diff --git a/.gitattributes b/.gitattributes
index c81ec70339dac1e06c82466ac90a88531ca6d469..aeb12be6d84de3cafeedb946d6efd8e1007050a1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3341,3 +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/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/scissors_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/material.mtl b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..673e326e9a97de777c34fae7034df3a0ff8ba828
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scissors_012_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 scissors_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/material_0.png b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b41d2fee948afd5bf174bcee02f43ac3f28a05e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd191007c724ca35ab4fef2833e3f3f04165eb38ffac463a9e87fa507b75290b
+size 7634171
diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012.glb b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e52800d8ee7ad0b4da6a9972b2eec4d1673024bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c9e5063a4f43717716c312898beeaca66a90564b937d971e53fa10f634e1974
+size 11028648
diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012.mtl b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..23d7249f806735f1c0475ead921a1e045e6cc850
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012.mtl
@@ -0,0 +1,6 @@
+newmtl scissors_012_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/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..349f7bc61ac8517aadc73df245dee363aaec6260
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012.obj
@@ -0,0 +1,107680 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scissors_012_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012_collision.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d72604a0aed5a145143eae26e43dbb248985df86
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..4b41d2fee948afd5bf174bcee02f43ac3f28a05e
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+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mesh/scissors_012_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:bd191007c724ca35ab4fef2833e3f3f04165eb38ffac463a9e87fa507b75290b
+size 7634171
diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..4b41d2fee948afd5bf174bcee02f43ac3f28a05e
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+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd191007c724ca35ab4fef2833e3f3f04165eb38ffac463a9e87fa507b75290b
+size 7634171
diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012.obj
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index 0000000000000000000000000000000000000000..83190f6e62aa1afc1efa03436f6c373bd9ac716f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scissors_012_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51535f3de25ba753bdfc527cb29bbee1e5afe99
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision.obj
@@ -0,0 +1,6832 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_0.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ba657088b08d936ee815daad07c44d00d6afda8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_0.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_1.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93449908aa2951deb0170aafb1dce93cf1ee2c23
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_1.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_10.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bebe0545424ca8b0108f8b3ef7e7d9a37241fd53
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_10.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_11.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e96759e2b5d003b597c7ce0f4f809b993f407151
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_11.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_12.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68beb5fad2a48fbeab64e2d50f82dae77748ff77
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_12.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_13.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c82c9d3acffc56285be239b6733c0d3ef8becc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_13.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_14.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9feea46e3aaed39632f71ca292bab48c5876981
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_14.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_15.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..268098834d0d62d0f18fd780e8d40247c1df967f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_15.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_16.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55daafaa2e66706e6183be26da811818f243f18c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_16.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_17.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ef6805bf77a26938f44af78939eebbb4d684bf7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_17.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_18.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e952451bb3a4ac0c4a740f99d9b930618991337f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_19.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf4b3b7d927e32483e3e7fda519c56ce109f5ea0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_19.obj
@@ -0,0 +1,517 @@
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_2.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bb431e4a3fd83dab0821d42d99b7a58f19e6754
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_2.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_3.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71f50d66af065dc7368f4753430351965a606d3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_3.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_4.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..126f9505a337e02d41ee9565aaa0f4e75bc4bebc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_4.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_5.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ec8b1dc748c83a53b81e4a70d5508ae80b4516f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_5.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_6.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1adee15b9e2e266a5a8a3c0ff43e7d521f02c24
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_6.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_7.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f42718fe5758140977b459199e5bf11ded3a964
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_7.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_8.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..636c40b8438928d05e74c982c97cdf7ca7d8ea94
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_8.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_9.obj b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fb5d9f65705a71feb89a1ed43ee85e0353aaa3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/mesh/scissors_012_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/scissors_012.xml b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/scissors_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a6ef09efffd9c092f11f486183c2ab8b2dffc39a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/mjcf/scissors_012.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scissors_012">
+  <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_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scissors_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scissors_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scissors_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scissors_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scissors_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scissors_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scissors_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scissors_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scissors_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scissors_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scissors_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/scissors_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/scissors_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/scissors_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/scissors_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/scissors_012_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/scissors_012_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/scissors_012_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/scissors_012_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/scissors_012_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scissors_012">
+      <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/2fa8451f22f7530595ceb94eee718f20/scissors_012.urdf b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/scissors_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d48332af804f61a189e1c092bd98e7afb40df34
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/scissors_012.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scissors_012">
+   <link name="scissors_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scissors_012.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_012_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>2fa8451f22f7530595ceb94eee718f20</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>small metal scissors with dark green plastic finger-loop handles</description>
+         <min_height>0.0134</min_height>
+         <max_height>0.0134</max_height>
+         <real_height>0.0134</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609172559</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.107260 -0.051969 -0.006703</min>
+            <max>0.045965 0.048337 0.006692</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/2fa8451f22f7530595ceb94eee718f20/scissors_012.usd b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/scissors_012.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/scissors_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4f56d8d5cce7c32c8802798ca8ec020f34e107858ca69571f7aab70ab505ba3
+size 4952745
diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/textures/material_0.png b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/textures/material_0.png
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+size 7634171
diff --git a/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/video.mp4 b/dataset/desktop_supplies/office_tools/2fa8451f22f7530595ceb94eee718f20/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 103743