diff --git a/.gitattributes b/.gitattributes
index d0b7bca384eb93fc41242da4c18ab8be01e9b688..f82117d274c267a9746c65f871e76171997e3cb5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3040,5 +3040,5 @@ dataset/desktop_supplies/electronic_accessories/b50d503796f856a0af5cfeedeba4e40d
dataset/desktop_supplies/electronic_accessories/b50d503796f856a0af5cfeedeba4e40d/tv_remote_023.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/b81c58265d0e518887638689cbc1a8d6/mesh/mouse_021.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/b81c58265d0e518887638689cbc1a8d6/mouse_021.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/c0b929183c94547e93cfd531546103df/charging_cable_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/c0b929183c94547e93cfd531546103df/mesh/charging_cable_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/gamepad_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/gamepad_005.urdf b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/gamepad_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5ee34ee4d5850f6edb915c9445ea9e268f97341a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/gamepad_005.urdf
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+ NO: {"summary":"Buttons/sticks are segmented, but triggers and side grips are merged and fragmented across colors.","merge_groups":[{"colors":["Green","Yellow"],"target_part":"top controls","reason":"small control regions share button-like function"},{"colors":["Lime Green","White"],"target_part":"controller body with grips","reason":"grips and shell are one continuous housing here"}]}
+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/gamepad_005.usd b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/gamepad_005.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/gamepad_005.usd
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005.glb b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005.glb
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005.glb
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005.mtl b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5bc33f605268ae32c863dc415cb356aeefd40904
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005.mtl
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+newmtl gamepad_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..783c9671abf34ab7ea1356fcbd5fa093ef4d4c43
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005_collision.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb104d54b53cf4accfdc52ec2f42c832164227bb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f3a04e6c508f2472e2d5353e6001a0d9b5f6c49
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/gamepad_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4946b562c067bab343f51797ecfb2253784817dd8bdfb0a3a39892de2327fbf7
+size 10804435
diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e398f4a3a58f8f6fb4ddb17405450dc2d248834e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl gamepad_005_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f3a04e6c508f2472e2d5353e6001a0d9b5f6c49
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4946b562c067bab343f51797ecfb2253784817dd8bdfb0a3a39892de2327fbf7
+size 10804435
diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/gamepad_005.xml b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/gamepad_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..438f73b7f7e05b25df56d48ef4fc2054a80abcb6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/gamepad_005.xml
@@ -0,0 +1,42 @@
+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24322ff907e2484e1827d6f983e224b948419a3b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005.obj
@@ -0,0 +1,113828 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl gamepad_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71e0a8764d0787da6f00eb9253fa20b89f4fc434
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision.obj
@@ -0,0 +1,13576 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c3e86548ee04bf879bca7e7b6ae7a0ef7d4d2cc
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa45d341871bbe7dfedad013ed1719f6bb1aff38
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_10.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42fa70ebfe898dc9c8980ca314b8812500254f1a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_10.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_11.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8234b7f43cb3fd469544454addbfdce07381be8c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_11.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_12.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41ded1551ba8b996ad75f32840c5b9fc19934740
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_12.obj
@@ -0,0 +1,3334 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_13.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..256ac1bbb5ad7693506397da547e006eeefc57b2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_13.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da796e8ba081212e5fc70f8661bbfe33d448029f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_2.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..043a19b8c0d37bdd6f57ba271b4956e91de479cc
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_3.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..399b427fae530c4af5eac5e69ac68c75b8c19749
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_4.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45af306d69a8d6a38687b6ec0aeb4f87b45df6ab
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_5.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b746457be7a25dc0c0ed833b83120ec1e96eeeae
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_6.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c17741b8b5d76dfa29a9371ea5499c8b00da00b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_7.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9877d963cc487c7b6eab0b2e04f5c2d0598d82a2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_8.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_9.obj b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..940824c5005610b11fbb96dc2368f5a424a97c90
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/c2cc4fd90ffd5b3599b153732275a1ca/mjcf/mesh/gamepad_005_collision_9.obj
@@ -0,0 +1,1180 @@
+# https://github.com/mikedh/trimesh
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