diff --git a/.gitattributes b/.gitattributes
index d19e861a7effea98cc60c6b3d72e642965a2bfc6..11e5f601ca82ebbe701a6f9a06e1ab118b02e903 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/79cbe0976d5157ad810e45a62bd5522a/charging_cable_026.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/79cbe0976d5157ad810e45a62bd5522a/mesh/charging_cable_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/charging_cable_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/charging_cable_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/charging_cable_004.urdf b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/charging_cable_004.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/charging_cable_004.usd b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/charging_cable_004.usd
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/charging_cable_004.glb b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/charging_cable_004.glb
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/charging_cable_004.mtl b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/charging_cable_004.mtl
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/charging_cable_004.obj b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/charging_cable_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc458b8626a3a3a43a45f9c32a7ca5ab66a89434
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+++ b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/charging_cable_004.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/charging_cable_004_collision.obj b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/charging_cable_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28ad2d0deb9170db7a309b7b682e692ac1a35a4e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/charging_cable_004_collision.obj
@@ -0,0 +1,4411 @@
+# https://github.com/mikedh/trimesh
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+o geometry_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/charging_cable_004_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/charging_cable_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..72d7450299b578c26c8934fdf76ec6a865faef30
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/charging_cable_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:197a6e634b9816d1d66baa2d1900e7160136bd956faf4b1345b6312a18e3f407
+size 13698169
diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1a024ef5c2cf847f0833e434bd35c5517fc15deb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl charging_cable_004_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004.obj b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004.obj
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index 0000000000000000000000000000000000000000..b8c91acbb154ad34a4c2428e3c80dc9f34d6106e
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+++ b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_cable_004_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision.obj b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..166e45abe44b8e83e5a4b326c3aec2e2573fa433
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision.obj
@@ -0,0 +1,4411 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5175fbeb2cdc773c532281734bdf90369649994d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2cf7cb6f4ad11412a2f07f3cec8f40087a8039a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faaf2496f8bef7adc61663a11d7fd6b278f4f413
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_2.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a517705b9a94e10d34b4ea2a273f2bef9a07b87
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_3.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22e53fc7216310d36da96b934a16b7007e5c6939
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_4.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac79247a1fb98d959d156c7a5ab3f0521d4d3b0c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_5.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e9704d33ca964179f82b41adb9ff018b26c3843
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_6.obj
@@ -0,0 +1,721 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59d4d73c97b22c3a32854d241426df2605db5591
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/70b091a067cd5acebf335cb66192d364/mjcf/mesh/charging_cable_004_collision_7.obj
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