diff --git a/.gitattributes b/.gitattributes
index 95cbca7502e69b4ba13ce77ed93e0f611966edfa..1e46073972b3099aea7afa045265e867b696f924 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3005,3 +3005,5 @@ dataset/desktop_supplies/electronic_accessories/5c4cd26c91f350c8ba9d6af0d8b17127
dataset/desktop_supplies/electronic_accessories/5c4cd26c91f350c8ba9d6af0d8b17127/mesh/remote_control_gs.ply filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/5ba3642692fd55b3aa6347e16fe177f4/mesh/tv_remote_036.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/5ba3642692fd55b3aa6347e16fe177f4/tv_remote_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/charging_head_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/charging_head_008.urdf b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/charging_head_008.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/charging_head_008.usd b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/charging_head_008.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/charging_head_008.usd
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diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008.glb b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008.glb
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008.glb
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diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008.mtl b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008.mtl
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008.obj b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13181b415767d0b0f808b358d33859b37a7ae047
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+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008_collision.obj b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3742eeb4b33f42ce5ff80250269892227a18ca12
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008_collision.obj
@@ -0,0 +1,4319 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5752733510583dcb99b8e5356fa7ba2b68714b32
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/charging_head_008_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8670744
diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46eab71ba891c148ee6ce164fc1618e0e94cb11c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8670744
diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/charging_head_008.xml b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/charging_head_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3afce503989d1e350018fd591ced0e29b697f6cb
--- /dev/null
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008.obj b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f38b36da6f8de1fb82e4dcef637a38112d75a21e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008.obj
@@ -0,0 +1,105210 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_head_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision.obj b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19baf1cd496786f3e667edfbe62c775a2e49c538
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision.obj
@@ -0,0 +1,4319 @@
+# https://github.com/mikedh/trimesh
+
+o charging_head_008_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7eae8f628f23f8de6cdc25ee1d8d8b853779bf2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfe12ebcfa104a1a0907199c5d10b45148868f66
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d218a7be5076486593c1ec068682aa27f6a47f92
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_2.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..081e9ee4601ab757125ddfbdf748bceefec0bc1c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_3.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08e1ac528455834672479d62c4b7361ec5b22bcc
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_4.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3be837941efa6e91bfdfedd4fc5af037a63df228
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5f27a1b5cd5657549feeb933c37245a9/mjcf/mesh/charging_head_008_collision_5.obj
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