diff --git a/.gitattributes b/.gitattributes
index bd65870a32c7b0a923ac46a34804c4641903d0be..3874845a3cb27aab2afd34ead78538d165d40d7b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3310,3 +3310,5 @@ dataset/desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5/mesh/scot
 dataset/desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5/scotch_tape_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/07e91c92135653cca36284b61eec8f2d/mesh/sticky_notes_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/07e91c92135653cca36284b61eec8f2d/sticky_notes_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/cutter_knife_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/cutter_knife_026.urdf b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/cutter_knife_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d88c2304a175632668cc6ddbcde0b2c852058a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/cutter_knife_026.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="cutter_knife_026">
+   <link name="cutter_knife_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/cutter_knife_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>0ff3bae42d4f52d5a9666dfff54c3900</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>cutter_knife</category>
+         <name>utility knife</name>
+         <color>orange,black</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>orange and black retractable utility knife with exposed silver blade</description>
+         <min_height>0.0084</min_height>
+         <max_height>0.0084</max_height>
+         <real_height>0.0084</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609171652</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.017995 -0.038591 -0.003934</min>
+            <max>0.014093 0.061409 0.004443</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/cutter_knife_026.usd b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/cutter_knife_026.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/cutter_knife_026.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4908236
diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026.glb b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12559204
diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026.mtl b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9d643187a12c86bf4db8bf110410d81bf0ab82e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026.mtl
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+newmtl cutter_knife_026_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/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026.obj b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dc546ebc664fa02026d66f4d3c691fa599b39a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026_collision.obj b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6993cd7f8f192bdfd626a3803f1791d7406e967d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026_collision.obj
@@ -0,0 +1,4314 @@
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diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7484745789672b30cad23857606f989f1b1beefc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd7477ad2d2cdcf86f0c094801e6d49d93b1d56ba0d48159863c104571970ca1
+size 9234927
diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/material.mtl b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d0512fa7145ff58bdfb517c5800096308daa9f3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl cutter_knife_026_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 cutter_knife_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/material_0.png b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7484745789672b30cad23857606f989f1b1beefc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd7477ad2d2cdcf86f0c094801e6d49d93b1d56ba0d48159863c104571970ca1
+size 9234927
diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/cutter_knife_026.xml b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/cutter_knife_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4357fa39c1573537ef6039fbea72b5d3f50a01e1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/cutter_knife_026.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="cutter_knife_026">
+  <asset>
+    <material name="material_0" texture="texture_0_cutter_knife_026_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_cutter_knife_026_geometry_Looks_material_0" type="2d" file="mesh/cutter_knife_026_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/cutter_knife_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/cutter_knife_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/cutter_knife_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/cutter_knife_026_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/cutter_knife_026_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/cutter_knife_026_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/cutter_knife_026_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/cutter_knife_026_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/cutter_knife_026_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/cutter_knife_026_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/cutter_knife_026_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="cutter_knife_026">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026.obj b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55056dedeea3a82f1cf0a1e1f7b1fd70c61184b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026.obj
@@ -0,0 +1,118606 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_026_geometry_Looks_material_0
+v -0.000858 -0.038579 -0.000025
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diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision.obj b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c5d321466760d4d02de28776ba17ad9c1a72af
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision.obj
@@ -0,0 +1,4314 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_0.obj b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3b35ba2f2555cfcd15f9aa2a399fa8adf52017b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_1.obj b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a45ae5c1dd587eec3c603ce74574f8cc8a4654af
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_2.obj b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56153265c308d2a3beb7e79a1246d7556ca0a212
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_2.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_3.obj b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4836d3e2c957efaa357439058203ba1e4bcaacf1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_3.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_4.obj b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5abe488487f02a90487835845e90be7d347ea28
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_5.obj b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfe2c9bf4b378e5550d299ad03f27e1ae02be3db
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_5.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_6.obj b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d85bf8126114fa9f1781387e1cbf57bfe0c1fe4f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_6.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_7.obj b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86ddb2a77ffca2ed05fcec233ffd94ccb22744cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_8.obj b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6dab89ff5522150b3cccf398fcd76aa93e91d9a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_8.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_9.obj b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbe46e7c718ead208397990551988393b841433f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mjcf/mesh/cutter_knife_026_collision_9.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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