diff --git a/.gitattributes b/.gitattributes
index 84e036eb6e7feefb38c62eb4f1da3e6c2f18787c..85c2d8011101d3367e85953216dd12682b46f759 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3407,3 +3407,5 @@ dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/stap
 dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/staples_box_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/staples_box_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/scissors_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/scissors_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/material.mtl b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c2c083285072bbd7b97be17c6631141fa85079d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scissors_014_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/material_0.png b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/scissors_014.glb b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/scissors_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..06b31fda84e95d8300fd3018eb78f6b44278b4e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/scissors_014.glb
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+version https://git-lfs.github.com/spec/v1
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+size 9141344
diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/scissors_014.mtl b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/scissors_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a579a81cce2af75866584ae584269950865ed440
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/scissors_014.mtl
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+newmtl scissors_014_geometry_Looks_material_0
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+Ks 0.000000 0.000000 0.000000
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/scissors_014.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/scissors_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f5c01eb87144cc895bed7d0d67748baa79f95b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/scissors_014.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scissors_014_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/scissors_014_collision.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/scissors_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f191197ddd49bc21f0a46145c2522e99a6cd70a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/scissors_014_collision.obj
@@ -0,0 +1,5377 @@
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c024edc5112f035f1e530697fa9f8402162b687c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision.obj
@@ -0,0 +1,5377 @@
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_0.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3af644f71dc63e5fce5d4895f5ba2a60e15441fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_0.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_1.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ceecf00a68b132704d9b6ea39f4f0c94c1c9181
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_1.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_10.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48855cf341ac04abac680dd7d3bbd93ac8a76613
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_10.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_11.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..668c200e7491e7efdec67671e2c4834604193138
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_11.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_12.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c9855d560f9c3d8f64d09746329ffd700dbc255
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_12.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_13.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..434eb9d8dcc30c9c578a9b132fd6b22d69205cb3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_13.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_14.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da4ba8ef3df0fe9fac4f5226810e5097c200c158
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_14.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_15.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f16e84175142ed3107c6b30d44612236b275c9c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_15.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_16.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69be078e884b5bfae4ddce00fc1eb5757e6752f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_16.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_2.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d74d3b2f3c40b4594fe707b4f70bd0e4613b4218
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_2.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_3.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dda5848a5d86d73572735c62438eebcbccec5e2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_3.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_4.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec887d28ef99a85d0465455656624c13eb360f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_4.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_5.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de706d78036509bc0f55e736c112e1c3da690697
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_5.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_6.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e68aab631b3d8c6121f082fe6e5ddd5c0374c8ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_6.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_7.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c2134080c9914541c3e13957020ae4cafa33a72
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_7.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_8.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f921c90defb511f186fe87e9f1339590ebb59ec2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_8.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_9.obj b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde9bef5e0ffa64abda552ac1412e3701672d384
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/mesh/scissors_014_collision_9.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.00176720 -0.01774847 -0.00060846
+v 0.00159249 -0.01911651 -0.00157532
+v 0.00162600 -0.01774846 -0.00165903
+v 0.00176561 -0.01648358 -0.00060845
+v 0.00167945 -0.01648358 0.00083975
+v 0.00167386 -0.01774847 0.00089833
+v 0.00160206 -0.01962803 0.00054745
+v 0.00162360 -0.01969704 -0.00046615
+v 0.00150473 -0.02036862 -0.00091331
+v 0.00081145 -0.02150687 -0.00223176
+v 0.00122311 -0.01969703 -0.00216269
+v 0.00121912 -0.01774846 -0.00247033
+v 0.00161882 -0.01648357 -0.00162275
+v 0.00162520 -0.01648358 0.00110553
+v 0.00150713 -0.01774848 0.00171033
+v 0.00153505 -0.02057422 0.00021259
+v 0.00143293 -0.01962803 0.00135874
+v 0.00153505 -0.02057422 0.00016864
+v 0.00129092 -0.02132334 -0.00046616
+v 0.00054978 -0.02338644 -0.00060848
+v 0.00008068 -0.02346682 -0.00229386
+v -0.00020014 -0.02289413 -0.00320281
+v 0.00002085 -0.02150687 -0.00335000
+v 0.00020194 -0.01962802 -0.00343231
+v 0.00025460 -0.01774846 -0.00344068
+v 0.00020593 -0.01648357 -0.00341416
+v 0.00052106 -0.01648357 -0.00309676
+v 0.00116966 -0.01648357 -0.00243405
+v 0.00147920 -0.01648359 0.00165174
+v 0.00051547 -0.01648359 0.00260395
+v 0.00054260 -0.01774848 0.00262069
+v 0.00046840 -0.01962804 0.00258860
+v 0.00026337 -0.02150689 0.00247418
+v 0.00118562 -0.02132334 0.00085786
+v 0.00040937 -0.02338644 0.00101481
+v -0.00008606 -0.02338645 0.00216723
+v 0.00036708 -0.02375140 -0.00060848
+v 0.00000010 -0.02375139 -0.00216690
+v 0.00022987 -0.02375140 0.00101481
+v 0.00032879 -0.02375140 -0.00013412
+v -0.00016105 -0.02375139 -0.00253732
+v -0.00092294 -0.02375139 -0.00323700
+v -0.00132423 -0.02375139 -0.00346791
+v -0.00122849 -0.02346682 -0.00349511
+v -0.00136013 -0.02150687 -0.00375809
+v -0.00136013 -0.01962802 -0.00376297
+v -0.00083119 -0.01648357 -0.00365343
+v -0.00143831 -0.01648359 0.00336223
+v -0.00136013 -0.01774848 0.00332595
+v -0.00136013 -0.01962804 0.00328409
+v -0.00136013 -0.02150689 0.00321712
+v -0.00136013 -0.02338645 0.00292412
+v -0.00017222 -0.02375141 0.00207655
+v 0.00015009 -0.02375140 0.00132664
+v -0.00136731 -0.02375141 0.00279995
+v -0.00035811 -0.02375141 0.00220002
+v -0.00328838 -0.02375139 -0.00369881
+v -0.00136013 -0.01648357 -0.00375459
+v -0.00366175 -0.02375141 0.00301341
+v -0.00328838 -0.02375141 0.00305806
+v -0.00323653 -0.01648359 0.00266534
+v -0.00173429 -0.02375141 0.00295621
+v -0.00477387 -0.02375139 -0.00330327
+v -0.00328838 -0.02338643 -0.00368765
+v -0.00248581 -0.01648357 -0.00351392
+v -0.00532514 -0.02375141 0.00220769
+v -0.00395853 -0.01648359 0.00198728
+v -0.00567856 -0.02375139 -0.00244803
+v -0.00360511 -0.01648357 -0.00292585
+v -0.00295650 -0.01648357 -0.00338347
+v -0.00438455 -0.01648359 0.00151641
+v -0.00540332 -0.02375141 0.00211701
+v -0.00594502 -0.02375139 -0.00203366
+v -0.00436061 -0.01648357 -0.00198340
+v -0.00395055 -0.01648357 -0.00254217
+v -0.00464223 -0.01648358 0.00096183
+v -0.00592268 -0.02375141 0.00143755
+v -0.00638301 -0.02375140 -0.00060848
+v -0.00472361 -0.01648358 -0.00102352
+v -0.00447948 -0.01648357 -0.00175599
+v -0.00610697 -0.02375140 0.00101481
+v -0.00482891 -0.01648358 -0.00060427
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
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+f 3 13 4
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+f 4 13 28
+f 4 28 27
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+f 4 75 74
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+f 4 71 67
+f 4 67 61
+f 4 61 48
+f 4 48 30
+f 4 30 29
+f 4 29 14
+f 4 14 5
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+f 7 15 17
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+f 15 33 17
+f 16 19 18
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+f 63 68 69
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+f 66 67 71
+f 66 71 72
+f 68 73 74
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+f 68 75 69
+f 71 76 77
+f 71 77 72
+f 73 78 79
+f 73 79 80
+f 73 80 74
+f 76 81 77
+f 76 82 78
+f 76 78 81
+f 78 82 79
+
diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/scissors_014.xml b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/scissors_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dac7ff6663fbe8fa0191f32383743222263bc405
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mjcf/scissors_014.xml
@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scissors_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scissors_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scissors_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scissors_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scissors_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scissors_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scissors_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scissors_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scissors_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scissors_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scissors_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scissors_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/scissors_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/scissors_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/scissors_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/scissors_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/scissors_014_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/scissors_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scissors_014">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/scissors_014.urdf b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/scissors_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..adc729def85c9e4f5505c47cb1d0b8ab33d88f66
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/scissors_014.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scissors_014">
+   <link name="scissors_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scissors_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>9f81f262f6c05a5aba38c1094743795e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scissors</category>
+         <name>black scissors</name>
+         <color>black</color>
+         <shape>irregular</shape>
+         <material>metal</material>
+         <description>small black scissors with short pointed blades and asymmetrical finger loops</description>
+         <min_height>0.0086</min_height>
+         <max_height>0.0086</max_height>
+         <real_height>0.0086</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609172636</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.039139 -0.031841 -0.004039</min>
+            <max>0.077087 0.024318 0.004524</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/9f81f262f6c05a5aba38c1094743795e/scissors_014.usd b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/scissors_014.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7f9ec21a4ef50679f084897f6fd6ca7d392b8169
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/scissors_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76c098c647129d7275949efa2639a3a3cdb8e86fad27eab34405569f2439b517
+size 4976176
diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/textures/material_0.png b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..30773ef5f6fae4965b99a543aa45a28d45a423c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:dd8703e13fa3506e7587300f64b77566eaf604e4937f6ca72af87d267b9d3c67
+size 5703310
diff --git a/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/video.mp4 b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09db082bc44ee8ac9e167e1b97f5a59d6d8ecd8f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b3486739a0b0c30630e16e20827edc936ea3c4e7c499bb911627ca456f493f1
+size 92279