diff --git a/.gitattributes b/.gitattributes
index 84c501daf0a87fc82b8fde8d6eedd268598d94a0..0910320b9620b8a108879877e5156d49ae4f1b99 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3421,3 +3421,5 @@ dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scot
 dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/scotch_tape_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/bc17e30217e15df0a045fdcfc1a9aa8c/mesh/staples_box_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/bc17e30217e15df0a045fdcfc1a9aa8c/staples_box_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/scissors_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/material.mtl b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97bc96f7d8535d671d8acbc05d529ec26d4c14d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scissors_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/material_0.png b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5e25b012e0fc69ae0db4aae8071953c1df1a8ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:118bf80d2fb70f3be797a75a8a04e5499f0dad4724101dac58a1510dcfad3b8a
+size 5838745
diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010.glb b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..13f2241817795668c29dc98db84f14b69f24f765
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33ed90030ef5579dd39cd8167e79c836eb4676ee56babfcbb7f57d375710926b
+size 9269580
diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010.mtl b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..58285b47a9aca0e70b2765f375fff1d8df4a9479
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010.mtl
@@ -0,0 +1,6 @@
+newmtl scissors_010_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/baf50823816a5660af37063c89fa562e/mesh/scissors_010.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0b33efa58566698db7a9af38d6474e8c6f17b31
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010.obj
@@ -0,0 +1,108922 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scissors_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010_collision.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..474e9155810597d65ee443445afedd54e3126291
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010_collision.obj
@@ -0,0 +1,5952 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5e25b012e0fc69ae0db4aae8071953c1df1a8ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5838745
diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5e25b012e0fc69ae0db4aae8071953c1df1a8ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:118bf80d2fb70f3be797a75a8a04e5499f0dad4724101dac58a1510dcfad3b8a
+size 5838745
diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbb08f83e3a7693634332efc53ad39585732f785
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010.obj
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..502f3e047c80ad69a39c38737121deb7783877a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision.obj
@@ -0,0 +1,5952 @@
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_0.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bda8dd5c72cb62f95a19ab243fea1ea08e5a737f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_1.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d69e875e9fd64e1245e69be3490efaa9ad2f83f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_10.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fc9c5d5452b3c9233a9ebb5ed9af713161f09fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_10.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_11.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d3ebf45be7db94b02ef56819449d9e4ddde74b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_11.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_12.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..190c28780a4939d9e33a3a390f150aa50231a6f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_12.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_13.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2358950349b02a484d50da259e4f2a4f794cfcb1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_13.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_14.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..effbc56f9d07bc6e2ce06d270a1c47b6183dbe62
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_14.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_15.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b40d159d1bf7d26603f23bd072037648abd57a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_15.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_16.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbcb6670a82a5138d9fc5564a74d817133757e98
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_16.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_17.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..788a846707d199dad3b6e29bfbb117d76e9efc97
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_17.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_18.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b66d914971aeb99512da16a0f2dc00f9fb765a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_18.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_2.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73723d01dc2551dfa79006d1062c78aaddf7bb78
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_2.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_3.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f115de5017e0e5e2720251eb6aaae70109ff859
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_3.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_4.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..426c77df4ae627024a29e40d639551bd9459b5a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_4.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_5.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..860e2243c07f9613db3ebcdb68fde9819aadcd09
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_5.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_6.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bc73c983cfef8a966fe6f062e9b4d2850936b31
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_6.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_7.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12cc89b12552338cfb76bf03c02db77c334809ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_7.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.00034869 -0.02368504 -0.00374344
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+
diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_8.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..753d03bd9d5dfbe0c2e141e9a63f870853e36f04
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_8.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.03243396 0.02542933 0.00085032
+v 0.03617657 0.01925310 0.00085030
+v 0.03243396 0.02619729 0.00227286
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_9.obj b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89769636c23a02e140de0a21a124ae4e69371515
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/mesh/scissors_010_collision_9.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/scissors_010.xml b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/scissors_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d429cfe262efbcc8061c797b033bcae36c74bb44
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mjcf/scissors_010.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scissors_010">
+  <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_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scissors_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scissors_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scissors_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scissors_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scissors_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scissors_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scissors_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scissors_010_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scissors_010_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scissors_010_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scissors_010_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/scissors_010_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/scissors_010_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/scissors_010_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/scissors_010_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/scissors_010_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/scissors_010_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/scissors_010_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/scissors_010_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scissors_010">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/scissors_010.urdf b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/scissors_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3e5db35ea9d19552f21dcbe84e0602706c4c1e3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/scissors_010.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scissors_010">
+   <link name="scissors_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scissors_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>baf50823816a5660af37063c89fa562e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scissors</category>
+         <name>metal scissors</name>
+         <color>silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>sleek metal scissors with symmetrical handles and sharp blades</description>
+         <min_height>0.0088</min_height>
+         <max_height>0.0088</max_height>
+         <real_height>0.0088</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506210905</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>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/baf50823816a5660af37063c89fa562e/scissors_010.usd b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/scissors_010.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/scissors_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e5e85f362ffac70569a2863cc9ae4763f8ef90d5b55fbc8d23c6fde71acbf44
+size 4964815
diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/textures/material_0.png b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:118bf80d2fb70f3be797a75a8a04e5499f0dad4724101dac58a1510dcfad3b8a
+size 5838745
diff --git a/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/video.mp4 b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aba020a455dad5e8a7abda50b916ef12ac7ae5ef685faf85f87f6dbe10a11db0
+size 120621