diff --git a/.gitattributes b/.gitattributes
index 77f785a063de4bc164f5dad422487772397d767a..d1834b1accb7b694b879f4844ae88ba6c9b56a94 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3007,7 +3007,5 @@ dataset/desktop_supplies/electronic_accessories/5ba3642692fd55b3aa6347e16fe177f4
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
-dataset/desktop_supplies/electronic_accessories/5a03136ac11e5264bedec67c15f404ee/earbud_case_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/5a03136ac11e5264bedec67c15f404ee/mesh/earbud_case_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/626a6f94e9755f95b3f92cb5e291ab66/mesh/tv_remote_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/626a6f94e9755f95b3f92cb5e291ab66/tv_remote_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/gamepad_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/gamepad_002.urdf b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/gamepad_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..06b654ff0394bca711a16ae27f35550cfee03d26
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/gamepad_002.usd b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/gamepad_002.usd
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002.glb b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002.glb
new file mode 100644
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--- /dev/null
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002.mtl b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef4c97512c06d25c9c40949fec276ca874487257
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002.mtl
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+newmtl gamepad_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139a856aacd7d852d04b74db9b48d02a06eb9fce
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002_collision.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea0740221169d14488d28e87736902861f85d093
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002_collision.obj
@@ -0,0 +1,14728 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..56c1c1a57ed0f228eea29de1acef786fdfa4d163
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/gamepad_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af6811dbbacb1ec67b86a96162e824e61cabb254eed1db833f0e8c2a737861cc
+size 11201498
diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..79cc89caae7551dfa814aacb7debea392736c46a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl gamepad_002_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 gamepad_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..56c1c1a57ed0f228eea29de1acef786fdfa4d163
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af6811dbbacb1ec67b86a96162e824e61cabb254eed1db833f0e8c2a737861cc
+size 11201498
diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/gamepad_002.xml b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/gamepad_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5c2f46aaf50ed71b4f448f2355a17d97fdc940ef
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/gamepad_002.xml
@@ -0,0 +1,42 @@
+
+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dfee4eadb03cd7e6be28f343e8f5f316eba4a32
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002.obj
@@ -0,0 +1,114878 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl gamepad_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3f415b6a9b32cd9a2897da59c6ec91e90bffb81
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision.obj
@@ -0,0 +1,14728 @@
+# https://github.com/mikedh/trimesh
+
+o gamepad_002_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26444d8737a504a1cdb0eece0fb7a7ec1884a007
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0de5b67da9ad0f7d8a928adee9ceaeff1437c0e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_10.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d80108ec6f791b43780121e8f5d9b1eb41e4ba0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_10.obj
@@ -0,0 +1,40 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_11.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b74bc485ea1126a3f4d5290e8b0d844343fe97f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_11.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_12.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da7cc6aa9bd26d62cfa600f76a5882edec104eda
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_12.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_13.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d9ff417c0b6ae27fd39e6d9b50b4c86faed096c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_13.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696288dd56bec158b1bfacc438f33d80322c1711
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_2.obj
@@ -0,0 +1,772 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0721849b373ddfd3444947886f817fef14870a29
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_3.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c5c1bb97ce938496751e445ea9918902660e99
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_4.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b12b02dfe05868418ebdf880e51d431584a430e1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_5.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12ebcc170554c90f1348954f514c39c2cc7a46e5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_6.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feca193701d675cc0f63aeaeb366c58472c61e15
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_7.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a7b09ea85297ddcc78563753ef3d2ba4aaabf2a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_8.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_9.obj b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0581df791e074ac16ae7c6a3eeaddb3bcea9a4c3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/mjcf/mesh/gamepad_002_collision_9.obj
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