diff --git a/.gitattributes b/.gitattributes
index e3f758f6c035177d9c7f6262a5a3bac8e8a7c56b..6d4b925485698f407c4b147ed33421eff3853591 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2977,3 +2977,6 @@ dataset/desktop_supplies/electronic_accessories/034dbb7504865a77b1e34ea313eda1a7
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dataset/desktop_supplies/electronic_accessories/1729ca28a58e5dce888f76fb1a6c58a4/mesh/keyboard_71.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/1729ca28a58e5dce888f76fb1a6c58a4/mesh/keyboard_71_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/16abbf17a76153d7b1ffa8d2672f7a16.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/16abbf17a76153d7b1ffa8d2672f7a16.urdf b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/16abbf17a76153d7b1ffa8d2672f7a16.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/16abbf17a76153d7b1ffa8d2672f7a16.usd b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/16abbf17a76153d7b1ffa8d2672f7a16.usd
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73.glb b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73.glb
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73.obj
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73_collision.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d57bab25bfb2f2aa97c223d7a98628ea77ef6d47
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73_gs.ply b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..de6a3533e0584ddc2be51869404dab95dfbef44c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4948999f0518408a8f12935fe61d194ef7f705dc906a3de6c671ed14558ea92
+size 17216106
diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:fab68ca20ab23c49b008d13bf38a0dfc20102ab00d827bf1bcd96853d42bce8b
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/16abbf17a76153d7b1ffa8d2672f7a16.xml b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/16abbf17a76153d7b1ffa8d2672f7a16.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c7687901b2aaa8925612ba5b0d58bd93daa1d274
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/16abbf17a76153d7b1ffa8d2672f7a16.xml
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c77c3ef6a7388d099f392f844b85da5ef5b87e09
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73.obj
@@ -0,0 +1,33706 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27be8a45bd426b6581a8a4956a1a7bffba01b5ce
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision.obj
@@ -0,0 +1,4898 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..301390a2224bd325cb02ae6a74a4a35b262381ea
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cc557e1b68c94d99f8abef51a6bbb07c523fdb9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_1.obj
@@ -0,0 +1,595 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_10.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db26e38121f90b09c3d0db7d909e13cb169d5079
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_10.obj
@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_11.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d18d321c585bc904a07bba5298820ebf8307a2d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_11.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b226805fb4d5a9daeaf0a0611414800c8f20fbd9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_2.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51de5be9c93030f5c68b4102ec3c4712d3c924e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_3.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..072c351b6e09a6ee716b0cf78554cb471764ddc4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_4.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b83537d47c956cca967ddc6f69f46dd97e3b0bd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_5.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81d7db32451db8638b6a2b23aded89e594f8714c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_6.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef75acb5623d50fbbfc96d3f7a2b4bc72496cb01
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_7.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a201fe9f1b4eb0d54ea535f72a85b4a7809ab677
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_8.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_9.obj b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_9.obj
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--- /dev/null
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/textures/material_0.png
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diff --git a/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/video.mp4 b/dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/video.mp4
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