diff --git a/.gitattributes b/.gitattributes
index 7fe11012607bc505075dda2f38410cb39f030f83..e727c21105901249c2bbea2cc5b11d2730f3fbc2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3419,3 +3419,5 @@ dataset/desktop_supplies/office_tools/ac403a08cf5f547295d2c32246594264/mesh/scis
 dataset/desktop_supplies/office_tools/ac403a08cf5f547295d2c32246594264/scissors_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/scotch_tape_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/scotch_tape_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/scissors_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/material.mtl b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..18799377a0d7293b5119be6fdc1d1dc1efbf3615
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scissors_006_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_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/material_0.png b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e3929d67b573f77361bc946420c7082e87a6594
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f05764a519c408bf5ac1d99e8c1b9d103883374a30785a0c4d7740923f6ad0cf
+size 7693657
diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006.glb b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a6fa391c0e79043bb21373bed5351cc0cd96cf56
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cc63699a61bd96f410af1ccdcc0efca10067006adc44aa753a54a6afb91af6d
+size 11147236
diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006.mtl b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c085b59a37b640edcd72992aac04609a320b2f57
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006.mtl
@@ -0,0 +1,6 @@
+newmtl scissors_006_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/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e64c4c744b27c3942156f9d353e1131ac8105faf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006.obj
@@ -0,0 +1,107214 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scissors_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006_collision.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29ffb77bbd7b8d515740f00b8fe04739b9f25b56
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006_collision.obj
@@ -0,0 +1,8431 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006.obj
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index 0000000000000000000000000000000000000000..07f0841d5026a9fdef09a666013f2037f3885aa4
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+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006.obj
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b970dab38f18205287f9f24fa2e16c30ebda78a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision.obj
@@ -0,0 +1,8431 @@
+# https://github.com/mikedh/trimesh
+
+o scissors_006_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_0.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c985155c46c65bd4fa8e9aa5ce1552b5d0ce8e57
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_1.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4f79cc4b1d91dc02559fda91cf6d616c0f861fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_10.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72c9db51240ada2de205b110eecb4b8589edfb48
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_11.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..926482391402516ca9b96de8f9fc33621ba829fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_12.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55b89d3f08b60361f48c39d5c22e1cab95a14b5c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_12.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_13.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5f5cb1eb577a50309e1c3c9299ae866842709d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_13.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_14.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc9bf4283607d521f39b85163fa1d0b42b311b26
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_14.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_15.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad91ede6817f7c75c2d5d4c185a613835df6cae9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_15.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_16.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3319fb6e9315c3da073b4f505d01646b2027c0d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_16.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_2.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31fe1eb24a29442c5f39226ae3c2da8df17a711b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_2.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_3.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae186376e6bd89f51f399ebd4788b5c0b4f3fd08
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_4.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed89f8ce632981eaaff59550774e3cc8d4a37f92
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_5.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11d4b628d4f5ca7671da933ab0825de7cdeca109
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_6.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ccf05f84bc949940b175e8966bd0f466de99384
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_7.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a16baffe0663998efebe646fdda363b5565904f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_7.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_8.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..314e75b0929f261d30c3534c75d5e2cb6c760946
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_8.obj
@@ -0,0 +1,676 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_9.obj b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/mesh/scissors_006_collision_9.obj
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/scissors_006.xml b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/scissors_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..83d22cf5872d3435d27c4d8522b6b222080529e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mjcf/scissors_006.xml
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+    <mesh name="collision_mesh_0_0" file="mesh/scissors_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scissors_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scissors_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scissors_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scissors_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scissors_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scissors_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scissors_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scissors_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scissors_006_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scissors_006_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/scissors_006_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/scissors_006_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/scissors_006_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/scissors_006_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/scissors_006_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/scissors_006_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scissors_006">
+      <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/af8ea18beaf85cb38d663974c33d292a/scissors_006.urdf b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/scissors_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1a2008a027c7b34fc0b9bcd2407c002a66cfe4e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/scissors_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scissors_006">
+   <link name="scissors_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scissors_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <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>af8ea18beaf85cb38d663974c33d292a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scissors</category>
+         <name>ergonomic scissors</name>
+         <color>red,blue</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>scissors with red handles and blue blades</description>
+         <min_height>0.0087</min_height>
+         <max_height>0.0087</max_height>
+         <real_height>0.0087</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506210752</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <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/af8ea18beaf85cb38d663974c33d292a/scissors_006.usd b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/scissors_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ca08ced4e69bd05fbfad51917e1f58ef8f3de651
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/scissors_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95c4b8ad8feea7f01df5da588f32ac52ad2b430637ce8850315de935ac0d3c0d
+size 4978564
diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/textures/material_0.png b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e3929d67b573f77361bc946420c7082e87a6594
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f05764a519c408bf5ac1d99e8c1b9d103883374a30785a0c4d7740923f6ad0cf
+size 7693657
diff --git a/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/video.mp4 b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c34a7bf38f135fdf28adc6552f930c4008a62da0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd95cbef601ef84b87d32c43054f75ac8256063d11912c3b6470dacaf0b2265
+size 122838