diff --git a/.gitattributes b/.gitattributes
index eb59a4e59714b477dc32588d308682f704d983a8..8994dcfd4c18eecf35eb9247630be6f886d0d1c4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5305,5 +5305,5 @@ dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0
 dataset/desktop_supplies/electronic_accessories/2adc1e2056425beb870c056dbde1b5e0/mesh/keyboard_68_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mesh/mouse_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/2c7ebd0cf6b6563097c2467274a68dc8/mouse_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/2e1dcc8d52d7583194676669c7b2f5c8/charging_cable_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/2e1dcc8d52d7583194676669c7b2f5c8/mesh/charging_cable_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/charging_head_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/charging_head_002.urdf b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/charging_head_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3ade251202a177eb9519e922253eca87bf214942
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/charging_head_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="charging_head_002">
+   <link name="charging_head_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/charging_head_002.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_002_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>2f84806940c558daa6bd1ab4ab4e03e7</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>charging_head</category>
+         <name>usb charger</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact rectangular usb charger with prongs and port</description>
+         <min_height>0.0297</min_height>
+         <max_height>0.0297</max_height>
+         <real_height>0.0297</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506203710</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>11</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/2f84806940c558daa6bd1ab4ab4e03e7/charging_head_002.usd b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/charging_head_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f6330eb56553b4c33b7f2b03f8bc587069249395
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/charging_head_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:369694b2ae55581eea2ec4168630616bd846b5981c6b7a2705f8a3cc3335690e
+size 4614864
diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002.glb b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..95fcfd4de9f7f200144fc95052ea25dc725aea20
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0fa2435d9a53221d409efed3c37cadcc90dda7c4b822bba9f2baf42f96b5e76
+size 11293136
diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002.mtl b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cdfca61fb91aafc5ee0c3f2b6428e4e32740f3e8
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002.mtl
@@ -0,0 +1,6 @@
+newmtl charging_head_002_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/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff933056a4ff7e5b275fd5c2006149d4db238251
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002.obj
@@ -0,0 +1,110236 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_head_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002_collision.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae5dd37e03d05e31b90b21dabb6a1376a642d87
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bacf4a96c5ec0470394160f785e7952551a57921
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/charging_head_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fdd4cfbf6d698aa08a87a50d125ff057e7d545dcb5d1ac342b12ef2c05bdd98
+size 8433299
diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..226fc0148ec9df838fb012ec8b70335ce827a0d3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl charging_head_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bacf4a96c5ec0470394160f785e7952551a57921
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fdd4cfbf6d698aa08a87a50d125ff057e7d545dcb5d1ac342b12ef2c05bdd98
+size 8433299
diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/charging_head_002.xml b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/charging_head_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a093c346b7df9455a939035d7a78d5a734acfcdf
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/charging_head_002.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="charging_head_002">
+  <asset>
+    <material name="material_0" texture="texture_0_charging_head_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_charging_head_002_geometry_Looks_material_0" type="2d" file="mesh/charging_head_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/charging_head_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/charging_head_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/charging_head_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/charging_head_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/charging_head_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/charging_head_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/charging_head_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/charging_head_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/charging_head_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/charging_head_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/charging_head_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/charging_head_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/charging_head_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="charging_head_002">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" 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/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d277425f6dabb43351bc25021e9dc1d96393715
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002.obj
@@ -0,0 +1,110236 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_head_002_geometry_Looks_material_0
+v 0.016056 -0.003680 -0.008008
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfc833f86707aef6a4f9968cd81fc302e0fb8517
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision.obj
@@ -0,0 +1,4109 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1191561627bf896bbed7a1eea3f7d082c84d3ee
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f74cd77616a0f2122cfd9dc900d7f893fb8075
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_1.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_10.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f942e5416f3fba01809b7412834be89a871bbf1e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_10.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.00226989 -0.01791871 0.00186452
+v -0.00226989 -0.01789794 0.00177529
+v 0.00385055 -0.01780449 0.00133973
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+v -0.00226989 -0.01695312 -0.00132286
+v 0.00385055 0.01743060 -0.00132274
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_11.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57c24758513786c5ce750c5cac43ed7873c7c461
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_11.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00385055 -0.01792065 0.00186452
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17e972194e56413d6f5f52893eae50b8fb45fb19
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_2.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63a24add5ebdc2cd3b6383582e742505493200e0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_3.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80a298fddde92ce328dda94a73c806f686ec74ce
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_4.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4bda8e95130f41b0e1917d63342887f11b88861
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_5.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aee784b7c213e12d77660e0e7b0ad50d885e2f3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_6.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cd9a9296021767799835fda07b444bce8ee5b65
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_7.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01342442 -0.01794431 -0.00047980
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44094ae97a1f3fc49d669d088c6164d9da79936f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_8.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_9.obj b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_collision_9.obj
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+# https://github.com/mikedh/trimesh
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+v -0.00226989 0.01743118 -0.00111489
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+v -0.00374086 -0.01792917 0.00186452
+v -0.00424589 -0.01784954 0.00138533
+v -0.00226989 -0.01789801 0.00177527
+v -0.00424589 -0.01684903 -0.00111501
+v -0.00226989 -0.01780107 0.00138125
+v -0.00424589 -0.01784261 0.00135791
+v -0.00424589 -0.01780799 0.00122142
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..bacf4a96c5ec0470394160f785e7952551a57921
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+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/mjcf/mesh/charging_head_002_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/textures/material_0.png
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+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/video.mp4 b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/video.mp4
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index 0000000000000000000000000000000000000000..12fd6fac52b341f2501aa70e2a8cdffa08a28946
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/2f84806940c558daa6bd1ab4ab4e03e7/video.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:533952fd47f92a7d2587437a577c8d1ee59ffdec4a3c305bee5708afd7a12f00
+size 306675