diff --git a/.gitattributes b/.gitattributes
index 746359fade28bd9fdd001faac8fc3f4d9696e4a2..c559780a542a3c0ec69be9dc0c8e50adf0f24a06 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2996,3 +2996,5 @@ dataset/desktop_supplies/electronic_accessories/4ab168789d85516f9de70e3fa6ce8e0a
 dataset/desktop_supplies/electronic_accessories/4ab168789d85516f9de70e3fa6ce8e0a/mesh/ac_remote_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/mesh/tv_remote_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/tv_remote_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/usb_drive_007.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..63ae493ef244a22292158f3b2b93fd1ef37dc505
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl usb_drive_007_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 usb_drive_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a05be898639e13066ff94deb11e9c6d72bd4774
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4171d4ab33d5a65fe5758f79d113eed5901bfbdf2c08766631dc6759eb23b434
+size 10230935
diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007.glb b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2d21999d59b07a7594725d9483f570240c89f275
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d17766002f8f52cd94426089e6bbebbdc68d0b0bda853d35493e2df911073a7
+size 13632256
diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007.mtl b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0ccea67f9a04773451944e3b52b51d6cafc291fe
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007.mtl
@@ -0,0 +1,6 @@
+newmtl usb_drive_007_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f797aa269ed7335cec6e2facb5e9ad537d81af9b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007.obj
@@ -0,0 +1,116144 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl usb_drive_007_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007_collision.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b07cad623992762e193d724f5c0d88e502feb16
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007_collision.obj
@@ -0,0 +1,4682 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..4a05be898639e13066ff94deb11e9c6d72bd4774
--- /dev/null
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007.obj
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+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5d7345c3d339a0fcdc95ff4a3597c77f5e76de7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision.obj
@@ -0,0 +1,4682 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0eb798ecc22d570b72cba895e0a04678474ec4d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e2bf70a0a01804f85a2f90d70f28d704f436133
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_10.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1532567e455984fb8438181e1026bf7b419bf4e9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_10.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_11.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f64d92efe04759c26a983185d506840d8fd9ad62
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_11.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_12.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc79aa91543754a4101e17c6242498aa54ba2cfa
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_12.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_13.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0179188c2db61aafd3d757fad8c86baa7874de1e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_13.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.00381297 0.02037467 -0.00282788
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_14.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb975f5bbcb3493f08db3afe6757ea6c23aa87b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_14.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00006928 0.03147724 0.00049907
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed879fa1fce90397ea7faed5371aac4b654f0c80
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_2.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
+v 0.00836951 0.00433354 0.00263916
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97c64c71d1a943ed1fb26185836799d0b4693ae6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_3.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ae732162020124aa2a08fa14d85b54d3cd3f3d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_4.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be9a3f9e80439a1de50a47becfe8689bc9d8b1aa
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_5.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcf53fe1944d896a76ac5e441945cbf26465e363
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_6.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6f4624768b80cfaa2ced3ecfcc44f393eee6fe4
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_7.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aea85ec98a458d787898060b7ddc5b08f2cedd77
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_8.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_9.obj b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c47198fbff0ba8ab59a90cc2d4a0c57b9cb8c7e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/mesh/usb_drive_007_collision_9.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/usb_drive_007.xml b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/usb_drive_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9aa7507f8ab3cf9ffc15d28166a6324e30d2f4a1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mjcf/usb_drive_007.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="usb_drive_007">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/usb_drive_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/usb_drive_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/usb_drive_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/usb_drive_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/usb_drive_007_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/usb_drive_007_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/usb_drive_007_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/usb_drive_007_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/usb_drive_007_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/usb_drive_007_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/usb_drive_007_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/usb_drive_007_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/usb_drive_007_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/usb_drive_007_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/usb_drive_007_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/usb_drive_007_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="usb_drive_007">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a05be898639e13066ff94deb11e9c6d72bd4774
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4171d4ab33d5a65fe5758f79d113eed5901bfbdf2c08766631dc6759eb23b434
+size 10230935
diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/usb_drive_007.urdf b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/usb_drive_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e1838eaf4d1c5f0b7d9e9cc6f815820cb68a5b09
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/usb_drive_007.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="usb_drive_007">
+   <link name="usb_drive_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/usb_drive_007.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/usb_drive_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>50d97257484a57c5bc118869af1015b6</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>usb_drive</category>
+         <name>red usb drive</name>
+         <color>red</color>
+         <shape>elongated</shape>
+         <material>plastic and metal</material>
+         <description>compact red usb drive with metal connector and attached keyring</description>
+         <min_height>0.0090</min_height>
+         <max_height>0.0090</max_height>
+         <real_height>0.0090</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416202754</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/usb_drive_007.usd b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/usb_drive_007.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c0681f69e9a079688bbe7228e0a27be9d0067fda
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/usb_drive_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:405581c70087c00c8044442a540275b2e9c0b5514865c671c8a3fe5e49c1ff27
+size 4952517
diff --git a/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/video.mp4 b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fdb7ea0d15361ad0a8727676922cb143a58a9f20
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad8ae540e5d0eccc85a401c0ede4f26d226951bb2facf45c7e5cd53ef8b218de
+size 140659