diff --git a/.gitattributes b/.gitattributes
index bc2b2ab66320e696c606a9cf7a73f823e9a59d73..a05ef83cb6d0fd80c1a986c39929dee4da601c2c 100644
--- a/.gitattributes
+++ b/.gitattributes
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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/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
+dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/charging_cable_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/charging_cable_001.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/charging_cable_001.urdf b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/charging_cable_001.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/charging_cable_001.usd b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/charging_cable_001.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/charging_cable_001.usd
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diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/charging_cable_001.glb b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/charging_cable_001.glb
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new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/charging_cable_001.obj b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/charging_cable_001.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/charging_cable_001_collision.obj b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/charging_cable_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c2bdf2286ed1ebb9a497bbd1a7f82aaf520a064
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/charging_cable_001_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/charging_cable_001_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/charging_cable_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..43bc1dcabc328fa2f8a9c380bb032badff0652e4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/charging_cable_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a67d464163c2c0600909a46f2715c2d3d60435a3a435173d7b87d579749cf4b
+size 7313312
diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a52ad51f83b1dcff09a126d8f5ccc3b8eaa13329
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl charging_cable_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..43bc1dcabc328fa2f8a9c380bb032badff0652e4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a67d464163c2c0600909a46f2715c2d3d60435a3a435173d7b87d579749cf4b
+size 7313312
diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/charging_cable_001.xml b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/charging_cable_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e20943e96f402de281a203bfd9bf54de00228b51
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/charging_cable_001.xml
@@ -0,0 +1,28 @@
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001.obj b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe84d59115b527d20ee5553bafec8123624d49de
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001.obj
@@ -0,0 +1,105364 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_cable_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision.obj b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c460d24fca4cdfa61a53de5cf95676d15e41977
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision.obj
@@ -0,0 +1,4185 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3885ca3dc06057fe13883c22b61a540360402ac3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1a5a9a374aa57b9942f750bedb243840d58cd56
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad75694972218dd114fe5bb897cb8724902e44f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_2.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c81d3c447c478a36c2dcb30ee12c96ca8bc57d4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_3.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5a4a7ee0119b89f09f20bca3284ce8f8b2d7ffa
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_4.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbf3cbc92e64cc64ad87eb19edc86f1ae4fc08bc
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_5.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfae2c7afe5a6052aba9c0c0adf4ceaa40dd71be
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/mjcf/mesh/charging_cable_001_collision_6.obj
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