diff --git a/.gitattributes b/.gitattributes
index af88c2035ef4c29a2f2dd7e08a850fb0ba1d4894..8c950901ba8d839997c9806e01436c26f2b1eaf5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2984,5 +2984,5 @@ dataset/desktop_supplies/electronic_accessories/1597392805095b5caf9107e8dd6ec71a
dataset/desktop_supplies/electronic_accessories/1597392805095b5caf9107e8dd6ec71a/presenter_clicker_009.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/17e31f8b03c958faa80d56b667893877/mesh/mouse_009.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/17e31f8b03c958faa80d56b667893877/mouse_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/mesh/tv_remote_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/22e4fa4d1e785f509e8c8437c1dd6014/tv_remote_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/charging_cable_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mesh/charging_cable_005.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/charging_cable_005.urdf b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/charging_cable_005.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/charging_cable_005.usd b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/charging_cable_005.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2c461cc81439eb30e7d33899f48a59ae9ff20309
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+++ b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/charging_cable_005.usd
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mesh/charging_cable_005.glb b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mesh/charging_cable_005.glb
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mesh/charging_cable_005.mtl b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mesh/charging_cable_005.mtl
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mesh/charging_cable_005.obj b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mesh/charging_cable_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35fe53f4a1bce7b650b31388eeb898790fc509bc
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mesh/charging_cable_005.obj
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+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mesh/charging_cable_005_collision.obj b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mesh/charging_cable_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da936b0501112dabcc2f2399032616c3ae0c696e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mesh/charging_cable_005_collision.obj
@@ -0,0 +1,5600 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005.obj b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3993f86605675d21be723a6a4e01eb753b4d03fd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005.obj
@@ -0,0 +1,109480 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_cable_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision.obj b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16e7f6786f53e3ee792034d231a14b5a9f1e3b9b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision.obj
@@ -0,0 +1,5600 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ae8d1161d481dcf6b5cf68c7d484fb93eb4455
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca01e380a292605027a4db07bf4057348a26ceee
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf34b99dca8c50ff470879eccbdd0f69f5b868b6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_2.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b75a2c87a90a13a1adae4bb5edc7ac358a9d0dc0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_3.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82321e0294866bfec3c729903496cd05d2cb96fb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_4.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62aa80684688156bdcd51761587f5a48bb0b246a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_5.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a18a04f6bae4e549df4053aaed644507d720a49e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_6.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f9f8537b33bfbc78acbf38c9d096df327df92f6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_7.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73110c1aea6d76cfd51a5dee10e0874fe323533e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/1ebf5dd0049350f5be4aa8e2f862430b/mjcf/mesh/charging_cable_005_collision_8.obj
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