cb375023
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009.obj
@@ -0,0 +1,111954 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_head_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009_collision.obj b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fb7ea01ca91d8d513887db8bf6faa9e807bf5dc
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009_collision.obj
@@ -0,0 +1,4041 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e65ce1ea0d9e6c4db36f4f894b7c838f4d5f0c6d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/charging_head_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86e11a9c6b74f08d4993e32b46844d04848977c8f07c5271ff5e5c1b11b7c801
+size 8049798
diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3fee31bdc55c8434cbfa74295e318c183b6b20e8
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl charging_head_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e65ce1ea0d9e6c4db36f4f894b7c838f4d5f0c6d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86e11a9c6b74f08d4993e32b46844d04848977c8f07c5271ff5e5c1b11b7c801
+size 8049798
diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/charging_head_009.xml b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/charging_head_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2d6f5cf89af6a055ad8583002b8f5df79da565da
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/charging_head_009.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="charging_head_009">
+  <asset>
+    <material name="material_0" texture="texture_0_charging_head_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_charging_head_009_geometry_Looks_material_0" type="2d" file="mesh/charging_head_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/charging_head_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/charging_head_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/charging_head_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/charging_head_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/charging_head_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/charging_head_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/charging_head_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/charging_head_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="charging_head_009">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009.obj b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4a4d499472b070ac6490d852bfd60c2aea89d7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009.obj
@@ -0,0 +1,111954 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_head_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision.obj b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad759a19939c15c0e88b4ad43d15c74a7e829292
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision.obj
@@ -0,0 +1,4041 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7081b387675fd59f1cd2da1ac6da76a7545fdcc0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_0.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b0b4404579fe73b51b7ffcfdd4aa68c54fceb4f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_1.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..904f0120e9358faaa58c5368bfe798689c6a7ea4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_2.obj
@@ -0,0 +1,1552 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69d5d7e25728c1f8989c19100a73d384b0419589
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_3.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..652f2ab6a80d16cccf018ffbcb36b651a4e0d61e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_4.obj
@@ -0,0 +1,1339 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..853adf36ce43db4303f1533fc6a612fa4a62abba
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_5.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00302583 -0.01799810 -0.00937732
+v 0.00302583 -0.01799810 -0.00837731
+v 0.00302583 0.01740875 -0.00937732
+v 0.00302583 0.01740875 -0.00837731
+v 0.01573780 -0.01799810 -0.00937732
+v 0.01573780 -0.01799810 -0.00837731
+v 0.01573780 0.01740875 -0.00937732
+v 0.01573780 0.01740875 -0.00837731
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..091997cdde23088c18eab832a1bdf0cf41682a07
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_collision_6.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01572435 -0.01800240 -0.00937732
+v -0.01572435 -0.01800240 -0.00837731
+v -0.01572435 0.01740992 -0.00937732
+v -0.01572435 0.01740992 -0.00837731
+v 0.00302400 -0.01800240 -0.00937732
+v 0.00302400 -0.01800240 -0.00837731
+v 0.00302400 0.01740992 -0.00937732
+v 0.00302400 0.01740992 -0.00837731
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e65ce1ea0d9e6c4db36f4f894b7c838f4d5f0c6d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/mjcf/mesh/charging_head_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e65ce1ea0d9e6c4db36f4f894b7c838f4d5f0c6d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8049798
diff --git a/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/video.mp4 b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82729a3d206c068116a3f4f20fcd33ccf7074fc7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/6fe6ced6f867560abaa684acbb20743c/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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