diff --git a/.gitattributes b/.gitattributes
index 4a8c8c6dd60799316165ccd0dab1ddef2c28d515..b80bdfcabdaeea6b10b8bc77ca3013afdef58ab1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3341,5 +3341,5 @@ dataset/desktop_supplies/office_tools/2d8127a1ec195c60b05f07481d145dc4/mesh/scis
 dataset/desktop_supplies/office_tools/2d8127a1ec195c60b05f07481d145dc4/scissor_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/2d86f440ad11583db7743a384dd7c6dc/cutter_knife_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/2d86f440ad11583db7743a384dd7c6dc/mesh/cutter_knife_023.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/319607e267a25b66803955949c56b7d0/mesh/scissors_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/319607e267a25b66803955949c56b7d0/scissors_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/scissors_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/material.mtl b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd89bd9b036e38209dbbfc3a84bb21a1397d9399
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scissors_020_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
+map_Kd scissors_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/material_0.png b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6aadf04135e328d4880d777508da3c901b03e45a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5358667209fdd173082736bb6f0b25f1afe59284f0d34c460ea413ce3c0aa68
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020.glb b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fbb1295bd2507f6538e2e60071cfdb850f77ed15
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3867863f76bfb4c2d4574a936dbf285d057639b7096d84b7a42eaacf9301cda6
+size 10587020
diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020.mtl b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d2038eb31cd3a8692d6b0c654f1dbb6da4f00642
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020.mtl
@@ -0,0 +1,6 @@
+newmtl scissors_020_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/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56fedeeff092c2703aa15b8de80ddd2efc2a4487
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020.obj
@@ -0,0 +1,108484 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scissors_020_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020_collision.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..604e2fbc24c567e6fa19c520cb6819c1f1c815ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020_collision.obj
@@ -0,0 +1,7399 @@
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mesh/scissors_020_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020.obj
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef82e55c34024377646482d40dd072de7e31db93
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision.obj
@@ -0,0 +1,7399 @@
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_0.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b553342eb27ee47e2aed4273cff7be1591032c14
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_0.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_1.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56463d43eba55e46e92af552e5b15dcdbd7a21a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_1.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_10.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d42c3987606bdca9b1ada3b8838b005567f2b55
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_11.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cfe8b4963d2a48da149d95fce396a91498b888e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_11.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_12.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28dbe6401bf9b549b67745dcc4d4814e4e8e612c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_12.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_13.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..743326cb08ac59b36d1df2be48eaefc25cbef886
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_13.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_14.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abec92c7196dee20951019e758497b91785e53bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_14.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_15.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f73811cbfd7b75857eda785647a2ec21f18063a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_16.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff9df2e1cff08595c139111799858f8f7aa15101
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_16.obj
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+f 37 51 41
+f 39 46 52
+f 39 52 40
+f 40 53 54
+f 40 54 55
+f 40 52 56
+f 40 56 53
+f 41 51 57
+f 41 57 42
+f 42 57 58
+f 42 58 59
+f 42 59 60
+f 42 60 43
+f 43 60 44
+f 44 60 45
+f 45 60 61
+f 45 61 62
+f 45 62 52
+f 45 52 46
+f 47 55 54
+f 47 54 63
+f 47 63 64
+f 47 64 48
+f 50 65 51
+f 51 65 57
+f 52 62 53
+f 52 53 56
+f 57 65 58
+f 58 65 66
+f 58 66 60
+f 58 60 59
+
diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_17.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..722448c81f967985e232ed702d4b7c110c66dcd0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_17.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00607482 -0.01143184 0.00087261
+v 0.00058706 -0.01358700 0.00246949
+v 0.00607482 -0.01312143 0.00085317
+v 0.00607482 -0.00988888 0.00084400
+v -0.00011656 -0.01354754 0.00259901
+v -0.00011656 -0.01358700 0.00260225
+v 0.00607482 -0.01358699 0.00083644
+v 0.00581422 -0.00988888 0.00077169
+v -0.00011656 -0.01233439 0.00189150
+v 0.00607482 -0.00988887 -0.00267089
+v -0.00011656 -0.01358698 -0.00241455
+v 0.00607482 -0.01358698 -0.00290511
+v 0.00432334 -0.00988888 0.00034858
+v -0.00011656 -0.01203245 0.00130434
+v 0.00607482 -0.00996454 -0.00269625
+v 0.00564816 -0.00988887 -0.00261746
+v -0.00011656 -0.01352471 -0.00240376
+v 0.00058706 -0.01358698 -0.00263744
+v 0.00569240 -0.01358698 -0.00290619
+v 0.00607482 -0.01354752 -0.00290511
+v 0.00421183 -0.00988888 0.00026493
+v -0.00011656 -0.01176382 0.00074578
+v 0.00607482 -0.01014591 -0.00275669
+v 0.00565301 -0.01013396 -0.00270003
+v -0.00011656 -0.01253674 -0.00171082
+v 0.00423365 -0.00988887 -0.00193099
+v 0.00058706 -0.01354752 -0.00263042
+v 0.00227551 -0.01354752 -0.00288299
+v 0.00227551 -0.01358698 -0.00288407
+v 0.00396396 -0.01358698 -0.00291105
+v 0.00607482 -0.01184056 -0.00290187
+v 0.00374578 -0.00988888 -0.00072806
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+v -0.00011656 -0.01168635 -0.00011823
+v 0.00565301 -0.01184056 -0.00290241
+v -0.00011656 -0.01226522 -0.00142641
+v 0.00396396 -0.01354752 -0.00291051
+f 1 2 3
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+f 1 15 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
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+f 2 18 29
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+f 2 12 7
+f 2 7 3
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+f 28 35 29
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+f 29 37 30
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+f 30 35 31
+
diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_18.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40309868eff7fd55001a8b22d66a338337aeeb37
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_18.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.01292374 -0.01022186 -0.00350400
+v -0.01292374 -0.01162779 -0.00321471
+v -0.01407210 -0.01133313 -0.00309845
+v -0.01454514 -0.01022186 -0.00317163
+v -0.01123544 -0.01022186 -0.00349169
+v -0.01292374 -0.01248110 -0.00274489
+v -0.00011656 -0.01386173 -0.00246176
+v -0.01399087 -0.01283419 -0.00175325
+v -0.01459452 -0.01184655 -0.00223401
+v -0.01519817 -0.01053362 -0.00271411
+v -0.01528577 -0.01022186 -0.00278933
+v -0.01114943 -0.01022186 -0.00347528
+v -0.00011656 -0.01352468 -0.00240363
+v -0.01292374 -0.01294143 -0.00200492
+v -0.00011656 -0.01386175 0.00262093
+v -0.01068754 -0.01386174 -0.00069595
+v -0.01410555 -0.01290546 -0.00073356
+v -0.01494970 -0.01219430 -0.00073355
+v -0.01562183 -0.01122233 -0.00172793
+v -0.01082770 -0.01386174 -0.00054002
+v -0.01135012 -0.01386174 0.00074570
+v -0.01584641 -0.01022186 -0.00213964
+v -0.01562661 -0.01022186 -0.00240567
+v -0.00972871 -0.01022186 -0.00314154
+v -0.00011656 -0.01253669 -0.00171085
+v -0.00110246 -0.01386175 0.00281721
+v -0.00011656 -0.01354751 0.00259905
+v -0.00110246 -0.01354751 0.00279601
+v -0.01410396 -0.01290581 0.00074570
+v -0.01494811 -0.01219288 0.00074571
+v -0.01570465 -0.01133991 0.00074571
+v -0.01570465 -0.01134098 -0.00073355
+v -0.01638794 -0.01022187 -0.00073355
+v -0.01637520 -0.01022187 -0.00081425
+v -0.01085318 -0.01386175 0.00184471
+v -0.01399087 -0.01283421 0.00175786
+v -0.00414936 -0.01022187 -0.00039981
+v -0.00011656 -0.01226519 -0.00142635
+v -0.01123544 -0.01022188 0.00347375
+v -0.00279235 -0.01386175 0.00288491
+v -0.00011656 -0.01233433 0.00189122
+v -0.00447587 -0.01022188 0.00222633
+v -0.00617054 -0.01022188 0.00275977
+v -0.01562183 -0.01122057 0.00173256
+v -0.01638475 -0.01022187 0.00074571
+v -0.00955192 -0.01386175 0.00241645
+v -0.01292374 -0.01245298 0.00273993
+v -0.01405458 -0.01131391 0.00309967
+v -0.01458496 -0.01183624 0.00223864
+v -0.00348041 -0.01022187 0.00016850
+v -0.00011656 -0.01168659 -0.00011737
+v -0.01133578 -0.01022188 0.00347444
+v -0.00448065 -0.01386175 0.00287807
+v -0.01292374 -0.01022188 0.00348264
+v -0.00011656 -0.01203290 0.00130445
+v -0.00312364 -0.01066511 0.00186661
+v -0.00420511 -0.01022188 0.00212238
+v -0.01518065 -0.01049266 0.00271942
+v -0.01582730 -0.01022188 0.00213880
+v -0.00785884 -0.01386175 0.00283499
+v -0.01292374 -0.01160002 0.00321046
+v -0.01300816 -0.01022188 0.00346965
+v -0.01452285 -0.01022188 0.00316190
+v -0.01486528 -0.01022188 0.00297314
+v -0.00320806 -0.01022187 0.00074571
+v -0.00011656 -0.01176426 0.00074571
+v -0.00617054 -0.01386175 0.00286166
+v -0.01556609 -0.01022188 0.00244381
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+f 1 23 22
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+f 1 45 59
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+f 55 66 56
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+
diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_19.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad008a1d162afa542df4e59ff8fea1f8150cebc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_19.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.01216628 -0.00988887 -0.00353201
+v 0.01072070 -0.00988887 -0.00352098
+v 0.01240868 -0.00988887 -0.00353132
+v 0.01240868 -0.01013396 -0.00352511
+v 0.01072070 -0.01013396 -0.00351202
+v 0.01047829 -0.00988887 -0.00349823
+v 0.01411727 -0.00988887 -0.00321145
+v 0.01411923 -0.01004201 -0.00319008
+v 0.01357162 -0.01134965 -0.00310391
+v 0.01240868 -0.01163022 -0.00321766
+v 0.00734277 -0.01358698 -0.00290125
+v 0.00607482 -0.01358698 -0.00290470
+v 0.00607482 -0.01354752 -0.00290470
+v 0.00607482 -0.01184056 -0.00290193
+v 0.00607482 -0.01014591 -0.00275648
+v 0.00719850 -0.00988887 -0.00291710
+v 0.01433514 -0.00988887 -0.00314183
+v 0.01348918 -0.01284048 -0.00176864
+v 0.01240868 -0.01248316 -0.00274546
+v 0.01469727 -0.01054993 -0.00273235
+v 0.01409372 -0.01186373 -0.00225049
+v 0.00903369 -0.01358698 -0.00269996
+v 0.00607482 -0.01358699 0.00083645
+v 0.00607482 -0.00996454 -0.00269650
+v 0.00607482 -0.00988887 -0.00267100
+v 0.01529689 -0.00988887 -0.00241387
+v 0.01161474 -0.01358699 -0.00073391
+v 0.01059410 -0.01358698 -0.00211194
+v 0.01512025 -0.01124068 -0.00174588
+v 0.01445585 -0.01222324 -0.00073390
+v 0.01361087 -0.01291616 -0.00073391
+v 0.01546864 -0.00988887 -0.00223325
+v 0.01538915 -0.01004201 -0.00222843
+v 0.00971968 -0.01115599 0.00307274
+v 0.00936148 -0.01013398 0.00319131
+v 0.00928591 -0.00988889 0.00320648
+v 0.00607482 -0.01312143 0.00085300
+v 0.00899248 -0.01358699 0.00089780
+v 0.01240868 -0.01294404 0.00200216
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+v 0.01240868 -0.00988889 0.00351049
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+v 0.01544705 -0.00988889 0.00224000
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+v 0.01410746 -0.00988889 0.00319821
+v 0.01265108 -0.00988889 0.00348705
+v 0.01420069 -0.00988889 0.00317408
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+f 61 72 62
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+
diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_2.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..367fff2c39621188a35d4f17f85aa7feec2815ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_2.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.00031475 -0.03499338 -0.00187774
+v 0.00031475 -0.03499340 0.00181125
+v 0.00031475 -0.03403018 -0.00210493
+v 0.01071913 -0.03499339 -0.00060632
+v 0.00059885 -0.03499340 0.00191785
+v 0.00031475 -0.03431536 0.00198321
+v 0.00031475 -0.03232240 -0.00247531
+v 0.01148891 -0.03499339 -0.00041568
+v 0.00031475 -0.02940746 -0.00309311
+v 0.00312981 -0.02806405 -0.00295693
+v 0.00058706 -0.02378985 -0.00388131
+v 0.00565369 -0.02037588 -0.00287209
+v 0.00331488 -0.03499340 0.00289126
+v 0.00058706 -0.03403020 0.00215752
+v 0.00031475 -0.03403020 0.00205014
+v 0.01197106 -0.03499339 -0.00026940
+v 0.00031475 -0.02889893 -0.00318259
+v 0.00031475 -0.02378985 -0.00386341
+v 0.00058706 -0.02208366 -0.00396456
+v 0.00565369 -0.01880909 -0.00290321
+v 0.00750446 -0.01880909 -0.00226828
+v 0.00413653 -0.03499340 0.00316281
+v 0.00031475 -0.02889895 0.00318384
+v 0.00031475 -0.03232084 0.00242829
+v 0.01182606 -0.03403019 -0.00021103
+v 0.01225869 -0.03499339 0.00032819
+v 0.00754336 -0.01880909 -0.00224494
+v 0.00850175 -0.01880910 -0.00087626
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+v 0.00058706 -0.01880909 -0.00306273
+v 0.00565369 -0.03499340 0.00342970
+v 0.00031475 -0.02378987 0.00385770
+v 0.01235771 -0.03499339 0.00074525
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_3.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7efc43fb46db6c406525dea803b9f24de2c137c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_3.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_4.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..172123681b572143534f83fbe3e80e76e1d1a317
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_4.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_5.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..814b351c32a59ef451d991760103529e534cc46e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_6.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c00d0ab003c280857631fb763fa126921b092a4f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_6.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_7.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bff0ed03b23b7ab8ad2c089e0b2e5b69f98d82b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_7.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_8.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..986c72e53135317e48a57ed1326b075d76c72c30
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_8.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_9.obj b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43c83f808e5e1d00a3fb17b08155e362500735c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/mesh/scissors_020_collision_9.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/scissors_020.xml b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/scissors_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3f70c3f46d18727169d51fac8c24e914189899ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/mjcf/scissors_020.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scissors_020">
+  <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/scissors_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scissors_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scissors_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scissors_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scissors_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scissors_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scissors_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scissors_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scissors_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scissors_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scissors_020_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scissors_020_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/scissors_020_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/scissors_020_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/scissors_020_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/scissors_020_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/scissors_020_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/scissors_020_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/scissors_020_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/scissors_020_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/scissors_020_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scissors_020">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/scissors_020.urdf b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/scissors_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..63042dc8820c30fe78e66d47d30829abeefc7a6c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/scissors_020.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scissors_020">
+   <link name="scissors_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scissors_020.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/scissors_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>2b8ed226773351f48ef957a9f8fbe1fa</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scissors</category>
+         <name>green scissors</name>
+         <color>green,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>dark green handled metal scissors with pointed blades</description>
+         <min_height>0.0079</min_height>
+         <max_height>0.0079</max_height>
+         <real_height>0.0079</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609172836</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.039124 -0.067639 -0.003947</min>
+            <max>0.038600 0.035268 0.003961</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/scissors_020.usd b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/scissors_020.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f5c69f34c63a93244ab48b5191246adddfb2457c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/scissors_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:706b12e2376b463f3696b4216c492fa1ff16663223e57bb2fcd55b147ec653c7
+size 4944967
diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/textures/material_0.png b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6aadf04135e328d4880d777508da3c901b03e45a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/textures/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/video.mp4 b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2fd8b777ada183cef4d5a502f2da6e1497b4872b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2b8ed226773351f48ef957a9f8fbe1fa/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 116666