diff --git a/.gitattributes b/.gitattributes
index 3eab38efea301aaed8f0d44cd07e8c4fe200e9fd..2f012a111d5ec77d3b4586063352928b5fd7e3bb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3349,3 +3349,5 @@ dataset/desktop_supplies/office_tools/38a726eeeb1a57ea96ae2addd0613f47/cutter_kn
 dataset/desktop_supplies/office_tools/38a726eeeb1a57ea96ae2addd0613f47/mesh/cutter_knife_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/sticky_notes_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/cutter_knife_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/cutter_knife_012.urdf b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/cutter_knife_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..146d3882781f1e9755b4684e6388e36336403019
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/cutter_knife_012.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="cutter_knife_012">
+   <link name="cutter_knife_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/cutter_knife_012.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_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0700" />
+         <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>3cf7cc4da82a5bc087c52edca59c3ed0</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>cutter_knife</category>
+         <name>retractable utility knife</name>
+         <color>gray,blue</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>gray retractable cutter knife with blue slider and looped handle</description>
+         <min_height>0.0119</min_height>
+         <max_height>0.0119</max_height>
+         <real_height>0.0119</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609171227</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.009304 -0.073470 -0.005455</min>
+            <max>0.009309 0.045640 0.006425</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/3cf7cc4da82a5bc087c52edca59c3ed0/cutter_knife_012.usd b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/cutter_knife_012.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/cutter_knife_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4865822
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012.glb b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13373016
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012.mtl b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5fd2dbce6109a4c12c659bd9146be2251e1590c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012.mtl
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+newmtl cutter_knife_012_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/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86af69ea1493595c94b0fc040d54ff20e9f1f7b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_012_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012_collision.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a9730282507b5652d413ae477f4830ecdd6b212
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012_collision.obj
@@ -0,0 +1,3299 @@
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diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b20c04b4bb4db4932c90274988e5e5b9e8d12c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10109800
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/material.mtl b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cdf33b7c77bb220af356eefd80472d5fe89d8191
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl cutter_knife_012_geometry_Looks_material_0
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+map_Kd cutter_knife_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/material_0.png b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b20c04b4bb4db4932c90274988e5e5b9e8d12c0
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+size 10109800
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/cutter_knife_012.xml b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/cutter_knife_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..38e11f76c64d955f65f5f21be2ef1eba6aa92c0f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/cutter_knife_012.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="cutter_knife_012">
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+    <mesh name="visual_mesh_0" file="mesh/cutter_knife_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/cutter_knife_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/cutter_knife_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/cutter_knife_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/cutter_knife_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/cutter_knife_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/cutter_knife_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/cutter_knife_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/cutter_knife_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/cutter_knife_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/cutter_knife_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/cutter_knife_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/cutter_knife_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/cutter_knife_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/cutter_knife_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/cutter_knife_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="cutter_knife_012">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fea940d9b32b4d8e0343c7a1b95f2cd208850d8b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012.obj
@@ -0,0 +1,114040 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_012_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2087161c256b628f6d14db6f92a5faca0f0a9b41
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision.obj
@@ -0,0 +1,3299 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_0.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bba9f4a290969395a8db813511b20872d644436
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_0.obj
@@ -0,0 +1,160 @@
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+
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_1.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4526ae0f8af9e19e2a82af7c71223e3656e7046f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_1.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.00533569 -0.02455468 0.00352263
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+
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_10.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b96ebba6c79bde2b6ef7e37752f9f830ce299892
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_10.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00526954 0.01677144 0.00310328
+v 0.00526954 0.01556925 0.00315172
+v 0.00526954 0.01677145 -0.00092100
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+
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_11.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7519fa7e8517a396d139698e98c4573d5d5970f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_11.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_12.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3986d3389ed35919c7c8cc7da18accc7aa2263fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_12.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_13.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..349844dacb7210548a6c380eb2056292026702d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_13.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+f 19 25 20
+f 21 30 49
+f 21 49 59
+f 21 59 58
+f 21 58 63
+f 21 63 55
+f 21 55 64
+f 21 64 60
+f 21 60 51
+f 21 51 38
+f 21 38 37
+f 21 37 36
+f 21 36 35
+f 21 35 34
+f 21 34 33
+f 21 33 32
+f 21 32 41
+f 21 41 40
+f 21 40 31
+f 21 31 22
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 31 40
+f 22 40 41
+f 22 41 32
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 28
+f 28 46 45
+f 28 45 48
+f 28 48 47
+f 30 50 48
+f 30 48 49
+f 38 51 39
+f 39 51 52
+f 44 53 45
+f 45 53 54
+f 45 54 55
+f 45 55 56
+f 45 56 57
+f 45 57 48
+f 47 48 50
+f 48 57 58
+f 48 58 59
+f 48 59 49
+f 51 60 61
+f 51 61 52
+f 53 62 54
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+f 55 63 57
+f 55 57 56
+f 55 62 64
+f 57 63 58
+f 60 62 65
+f 60 65 61
+f 60 64 62
+
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_14.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44a6654fa24d5544f021234535a741b19ed62b18
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_14.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00533536 -0.03921141 0.00318584
+v 0.00533536 -0.04633414 0.00314904
+v 0.00533536 -0.03921140 -0.00093891
+v 0.00447228 -0.03921141 0.00340134
+v 0.00447958 -0.04633414 0.00327890
+v 0.00533536 -0.04633413 -0.00092451
+v 0.00268881 -0.03921141 0.00372250
+v 0.00533536 -0.03979008 -0.00093892
+v -0.00531339 -0.03921140 -0.00103246
+v 0.00268881 -0.04633414 0.00339247
+v -0.00531339 -0.04633413 -0.00100969
+v -0.00531339 -0.04614867 -0.00101527
+v -0.00531339 -0.04461689 -0.00102038
+v -0.00531339 -0.04418601 -0.00102178
+v -0.00531339 -0.04026070 -0.00103108
+v -0.00268351 -0.03921141 0.00365454
+v -0.00268351 -0.04633414 0.00342644
+v -0.00531339 -0.03921141 0.00323425
+v -0.00531339 -0.04633414 0.00316021
+v -0.00281485 -0.03921141 0.00364290
+v -0.00447533 -0.04633414 0.00329147
+v -0.00519352 -0.03921141 0.00326217
+v -0.00531339 -0.03932854 0.00323425
+v -0.00444614 -0.03921141 0.00338691
+v -0.00479638 -0.03921141 0.00332873
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 22
+f 1 22 25
+f 1 25 24
+f 1 24 20
+f 1 20 16
+f 1 16 7
+f 1 7 4
+f 1 4 2
+f 2 5 10
+f 2 10 17
+f 2 17 21
+f 2 21 19
+f 2 19 11
+f 2 11 6
+f 2 4 7
+f 2 7 5
+f 3 8 9
+f 5 7 10
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 8
+f 7 16 17
+f 7 17 10
+f 8 15 9
+f 9 15 14
+f 9 14 13
+f 9 13 12
+f 9 12 11
+f 9 11 19
+f 9 19 23
+f 9 23 18
+f 16 20 21
+f 16 21 17
+f 18 23 22
+f 19 21 20
+f 19 20 24
+f 19 24 25
+f 19 25 22
+f 19 22 23
+
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_2.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d6d1883a4a8e8eca2efa35d4104d0ab42365617
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_2.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00555531 -0.04633413 -0.00108172
+v -0.00532285 -0.04633411 -0.00450397
+v -0.00849516 -0.04633413 -0.00108172
+v -0.00541152 -0.06842103 -0.00108180
+v -0.00499760 -0.06842101 -0.00421575
+v -0.00532285 -0.04633411 -0.00476364
+v -0.00846230 -0.04633412 -0.00213949
+v -0.00849482 -0.04811362 -0.00108173
+v -0.00848900 -0.06842103 -0.00108180
+v -0.00499760 -0.06842101 -0.00440503
+v -0.00626673 -0.04633411 -0.00507103
+v -0.00505306 -0.06842101 -0.00487348
+v -0.00846195 -0.04811361 -0.00213950
+v -0.00814287 -0.04633412 -0.00384227
+v -0.00814356 -0.04811361 -0.00384228
+v -0.00814219 -0.06185225 -0.00384233
+v -0.00845990 -0.05792569 -0.00213953
+v -0.00849003 -0.06774210 -0.00108180
+v -0.00845613 -0.06842102 -0.00213957
+v -0.00848969 -0.06799940 -0.00108180
+v -0.00751396 -0.04633411 -0.00500144
+v -0.00569773 -0.06842101 -0.00507549
+v -0.00626673 -0.06842101 -0.00514388
+v -0.00808364 -0.04633412 -0.00395162
+v -0.00751464 -0.04811360 -0.00500185
+v -0.00751464 -0.05988896 -0.00500229
+v -0.00751464 -0.06185224 -0.00500230
+v -0.00751361 -0.06774208 -0.00500152
+v -0.00814048 -0.06774209 -0.00384235
+v -0.00845716 -0.06774209 -0.00213957
+v -0.00813876 -0.06842102 -0.00384235
+v -0.00708087 -0.06842101 -0.00508742
+v -0.00751259 -0.06842101 -0.00500033
+v -0.00792205 -0.06842101 -0.00424319
+f 1 2 6
+f 1 6 11
+f 1 11 21
+f 1 21 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 20
+f 1 20 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
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+f 2 10 6
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+f 3 13 8
+f 4 9 19
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+f 4 31 34
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+f 4 12 10
+f 4 10 5
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+f 6 12 11
+f 7 14 15
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+f 11 22 23
+f 11 23 21
+f 13 16 17
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+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 17 30 18
+f 18 30 20
+f 19 20 30
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+f 19 29 31
+f 21 23 32
+f 21 32 25
+f 21 25 24
+f 25 32 26
+f 26 32 27
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 28 34 29
+f 29 34 31
+
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_3.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9676b8917d81bf78c8c757cfcf8cb025609c95c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_3.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00525265 -0.01618203 -0.00103602
+v 0.00533070 -0.01618203 -0.00095299
+v -0.00525265 -0.01618204 0.00317815
+v -0.00525265 -0.00150836 -0.00104148
+v 0.00533070 -0.01618204 0.00320521
+v -0.00525265 0.00685068 -0.00104282
+v 0.00533070 0.00488768 -0.00095383
+v -0.00280883 -0.01618204 0.00363691
+v -0.00525265 0.00757866 0.00316998
+v 0.00533070 -0.01571920 0.00320521
+v 0.00488731 -0.01618204 0.00329880
+v -0.00525265 0.00739028 -0.00104190
+v 0.00533070 0.00757867 -0.00095336
+v 0.00533070 0.00536448 -0.00095383
+v 0.00268797 -0.01618204 0.00364379
+v -0.00268348 0.00757866 0.00341633
+v -0.00447465 0.00757866 0.00329063
+v -0.00525265 0.00757867 -0.00104144
+v 0.00533070 0.00757866 0.00314888
+v 0.00275012 -0.01618204 0.00363828
+v 0.00447914 0.00757866 0.00327825
+v 0.00268797 0.00757866 0.00338697
+f 1 2 5
+f 1 5 11
+f 1 11 20
+f 1 20 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 12
+f 1 12 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 14
+f 2 14 13
+f 2 13 19
+f 2 19 10
+f 2 10 5
+f 3 8 9
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+f 6 13 14
+f 6 14 7
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+f 8 17 9
+f 9 17 16
+f 9 16 22
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+f 9 21 19
+f 9 19 13
+f 9 13 18
+f 10 19 11
+f 11 19 20
+f 12 18 13
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 19 21 20
+
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_4.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fe19a5db48198594142f6c3ab43a03fc1826280
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_4.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.00001546 -0.07364650 -0.00043567
+v 0.00001546 -0.07358767 -0.00107681
+v 0.00089818 -0.07364917 -0.00043567
+v 0.00447910 -0.07340046 0.00126764
+v 0.00001546 -0.07350209 0.00042867
+v 0.00089818 -0.07359034 -0.00107681
+v 0.00001546 -0.06994263 -0.00107680
+v 0.00201514 -0.07359302 -0.00107681
+v 0.00268948 -0.07365185 -0.00043567
+v 0.00627039 -0.07333094 0.00126764
+v 0.00627039 -0.07285760 0.00229304
+v 0.00447910 -0.07287097 0.00229667
+v 0.00001546 -0.07336035 0.00126764
+v 0.00447910 -0.07365185 -0.00043567
+v 0.00001546 -0.04633413 -0.00069192
+v 0.00561522 -0.04633413 -0.00107671
+v 0.00380643 -0.07359302 -0.00107681
+v 0.00627039 -0.07352883 -0.00043567
+v 0.00749403 -0.07294851 0.00126764
+v 0.00730149 -0.07276935 0.00222623
+v 0.00627039 -0.07166755 0.00295231
+v 0.00447910 -0.07166755 0.00302223
+v 0.00001546 -0.07284155 0.00226715
+v 0.00447910 -0.07359034 -0.00107681
+v 0.00001546 -0.04633414 0.00185191
+v 0.00851596 -0.04633413 -0.00107671
+v 0.00559688 -0.07351011 -0.00107681
+v 0.00627039 -0.07345128 -0.00107681
+v 0.00754071 -0.07298328 -0.00107681
+v 0.00758489 -0.07302607 -0.00043567
+v 0.00813837 -0.07166754 0.00126765
+v 0.00757489 -0.07166755 0.00249036
+v 0.00716979 -0.06873386 0.00382599
+v 0.00627039 -0.07008705 0.00363022
+v 0.00447910 -0.07015925 0.00369599
+v 0.00001546 -0.07166755 0.00253231
+v 0.00447910 -0.06917780 0.00399844
+v 0.00130245 -0.04633414 0.00261682
+v 0.00853013 -0.04633413 -0.00043557
+v 0.00853097 -0.05007544 -0.00043558
+v 0.00851596 -0.05596687 -0.00107675
+v 0.00778911 -0.07251528 -0.00107681
+v 0.00821005 -0.07166754 -0.00107680
+v 0.00825840 -0.07166754 -0.00043566
+v 0.00846178 -0.06970462 0.00126765
+v 0.00766491 -0.06951476 0.00303362
+v 0.00627039 -0.06910559 0.00398964
+v 0.00780745 -0.06774171 0.00297097
+v 0.00718479 -0.06774171 0.00384101
+v 0.00627039 -0.06774172 0.00418488
+v 0.00353802 -0.06883014 0.00383842
+v 0.00447910 -0.06774172 0.00421388
+v 0.00345967 -0.06774171 0.00387001
+v 0.00346384 -0.06645806 0.00386950
+v 0.00268948 -0.04633414 0.00339260
+v 0.00255861 -0.04633414 0.00331958
+v 0.00852346 -0.04633413 -0.00027503
+v 0.00846512 -0.06774170 0.00126766
+v 0.00853013 -0.05596687 -0.00043561
+v 0.00851513 -0.05792978 -0.00107675
+v 0.00834425 -0.07092944 -0.00107680
+v 0.00850429 -0.06970462 -0.00107680
+v 0.00851429 -0.06970462 -0.00043566
+v 0.00718729 -0.06668270 0.00384309
+v 0.00845261 -0.04633413 0.00126774
+v 0.00838843 -0.04633414 0.00139565
+v 0.00776660 -0.04633414 0.00262251
+v 0.00762573 -0.04633414 0.00265876
+v 0.00627039 -0.04633414 0.00300626
+v 0.00610201 -0.04633414 0.00303216
+v 0.00447910 -0.04633414 0.00327918
+v 0.00431072 -0.04633414 0.00329006
+v 0.00852846 -0.05792978 -0.00043561
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+f 1 36 25
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+f 25 36 38
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+f 29 42 30
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+f 31 45 32
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+f 33 49 50
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+f 36 56 38
+f 37 47 52
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+f 39 57 58
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+f 43 61 44
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+f 44 63 45
+f 45 63 58
+f 45 58 48
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+f 47 50 52
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+f 50 70 71
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+f 50 72 55
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+f 52 55 54
+f 57 65 58
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+f 58 73 59
+f 59 73 60
+f 60 73 62
+f 62 73 63
+
diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_5.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..979a5c2add32f04a424d70ede224fa40db1961b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_5.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00850453 -0.06775371 -0.00107679
+v 0.00850370 -0.06970551 -0.00107680
+v 0.00848625 -0.06970550 -0.00213942
+v 0.00848625 -0.06775370 -0.00213369
+v 0.00561030 -0.06775371 -0.00107679
+v 0.00834416 -0.07092953 -0.00107680
+v 0.00848542 -0.06775370 -0.00213941
+v 0.00812894 -0.07166816 -0.00213942
+v 0.00818545 -0.06970550 -0.00384239
+v 0.00818711 -0.06775370 -0.00383299
+v 0.00530950 -0.06775369 -0.00453255
+v 0.00001546 -0.06994505 -0.00107680
+v 0.00820954 -0.07166817 -0.00107680
+v 0.00778908 -0.07251658 -0.00107681
+v 0.00754062 -0.07298366 -0.00107681
+v 0.00746833 -0.07290990 -0.00213943
+v 0.00731211 -0.07277269 -0.00331395
+v 0.00766111 -0.07175334 -0.00386608
+v 0.00741348 -0.07115533 -0.00490461
+v 0.00753813 -0.06970549 -0.00501160
+v 0.00753896 -0.06775369 -0.00501282
+v 0.00818545 -0.06775370 -0.00384238
+v 0.00531033 -0.06775369 -0.00475431
+v 0.00001546 -0.07013313 -0.00384239
+v 0.00001546 -0.07358909 -0.00107681
+v 0.00627092 -0.07345189 -0.00107681
+v 0.00627092 -0.07332381 -0.00213943
+v 0.00673127 -0.07246396 -0.00444967
+v 0.00618865 -0.07288760 -0.00386609
+v 0.00618865 -0.07175333 -0.00500058
+v 0.00627092 -0.06970549 -0.00524847
+v 0.00627092 -0.06775369 -0.00507203
+v 0.00001546 -0.07028291 -0.00508389
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+v 0.00559618 -0.07351249 -0.00107681
+v 0.00447937 -0.07348446 -0.00213943
+v 0.00447937 -0.07306597 -0.00384240
+v 0.00553718 -0.07268578 -0.00472983
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+v 0.00089794 -0.07166815 -0.00514596
+v 0.00001546 -0.07166815 -0.00514637
+v 0.00201558 -0.07359309 -0.00107681
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+v 0.00268948 -0.07307341 -0.00384240
+v 0.00447937 -0.07270693 -0.00475025
+v 0.00268948 -0.07271094 -0.00475474
+v 0.00089794 -0.07271322 -0.00475678
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diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_6.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de1606474520dc693fd96fe652f46ae08030c4a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_6.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_7.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4ad813d8bc27f4768ec33e5935e353c03625e9a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_7.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_8.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0dd72799c51c9b0dbee317ecd5d9ec2aebde222
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_8.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_9.obj b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf0c382fdf51e3b9be79f8b9bb0edb50027d768e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mjcf/mesh/cutter_knife_012_collision_9.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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