diff --git a/.gitattributes b/.gitattributes
index 1c758804c4d94a38a07fb36327150a61714c3050..8115542d45f138cf319cb88539a2531925a0eeba 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3458,5 +3458,5 @@ dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue
 dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ec3412f7079452428adb418435a76e11/magnifier_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ec3412f7079452428adb418435a76e11/mesh/magnifier_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/magnifier_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/magnifier_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/cutter_knife_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/cutter_knife_028.urdf b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/cutter_knife_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..331ebaed70c2fccc59282744ffadfb6f12c14b27
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/cutter_knife_028.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="cutter_knife_028">
+   <link name="cutter_knife_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/cutter_knife_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>eda9872f5a6c5b279a37d31441e92617</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>cutter_knife</category>
+         <name>blue utility knife</name>
+         <color>blue,silver</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>blue retractable utility knife with silver blade and black slider</description>
+         <min_height>0.0079</min_height>
+         <max_height>0.0079</max_height>
+         <real_height>0.0079</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609171728</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.010560 -0.042503 -0.003027</min>
+            <max>0.008297 0.057497 0.004870</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/eda9872f5a6c5b279a37d31441e92617/cutter_knife_028.usd b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/cutter_knife_028.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/cutter_knife_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4902917
diff --git a/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028.glb b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1da838dbec7cc2b06496947900c0e71412885b70
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be665714a7803b67892c3e1534b2949d1bfa27d6ee8a96809f5f89c6f99fdaa2
+size 13534820
diff --git a/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028.mtl b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..44cc2f7fa057694c48c89ba48368c46d9d8b20e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028.mtl
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+newmtl cutter_knife_028_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/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028.obj b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87e70fd823d29375da20de3684b11ce6843b58e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028.obj
@@ -0,0 +1,115746 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_028_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028_collision.obj b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deed13b24399472b3309bff0c6e4b785a12ed8a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028_collision.obj
@@ -0,0 +1,1322 @@
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diff --git a/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..901c342ccffb7b75d12e3432823e9e9bcb613650
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f47ea446794418fc9f8d8088662bd21764a2ee26914b5b9d3619288296dd3ab
+size 10226321
diff --git a/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/material.mtl b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..43fe54fc4637b00da1acb98fab83772bbd98ad42
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl cutter_knife_028_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_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/material_0.png b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..901c342ccffb7b75d12e3432823e9e9bcb613650
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f47ea446794418fc9f8d8088662bd21764a2ee26914b5b9d3619288296dd3ab
+size 10226321
diff --git a/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/cutter_knife_028.xml b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/cutter_knife_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..492043f8bfe976a78bd548b3a6db02b4c937d3a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/cutter_knife_028.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="cutter_knife_028">
+  <asset>
+    <material name="material_0" texture="texture_0_cutter_knife_028_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_cutter_knife_028_geometry_Looks_material_0" type="2d" file="mesh/cutter_knife_028_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/cutter_knife_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/cutter_knife_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/cutter_knife_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/cutter_knife_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="cutter_knife_028">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/mesh/cutter_knife_028.obj b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/mesh/cutter_knife_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dc37123717ad77037dea9a15ddb1b41ec6605e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/mesh/cutter_knife_028.obj
@@ -0,0 +1,115746 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_028_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/mesh/cutter_knife_028_collision.obj b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/mesh/cutter_knife_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63e95809570052921fea3ab3fb8e72f55d3d2113
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/mesh/cutter_knife_028_collision.obj
@@ -0,0 +1,1322 @@
+# https://github.com/mikedh/trimesh
+
+o cutter_knife_028_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/mesh/cutter_knife_028_collision_0.obj b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/mesh/cutter_knife_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c34368e9ba87b1f3a8d54ea8d7d17924879944e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/mesh/cutter_knife_028_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/mesh/cutter_knife_028_collision_1.obj b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/mesh/cutter_knife_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde1cf930f838aabcba489fbbc76f0a080356b00
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mjcf/mesh/cutter_knife_028_collision_1.obj
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