diff --git a/.gitattributes b/.gitattributes
index 5928b0687297470e57102c5962cd23261361eeef..2c077bd72570882ee4b00ddf47f179d7ed8c9019 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3464,8 +3464,5 @@ dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/mesh/stap
 dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/staples_box_037.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/staples_box_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/staples_box_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/magnifier_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/f922f67ffa6c585991bdfe92ef33b82a.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/pen_holder.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/cutter_knife_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/cutter_knife_010.urdf b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/cutter_knife_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4f62a7483336852b415744f4674bbff4cc599d82
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/cutter_knife_010.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="cutter_knife_010">
+   <link name="cutter_knife_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/cutter_knife_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/cutter_knife_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>f694723fd83e58f9825512e918fe4e92</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>cutter_knife</category>
+         <name>compact cutter</name>
+         <color>green,black</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>compact cutter knife with retractable blade and ergonomic handle</description>
+         <min_height>0.0154</min_height>
+         <max_height>0.0154</max_height>
+         <real_height>0.0154</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506210216</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/cutter_knife_010.usd b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/cutter_knife_010.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f04507c5997fa77d23ea2283fbf6ce87eab968fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/cutter_knife_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1e3fdc7573b5b194708d1939461186f8e296911148ae0e8fa64ebb059948c51
+size 4978396
diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010.glb b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bedc91cfcc9d924fa7a7bc97accee59e2ed9b956
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12330780
diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010.mtl b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d5876d071685a3ee863183c09c58d38bda231f18
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010.mtl
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+newmtl cutter_knife_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/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9355ef90994c1215808adf885b0e30f6fd88824e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010_collision.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4320c98c1482de5d667fa8dde65ad94ee4c3dc22
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010_collision.obj
@@ -0,0 +1,6078 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd159fbcb15e5d17299d7d9fbba470e4fcbf0c07
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e40751bde5c70838a005a7b1abc02b701119f3019b3244f78c4c8e73bdd53ed
+size 8911502
diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/material.mtl b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3b0af8e4d480070089c1e718c3b4265b4b8dc4c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl cutter_knife_010_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
+map_Kd cutter_knife_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/material_0.png b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd159fbcb15e5d17299d7d9fbba470e4fcbf0c07
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e40751bde5c70838a005a7b1abc02b701119f3019b3244f78c4c8e73bdd53ed
+size 8911502
diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/cutter_knife_010.xml b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/cutter_knife_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..983d19491218c770ea27a0844f7d49b10df0afd8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/cutter_knife_010.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="cutter_knife_010">
+  <asset>
+    <material name="material_0" texture="texture_0_cutter_knife_010_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_cutter_knife_010_geometry_Looks_material_0" type="2d" file="mesh/cutter_knife_010_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/cutter_knife_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/cutter_knife_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/cutter_knife_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/cutter_knife_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/cutter_knife_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/cutter_knife_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/cutter_knife_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/cutter_knife_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/cutter_knife_010_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/cutter_knife_010_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/cutter_knife_010_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/cutter_knife_010_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/cutter_knife_010_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/cutter_knife_010_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/cutter_knife_010_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/cutter_knife_010_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/cutter_knife_010_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/cutter_knife_010_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/cutter_knife_010_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/cutter_knife_010_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="cutter_knife_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" />
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0b835bd1c9a81a123c5e825237f93e82cab1356
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010.obj
@@ -0,0 +1,111492 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24a09f8ee828f9b3db5ad45061a2be9889051667
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision.obj
@@ -0,0 +1,6078 @@
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_0.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae81512cd1ca19707cf4d8e86d4d65568e9c55e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_0.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_1.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf5d0cc2dad2f17d25de7f15e6f31e99a962383a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_1.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_10.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3abeedff4c6c5a2e5600ccbd29cab8beaf90ded7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_10.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_11.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a0f43b40ae315847f8c7b23ab1953f3acc9814c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_11.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_12.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41e286dcfb15fa66d135a67efd869c7dd1883b67
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_12.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.02835011 0.00521875 -0.00366793
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+
diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_13.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..961ff5d124bab5199661328f40a693e9ee915033
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_13.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.02757652 0.00088805 0.00127815
+v 0.04214406 0.00088805 0.00127815
+v 0.02757652 0.00088804 0.00178218
+v 0.02757652 0.01684097 0.00127821
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+
diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_14.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2482a950bcdc610b57d4a968f2e65abd0e5eb926
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_14.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.03025759 -0.01541972 0.00127809
+v 0.03196690 -0.01451622 0.00127810
+v 0.03025876 -0.01533353 0.00269977
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+v 0.03150146 -0.01075697 0.00705711
+v 0.03277559 -0.00987741 0.00698144
+v 0.03598709 -0.00577332 0.00677222
+v 0.03598709 -0.00394557 0.00682153
+v 0.03396245 -0.00588666 0.00697916
+v 0.03389729 -0.01292471 0.00127810
+v 0.03468154 -0.01214891 0.00127811
+v 0.03485259 -0.01197811 0.00127811
+v 0.03478277 -0.01190150 0.00269979
+v 0.03459660 -0.01170037 0.00442930
+v 0.03520399 -0.01054306 0.00547664
+v 0.03404041 -0.01119594 0.00587677
+v 0.03215075 -0.01132364 0.00679513
+v 0.03789537 -0.00028684 0.00653491
+v 0.03912178 0.00088803 0.00617032
+v 0.04087298 0.00088803 0.00541477
+v 0.04049947 0.00088803 0.00562515
+v 0.03980597 -0.00028684 0.00598057
+v 0.03988975 -0.00198051 0.00577190
+v 0.03933472 -0.00394556 0.00571400
+v 0.03903801 -0.00518109 0.00548755
+v 0.04004683 -0.00394556 0.00442933
+v 0.04147339 -0.00373163 0.00127814
+v 0.03393336 -0.00933147 0.00670284
+v 0.03789537 -0.00394556 0.00644948
+v 0.03789537 -0.00211620 0.00658191
+v 0.03598709 -0.00760108 0.00637035
+v 0.03948017 -0.00729776 0.00127812
+v 0.03541344 -0.01078569 0.00442930
+v 0.03589865 -0.00926282 0.00570481
+v 0.03696101 -0.00854130 0.00531786
+v 0.03980597 0.00088803 0.00597197
+v 0.03797449 -0.00578290 0.00593182
+v 0.03729379 -0.00760108 0.00559589
+v 0.03869475 -0.00644696 0.00442932
+f 1 2 3
+f 1 3 4
+f 1 4 10
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+f 1 21 41
+f 1 41 52
+f 1 52 28
+f 1 28 15
+f 1 15 5
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+f 1 25 46
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+f 1 50 75
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+f 55 78 56
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+f 62 80 81
+f 62 81 63
+f 63 82 64
+f 63 81 83
+f 63 83 82
+f 64 82 79
+f 64 79 65
+f 65 79 76
+f 66 78 67
+f 67 78 84
+f 69 84 70
+f 70 84 78
+f 70 78 77
+f 70 77 71
+f 71 77 72
+f 72 77 85
+f 72 85 73
+f 73 75 74
+f 73 85 86
+f 73 86 83
+f 73 83 87
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+f 73 80 75
+f 77 79 85
+f 79 82 86
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+f 80 87 83
+f 80 83 81
+f 82 83 86
+
diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_15.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5853cff68b8fd04a1a22d34a4e1d4b07b90085c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_15.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02587077 0.01677464 -0.00366827
+v 0.02452617 0.01662914 -0.00422103
+v 0.02455287 0.01672752 -0.00366827
+v 0.02640229 0.01677186 -0.00366827
+v 0.02643627 0.01669704 -0.00422103
+v 0.02391698 0.01655291 -0.00366827
+v 0.02643627 0.01604435 -0.00595052
+v 0.02448005 0.01579352 -0.00607842
+v 0.02261849 0.01552468 -0.00549525
+v 0.00355386 0.01063293 -0.00422105
+v 0.00355386 0.01083940 -0.00366829
+v 0.02772019 0.01647115 -0.00366827
+v 0.02834880 0.01625914 -0.00422177
+v 0.02833182 0.01566326 -0.00602021
+v 0.02643627 0.01539720 -0.00692333
+v 0.02508440 0.01535979 -0.00689256
+v 0.02768379 0.01534039 -0.00688218
+v 0.02381018 0.01512558 -0.00674055
+v 0.00355386 0.00994559 -0.00522130
+v 0.00355386 0.00263150 -0.00366832
+v 0.02834880 0.01631317 -0.00366827
+v 0.02834880 0.01566049 -0.00601391
+v 0.02834880 0.01564802 -0.00603653
+v 0.02834880 0.01521704 -0.00675798
+v 0.02643627 0.01434402 -0.00724291
+v 0.02448005 0.01444795 -0.00707608
+v 0.00355386 0.00885776 -0.00558166
+v 0.00355386 0.00992619 -0.00522797
+v 0.02834880 0.01442855 -0.00711241
+v 0.02833182 0.01443271 -0.00711278
+v 0.00543242 0.00261765 -0.00366832
+v 0.00355386 0.00337151 -0.00423480
+v 0.00734252 0.00433601 -0.00505041
+v 0.00925262 0.00430552 -0.00505857
+v 0.02834880 0.00521873 -0.00366831
+v 0.02643627 0.01251481 -0.00742086
+v 0.02452617 0.01251481 -0.00732410
+v 0.02834880 0.01441747 -0.00711501
+v 0.02834638 0.01251481 -0.00745497
+v 0.02261849 0.01251481 -0.00713206
+v 0.00355386 0.00702994 -0.00577482
+v 0.01116273 0.00430275 -0.00504188
+v 0.02834880 0.00644930 -0.00664383
+v 0.02834638 0.00565526 -0.00577853
+v 0.02834880 0.00565526 -0.00577779
+v 0.02834880 0.00527694 -0.00422107
+v 0.00355386 0.00443994 -0.00501000
+v 0.00543242 0.00438451 -0.00503780
+v 0.02834638 0.00644930 -0.00664383
+v 0.02452617 0.01068560 -0.00719398
+v 0.02261849 0.01068560 -0.00710946
+v 0.02834880 0.01251342 -0.00745497
+v 0.02834638 0.01068560 -0.00736193
+v 0.01688818 0.00702994 -0.00639098
+v 0.00355386 0.00535455 -0.00541447
+v 0.02250927 0.00871642 -0.00692410
+v 0.02179814 0.00801107 -0.00680880
+v 0.02307236 0.00783785 -0.00684180
+v 0.02834880 0.00736253 -0.00697860
+v 0.00355386 0.00533930 -0.00540780
+v 0.02834638 0.00885777 -0.00720697
+v 0.02834880 0.01068560 -0.00736193
+v 0.01879829 0.00702994 -0.00647773
+v 0.02834880 0.00885777 -0.00720697
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 20
+f 1 20 31
+f 1 31 35
+f 1 35 21
+f 1 21 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 6
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 7
+f 7 15 16
+f 7 16 8
+f 7 14 17
+f 7 17 15
+f 8 18 19
+f 8 19 10
+f 8 10 9
+f 8 16 18
+f 10 19 28
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+f 16 19 18
+f 17 24 29
+f 17 29 30
+f 17 30 25
+f 20 32 33
+f 20 33 34
+f 20 34 31
+f 25 36 37
+f 25 37 26
+f 25 30 38
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+f 25 39 36
+f 26 37 40
+f 26 40 27
+f 27 40 41
+f 29 38 30
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+f 31 44 45
+f 31 45 46
+f 31 46 35
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+f 32 48 33
+f 33 48 49
+f 33 49 34
+f 34 49 43
+f 34 43 42
+f 36 50 51
+f 36 51 37
+f 36 39 52
+f 36 52 53
+f 36 53 50
+f 37 51 41
+f 37 41 40
+f 38 52 39
+f 41 54 55
+f 41 51 56
+f 41 56 57
+f 41 57 58
+f 41 58 54
+f 43 49 59
+f 43 45 44
+f 47 60 49
+f 47 49 48
+f 49 60 55
+f 49 55 59
+f 50 53 61
+f 50 61 51
+f 51 61 56
+f 52 62 53
+f 53 62 64
+f 53 64 61
+f 54 58 63
+f 54 63 55
+f 55 63 59
+f 56 61 57
+f 57 61 58
+f 58 61 59
+f 58 59 63
+f 59 61 64
+
diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_16.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fb61ca0e8a1e9386617379e0b6bb4a539da7f8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_16.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.02834616 -0.00353946 -0.00366796
+v 0.02834616 -0.01565509 -0.00366801
+v 0.02834616 -0.00367802 -0.00422091
+v 0.01688919 -0.00360516 -0.00366796
+v 0.02780256 -0.01574229 -0.00366801
+v 0.02834616 -0.01563239 -0.00381326
+v 0.02834616 -0.00426576 -0.00581922
+v 0.01688919 -0.00375567 -0.00422091
+v 0.01613203 -0.00361591 -0.00366796
+v 0.02703326 -0.01570406 -0.00366801
+v 0.02823210 -0.01559177 -0.00407285
+v 0.02834616 -0.01556669 -0.00408113
+v 0.02834616 -0.00534688 -0.00668431
+v 0.01688919 -0.00431116 -0.00564850
+v 0.01498172 -0.00379629 -0.00422091
+v 0.01498172 -0.00363980 -0.00366796
+v 0.02658915 -0.01549979 -0.00407285
+v 0.00355386 -0.01083249 -0.00366799
+v 0.00355386 -0.01072616 -0.00422094
+v 0.02834616 -0.01465161 -0.00573198
+v 0.02834616 -0.01466595 -0.00570682
+v 0.02834616 -0.00626193 -0.00687892
+v 0.01688919 -0.00577335 -0.00640592
+v 0.01498172 -0.00577335 -0.00634063
+v 0.00355386 -0.00577335 -0.00594153
+v 0.00355386 -0.00460622 -0.00535833
+v 0.01498172 -0.00433863 -0.00561091
+v 0.01044601 -0.00380705 -0.00366796
+v 0.01236076 -0.00373418 -0.00366796
+v 0.01426095 -0.00366250 -0.00366796
+v 0.00671357 -0.00395398 -0.00366796
+v 0.02643626 -0.01457994 -0.00566891
+v 0.00355386 -0.01039525 -0.00514463
+v 0.00355386 -0.00411167 -0.00366797
+v 0.02643626 -0.01308788 -0.00650055
+v 0.02834616 -0.01292183 -0.00662446
+v 0.02834616 -0.00760227 -0.00692193
+v 0.02545826 -0.00668482 -0.00681649
+v 0.00355386 -0.00760228 -0.00623776
+v 0.00537883 -0.00401730 -0.00366796
+v 0.00355386 -0.00943121 -0.00571317
+v 0.02834616 -0.01278923 -0.00664325
+v 0.02467683 -0.01110007 -0.00673338
+v 0.02834616 -0.00929382 -0.00687447
+v 0.02541215 -0.01038569 -0.00681810
+v 0.02509909 -0.00943120 -0.00682828
+v 0.02834616 -0.01150743 -0.00679262
+v 0.02834616 -0.00936430 -0.00687224
+v 0.02834616 -0.01125895 -0.00680472
+f 1 2 6
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+f 1 21 20
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+f 1 36 42
+f 1 42 47
+f 1 47 49
+f 1 49 48
+f 1 48 44
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+f 1 37 22
+f 1 22 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
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+f 1 30 29
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+f 1 28 31
+f 1 31 40
+f 1 40 34
+f 1 34 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
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+f 5 11 6
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+f 15 31 28
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+f 18 33 19
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+f 22 39 24
+f 22 24 23
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+f 37 45 46
+f 37 46 39
+f 37 39 38
+f 39 46 45
+f 39 45 43
+f 42 43 47
+f 43 45 47
+f 44 48 45
+f 45 48 49
+f 45 49 47
+
diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_17.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ffc5918947df74598dbbd86047d6c87e81c94df
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_17.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.03025761 0.00088804 0.00177585
+v 0.03025761 -0.00258116 0.00257092
+v 0.03025761 -0.00028658 0.00172769
+v 0.03025644 0.00088805 0.00127815
+v 0.01830259 0.00088804 0.00355275
+v 0.03025644 -0.00258115 0.00127814
+v 0.03025761 -0.00229965 0.00233331
+v 0.01830259 -0.00023327 0.00380123
+v 0.01830259 -0.00094130 0.00374046
+v 0.01830259 -0.00177091 0.00346851
+v 0.01830259 -0.00258116 0.00305133
+v 0.03025761 -0.00138514 0.00176967
+v 0.01830259 0.00088805 0.00127815
+v 0.01830259 -0.00258115 0.00127814
+f 1 2 7
+f 1 7 12
+f 1 12 3
+f 1 3 4
+f 1 4 13
+f 1 13 5
+f 1 5 2
+f 2 6 7
+f 2 5 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 14
+f 2 14 6
+f 3 12 6
+f 3 6 4
+f 4 6 14
+f 4 14 13
+f 5 13 14
+f 5 14 11
+f 5 11 10
+f 5 10 9
+f 5 9 8
+f 6 12 7
+
diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_18.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ca98a4cd7bf4ee2f6bb940ed1d1120026f906c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_18.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.01830259 -0.01274756 0.00127810
+v 0.02452819 -0.01540957 0.00127809
+v 0.02452819 -0.01536901 0.00270003
+v 0.01830259 -0.01270177 0.00217335
+v 0.01830259 -0.00258115 0.00127814
+v 0.02563873 -0.01580744 0.00127809
+v 0.02582012 -0.01578389 0.00270003
+v 0.02452819 -0.01513083 0.00442949
+v 0.02257391 -0.01431155 0.00427138
+v 0.02165412 -0.01400791 0.00358948
+v 0.02261955 -0.01454188 0.00270004
+v 0.01830259 -0.01266774 0.00270004
+v 0.01830259 -0.00258116 0.00305178
+v 0.03025644 -0.00258115 0.00127814
+v 0.02642396 -0.01592653 0.00127809
+v 0.02646842 -0.01563601 0.00435275
+v 0.02659364 -0.01595140 0.00127809
+v 0.02677502 -0.01591869 0.00270003
+v 0.02712609 -0.01586634 0.00372550
+v 0.02452819 -0.01447383 0.00588980
+v 0.02317892 -0.01419638 0.00557298
+v 0.01830259 -0.01227905 0.00478818
+v 0.01830259 -0.01241909 0.00423824
+v 0.03025761 -0.00258116 0.00257161
+v 0.01830259 -0.00438464 0.00575671
+v 0.03025761 -0.00418440 0.00602935
+v 0.03025644 -0.01541874 0.00127809
+v 0.02764567 -0.01586634 0.00372550
+v 0.02830802 -0.01561769 0.00435275
+v 0.02643800 -0.01471203 0.00610199
+v 0.02682183 -0.01595140 0.00127809
+v 0.02805057 -0.01591869 0.00270003
+v 0.02643800 -0.01376581 0.00696701
+v 0.02452819 -0.01347133 0.00675483
+v 0.01830259 -0.01121634 0.00621303
+v 0.01928558 -0.01235627 0.00554914
+v 0.01830259 -0.01175817 0.00555206
+v 0.03025761 -0.01533237 0.00270003
+v 0.01830259 -0.00554812 0.00651884
+v 0.01830259 -0.00646164 0.00710307
+v 0.03025761 -0.00559656 0.00689438
+v 0.03025644 -0.01541220 0.00139901
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_2.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2e5f192bcef8e01402be8e51f17a93c7066efae
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_2.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_3.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c879abb4039d4e583e2f25487936e0c50f0091da
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_3.obj
@@ -0,0 +1,709 @@
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_4.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f999265e09dbfaa58297293b1c6319d55c555e99
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_5.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8e116e740ebf4bb2f069b76c3d8f6e0c6355d99
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_6.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01ce8f971944b0d8e6a37a2580f7231281f191f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_6.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_7.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97fc9046ea250f1d7de2f4d869bda42bc94753ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_7.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_8.obj b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b11138b9e39f533e04aed9865b8ee457f96dffb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mjcf/mesh/cutter_knife_010_collision_8.obj
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