diff --git a/.gitattributes b/.gitattributes
index 8a8ea78a4bdb6cbeaf5a9e0a86b24bd8f095c68e..bc2b2ab66320e696c606a9cf7a73f823e9a59d73 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3011,5 +3011,5 @@ dataset/desktop_supplies/electronic_accessories/68dc241553b45c22a4e3ddec5d6c7a33
 dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/79c166184b3d53c7a95de3ad0ca255c9.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/79c166184b3d53c7a95de3ad0ca255c9/mesh/remote_control_87_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/79298122afa05ebaa9a803e9e7881441/mesh/tv_remote_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/79298122afa05ebaa9a803e9e7881441/tv_remote_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/charging_cable_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/charging_cable_021.urdf b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/charging_cable_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e27625c11c585c8ab7d5449c3774841772eaee05
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/charging_cable_021.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="charging_cable_021">
+   <link name="charging_cable_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/charging_cable_021.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_cable_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>7eeb9dfe82f858e8ba118752c6651f4d</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>charging_cable</category>
+         <name>coiled cable</name>
+         <color>green</color>
+         <shape>ring</shape>
+         <material>rubber</material>
+         <description>mint green coiled charging cable with connectors on both ends</description>
+         <min_height>0.0130</min_height>
+         <max_height>0.0130</max_height>
+         <real_height>0.0130</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141027</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.032030 -0.039357 -0.006333</min>
+            <max>0.032129 0.040739 0.006667</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/charging_cable_021.usd b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/charging_cable_021.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8100b5c05850797449bfa655e62ad1cf70bbed7d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/charging_cable_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:968fafb38e33073d8d6e0cb949314ff92cf70f4a712b87aa03428896ee3800dc
+size 5028031
diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021.glb b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a341ba1f869beef73c5476e4a9e836799b4302e9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2253469583fc0495e59c667c7b04fa728be77377ed4b617ff1adb2a37f7ffc03
+size 15558196
diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021.mtl b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..892b6b8cd5fa6d7a96534a5037d06c70b459c68a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021.mtl
@@ -0,0 +1,6 @@
+newmtl charging_cable_021_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/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..131cbb11b6967d7ff5f8faaa8701bc8494027559
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021.obj
@@ -0,0 +1,117326 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_cable_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021_collision.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f6002cd551fad0fb89cbc3b64afdcd943f7a3e9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021_collision.obj
@@ -0,0 +1,8734 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..01d8b7a8c157158a62c61c8ff572843df0e1fb49
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/charging_cable_021_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bd3c92bfab272f3583aa4f1b90ad79c71c1b625f93c849bc1a4c3393e215761
+size 12029795
diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bceba55487e2f692935e0af4af728b91cb430a6b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl charging_cable_021_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_cable_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..01d8b7a8c157158a62c61c8ff572843df0e1fb49
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12029795
diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/charging_cable_021.xml b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/charging_cable_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6bc6658c4016d9e99317cd872190f52e67851e5b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/charging_cable_021.xml
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="charging_cable_021">
+  <asset>
+    <material name="material_0" texture="texture_0_charging_cable_021_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_charging_cable_021_geometry_Looks_material_0" type="2d" file="mesh/charging_cable_021_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/charging_cable_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/charging_cable_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/charging_cable_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/charging_cable_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/charging_cable_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/charging_cable_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/charging_cable_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/charging_cable_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/charging_cable_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/charging_cable_021_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/charging_cable_021_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/charging_cable_021_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/charging_cable_021_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/charging_cable_021_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/charging_cable_021_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/charging_cable_021_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/charging_cable_021_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/charging_cable_021_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/charging_cable_021_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/charging_cable_021_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/charging_cable_021_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/charging_cable_021_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/charging_cable_021_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/charging_cable_021_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="charging_cable_021">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" 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/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e7abbadf72084aee965fa9d42f83633cb6df59
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021.obj
@@ -0,0 +1,117326 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_cable_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02f2b2516b4db40c49b4e3458a39898a83d069ed
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision.obj
@@ -0,0 +1,8734 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb8be3abf3f5610a29c4b0c80b3f4a94b69189dc
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_0.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2658d989de8a275750a646f8004df5bda95f1f35
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_10.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6513a73f3ecdbc5e12932e54c810804861ace5c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_10.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_11.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..264d3b5a0e0eae3a48d39853328a227bd0eb43a2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_11.obj
@@ -0,0 +1,139 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_12.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6841228fbea82858fbece84fed65f34c19d0cc49
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_12.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_13.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff24fe80a7b7b9554793ba4431ac37bf62be9cae
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_13.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_14.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdc33e32ade8d60c5550147119f596110894e7b9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_14.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_15.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbeba5641ed7aa1473d34174da48432b9f269c63
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_15.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_16.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18eeb260bc551c03889638d8bb238eb0e105250
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_16.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_17.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5ce035c248b0b0f66313f48d64117bcc14a68d6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_17.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_18.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3871d92f09c55bd41459c24a68c165c4aa7c9368
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_18.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_19.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db2ac6f9904c4cd63f454207f2b0f4df8ca61a65
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_19.obj
@@ -0,0 +1,151 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3a75c1cf6f1ebb2151a8ba08cb1232b149280d9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_2.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_20.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec6588af876d966196683b19adb4d18195c18662
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_20.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.02326298 -0.01985574 -0.00221709
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+v -0.02310297 -0.01540126 -0.00358719
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_21.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2c3a75532bf5e63ec22cbf5d7df57ebc17c4f07
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_21.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_22.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f05b765767a0332f231a96b5594aade0d247056d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_22.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af689069147a9cbc913c9ed3cd80c198ec81d887
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_3.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cceeea77c33ba84fb58f0534d9baccb5f2e4f58
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_4.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..101e8bd2eb6b3754b6e43ce78bd41071d9487d20
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_5.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bb2e3b0f3d5dc5938c577a3e58405991f8d1568
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_6.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae048167d30e2bf1e057d94c9ba0d45a9fdf92b6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_7.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffcfbf32bb24209a97855924178d3876d7b43178
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_8.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_9.obj b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7086b31f2b7c32419c7907ef5c735656a7e6a58c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/mjcf/mesh/charging_cable_021_collision_9.obj
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