diff --git a/.gitattributes b/.gitattributes
index 057dac1dbfc4b3e093eea01494bec8f1b359ac0f..7bfafa9581e3df6b594569f97bb3d2766f86bf2e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3065,7 +3065,5 @@ dataset/desktop_supplies/electronic_accessories/d1609396d25452e2bb7200a611061c9e
 dataset/desktop_supplies/electronic_accessories/d1609396d25452e2bb7200a611061c9e/mouse_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/mesh/tv_remote_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/e1d78bed666f5b6789c41e2175d6831d/tv_remote_040.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/e0518564249e50ff919e69246107796e/earbud_case_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/e0518564249e50ff919e69246107796e/mesh/earbud_case_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/ddaf6351a416534ead5ecd29c73d37a9/mesh/presenter_clicker_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/ddaf6351a416534ead5ecd29c73d37a9/presenter_clicker_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/charging_head_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/charging_head_007.urdf b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/charging_head_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9a4297b9676ece33f8bf163414b379cf3bdb64ae
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/charging_head_007.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="charging_head_007">
+   <link name="charging_head_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/charging_head_007.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_007_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>dcff16468a9851619c5fe339eb54d116</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>charging_head</category>
+         <name>compact charger</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>black compact charger with usb ports and plug</description>
+         <min_height>0.0373</min_height>
+         <max_height>0.0373</max_height>
+         <real_height>0.0373</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506203902</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>9</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/dcff16468a9851619c5fe339eb54d116/charging_head_007.usd b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/charging_head_007.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a120ce6880c00d87186b213979ced1d835e2055d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/charging_head_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b67d22d716d1a39f3a2cd823130b4931df90871e6700a22a2c4f6c39d826aae7
+size 4786635
diff --git a/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007.glb b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cbf54f3a20b378175dc493824a3452f22d765bb3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:781b5efc46d5cc5da473a648a3ee96dee68d1dc64864309e4f9963be9732275f
+size 11803008
diff --git a/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007.mtl b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..331cc8f2cafe1e58bc43da2b03154ee281139941
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007.mtl
@@ -0,0 +1,6 @@
+newmtl charging_head_007_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/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007.obj b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b1e0318d5b22911de061ac87f080766fe41c666
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007.obj
@@ -0,0 +1,117056 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_head_007_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007_collision.obj b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89a92fdc1348afc1252d72fa4f3cd1b808063069
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007_collision.obj
@@ -0,0 +1,3372 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbea2a27f684e972048b8ab66de999b7685e2dd9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/charging_head_007_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93641caed8bb397b58b23a47bb61b1ffd60fc81f52147ef5bcdb88892c948f21
+size 8667732
diff --git a/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c0d86c1eb03bb8ea0e9cfed4e1dffaadb8868bbe
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl charging_head_007_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd charging_head_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbea2a27f684e972048b8ab66de999b7685e2dd9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:93641caed8bb397b58b23a47bb61b1ffd60fc81f52147ef5bcdb88892c948f21
+size 8667732
diff --git a/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/charging_head_007.xml b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/charging_head_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8b6ce0802a1671439b2014e29cdab66d54c6722e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/charging_head_007.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="charging_head_007">
+  <asset>
+    <material name="material_0" texture="texture_0_charging_head_007_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_charging_head_007_geometry_Looks_material_0" type="2d" file="mesh/charging_head_007_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/charging_head_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/charging_head_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/charging_head_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/charging_head_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/charging_head_007_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="charging_head_007">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007.obj b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55f35fe9aca5f3f960c6f435bff3d425a81c08ae
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision.obj b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5d1510d8381c725140c11dfb9d71b910daa9b1f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision.obj
@@ -0,0 +1,3372 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..089c425b6f627c2fd75e70940691353bd63610d4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60b3beabeafc55227e33df19de1e6276f9cb9537
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f6e7fec8e0864507e050489981daac5e40b5421
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision_2.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..426d71fa61e86a44d5a22a36f46eaaca8540a82e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/mjcf/mesh/charging_head_007_collision_3.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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