diff --git a/.gitattributes b/.gitattributes
index 8221a3ed8ca7138fb6f19e110de6f1203622b1fb..172705abd0395bf5cb291b7ea2f98d96703c9a60 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3425,3 +3425,5 @@ dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scis
 dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/scissors_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/staples_box_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/cutter_knife_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/cutter_knife_015.urdf b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/cutter_knife_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8ffe2ac76dbaa13332f331f33520516c30d947c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/cutter_knife_015.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="cutter_knife_015">
+   <link name="cutter_knife_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/cutter_knife_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1400" />
+         <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>bdbb927fddbd5197ae81990707561c8e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>cutter_knife</category>
+         <name>rotary cutter</name>
+         <color>gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>gray handheld rotary cutter with circular blade housing</description>
+         <min_height>0.0345</min_height>
+         <max_height>0.0345</max_height>
+         <real_height>0.0345</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609171322</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.043067 -0.026272 -0.015209</min>
+            <max>0.071960 0.027781 0.019307</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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/bdbb927fddbd5197ae81990707561c8e/cutter_knife_015.usd b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/cutter_knife_015.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/cutter_knife_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4983308
diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015.glb b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13294932
diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015.mtl b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9d1f7f320dd0c96ab0a67377b6ad45f11f5998fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015.mtl
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+newmtl cutter_knife_015_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/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..783823f343820d25832e5f00eca128e7f3f8ac44
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_015_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015_collision.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cf2b7dfcbe6628dd541395f22f7eadbef79bc61
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015_collision.obj
@@ -0,0 +1,11365 @@
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diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac6bc289c97222a921768e14ea34bcb1b2951a04
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4966770d6a4b7b7badc89faac6a4ca71179a5e627c851e3728fad62ee3096d2
+size 9845645
diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/material.mtl b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..635ecd7ac9bb4181699dc3da89b2dd5f7aa6ea6f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl cutter_knife_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/material_0.png b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac6bc289c97222a921768e14ea34bcb1b2951a04
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4966770d6a4b7b7badc89faac6a4ca71179a5e627c851e3728fad62ee3096d2
+size 9845645
diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/cutter_knife_015.xml b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/cutter_knife_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8deaa1bbc21d2252cdbb0f69256f487bae6e9cf5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/cutter_knife_015.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="cutter_knife_015">
+  <asset>
+    <material name="material_0" texture="texture_0_cutter_knife_015_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_cutter_knife_015_geometry_Looks_material_0" type="2d" file="mesh/cutter_knife_015_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/cutter_knife_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/cutter_knife_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/cutter_knife_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/cutter_knife_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/cutter_knife_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/cutter_knife_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/cutter_knife_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/cutter_knife_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/cutter_knife_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/cutter_knife_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/cutter_knife_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/cutter_knife_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="cutter_knife_015">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f812745c9f9d450191aa59e35246675b9873b858
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015.obj
@@ -0,0 +1,114528 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_015_geometry_Looks_material_0
+v 0.071658 -0.003785 -0.007427
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diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139e09dfc4a095aff85eb9da71a118547b68cca5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision.obj
@@ -0,0 +1,11365 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_0.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488723376ccdf8e44836b5ba7ff7450486f985df
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_1.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fef354d5dd58f052b01c41774c629969e980e252
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_10.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..610ab6de01df99f7e8ffa3b0682b049c84989760
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_10.obj
@@ -0,0 +1,850 @@
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diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_2.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0527b0707e05537579a78497cc3ce08e50bad4e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_3.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17e260d2534ec1313dd3255e54f68ec21e6b8a93
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_4.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aa1f99e33f6031ce4495fbf34555dff2f87154a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_4.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_5.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dd5fe21fcec087dc0f10bd14c93fb8bdfc10b25
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_5.obj
@@ -0,0 +1,739 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_6.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd24ff3cccac1a6157eb4a7f472819b26aafc2d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_7.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ae5aba6f3e0474b433714f7883bc73cb8f41cdc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_8.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c36a89f5ec7cbc73c399f4c72f294398299c308
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_8.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_9.obj b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c49c96c599305836667c72c7281704c56ec3782b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mjcf/mesh/cutter_knife_015_collision_9.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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