diff --git a/.gitattributes b/.gitattributes
index 16de06455da71e41829aafc4afe88108fb237781..3372a131d6e3b5d7b998c24b8ef313397ff23126 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2968,3 +2968,5 @@ dataset/desktop_supplies/decorations/fd0995d61a0d5e04a991849a6456e816/mesh/therm
dataset/desktop_supplies/decorations/fd0995d61a0d5e04a991849a6456e816/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/f7ac2ca905c05c6abdf49dade9b7dd08/mesh/mini_sculpture_004.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/f7ac2ca905c05c6abdf49dade9b7dd08/mini_sculpture_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/charging_cable_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/charging_cable_003.urdf b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/charging_cable_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..427e74d10ad14458422453ba861679634b788ffa
--- /dev/null
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/charging_cable_003.usd b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/charging_cable_003.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/charging_cable_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4994941
diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003.glb b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003.glb
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003.mtl b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c282e9df42cd2602ef5f4d70ff8160dc926241c6
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+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003.mtl
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+newmtl charging_cable_003_geometry_Looks_material_0
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+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/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003.obj b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aca079b11cb01931403ab68506d0b2f391a25c1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003_collision.obj b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c4ab099cc821746ce11b506d15cd98b7ddc796
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003_collision.obj
@@ -0,0 +1,4707 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..13570da0b56e28019c6683dcda2545d4f6e34e07
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/charging_cable_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:207fdde6c2d2e4128b1eb44a231b80dac176a9ad45990ac3401244e73dbb94cc
+size 10010170
diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6a71edb4b9b938e1a85a3291bae73d03f3873d0c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl charging_cable_003_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 charging_cable_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..13570da0b56e28019c6683dcda2545d4f6e34e07
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:207fdde6c2d2e4128b1eb44a231b80dac176a9ad45990ac3401244e73dbb94cc
+size 10010170
diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/charging_cable_003.xml b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/charging_cable_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..432996a9e792746ac10b42965d8a552b6178a16c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/charging_cable_003.xml
@@ -0,0 +1,34 @@
+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003.obj b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc69b57e66a32d0c7e7b4462cfafed4258e2397a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003.obj
@@ -0,0 +1,110406 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_cable_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision.obj b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4357e732f501c567380ff37e43404c71d2fbef06
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision.obj
@@ -0,0 +1,4707 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d16d28b8dabff483fe1cab4e603434643b60f13f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e469ffb48a9212032136b107046583f05b5f3b51
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3e1a6febf374a08880a0d3caf9e1c01e0c6908e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_2.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8215f252ac9ccca24298a27ab1ad746a225cb7c2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_3.obj
@@ -0,0 +1,598 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aa4ad395e2cd96d6ab2df5bb6d3c4fb51c7fb32
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_4.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..811690f859d8fa59e18008f268c01705595a076a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_5.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdb8b28a2bea811be542b38cb54573af4a76a868
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_6.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..989ab27af67037907ccd6d372fbf770c2fdc8d41
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_7.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..637701beb468e81e940b350fcf358b5fff8c3c83
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_8.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_9.obj b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96db07fc5aea22678105a0e647c9bfdf6e0e1989
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/01a1836ab3d05c6eabfc58aa585d2ed0/mjcf/mesh/charging_cable_003_collision_9.obj
@@ -0,0 +1,301 @@
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