diff --git a/.gitattributes b/.gitattributes
index 97718d4ac2495d129deab32de18180175079a2a0..c8abcd011a5c0d2f1bebc315378cd47ce0add01a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3370,3 +3370,5 @@ dataset/desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011/mesh/stam
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 dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mesh/scissors_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/scissors_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/magnifier_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/magnifier_008.urdf b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/magnifier_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..898e5233eb2512577655805def2500b043e306be
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/magnifier_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="magnifier_008">
+   <link name="magnifier_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/magnifier_008.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/magnifier_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>73c1a608fd925b73be8f40c302c3ab2d</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>magnifier</category>
+         <name>wooden magnifier</name>
+         <color>brown,silver</color>
+         <shape>elongated</shape>
+         <material>wood</material>
+         <description>handheld magnifier with wooden handle and circular glass lens</description>
+         <min_height>0.0237</min_height>
+         <max_height>0.0237</max_height>
+         <real_height>0.0237</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506210504</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>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_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/73c1a608fd925b73be8f40c302c3ab2d/magnifier_008.usd b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/magnifier_008.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/magnifier_008.usd
@@ -0,0 +1,3 @@
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+size 4964904
diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008.glb b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12657400
diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008.mtl b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a225b2f07f31d0b1d2de74b2bb4b13de6567d81f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008.mtl
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+newmtl magnifier_008_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/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008.obj b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ac208cf93f40f1f6baaea5d4f5d4390f984a6d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl magnifier_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008_collision.obj b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0d1719d5be3c599f0a21eeb122a405ba8d5398e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008_collision.obj
@@ -0,0 +1,5048 @@
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diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..57d07e187e42ecb3c6e4c4f19ec2ed55968b9ef2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ee90fb29b124a19b4d3f73a4549641c78c608c5c09bc5ef85078fc147bc5815
+size 9226564
diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/material.mtl b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2974b62c3c7a05ab1ca7b2455842150e01385569
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl magnifier_008_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 magnifier_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/material_0.png b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..57d07e187e42ecb3c6e4c4f19ec2ed55968b9ef2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ee90fb29b124a19b4d3f73a4549641c78c608c5c09bc5ef85078fc147bc5815
+size 9226564
diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/magnifier_008.xml b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/magnifier_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bbd207239181e4d98bdefb9c008ea238614f2e6f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/magnifier_008.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="magnifier_008">
+  <asset>
+    <material name="material_0" texture="texture_0_magnifier_008_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_magnifier_008_geometry_Looks_material_0" type="2d" file="mesh/magnifier_008_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/magnifier_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/magnifier_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/magnifier_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/magnifier_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/magnifier_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/magnifier_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/magnifier_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="magnifier_008">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008.obj b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a277f8c18d9d567504aa1a5308db20ac53164ae5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008.obj
@@ -0,0 +1,107052 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl magnifier_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision.obj b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ec95b31e99074c717e20f6cc57bff3b019d7e08
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision.obj
@@ -0,0 +1,5048 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_0.obj b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0ed2a6e2e7f0abd9c23b5bda83fda99fbce799b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_1.obj b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67c6f6100fd2104d57aa71753026f028161d0e39
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_2.obj b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88ce8e6b718b8047e9beac52aed3a2ac8e019f70
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_3.obj b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19e3e2563bd2e8fda23a1bc712b85e984e2bb9e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_3.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_4.obj b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fe147df01ff3567dc074957549db2997c3566b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_4.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v 0.00169038 0.06763327 -0.00746397
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diff --git a/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_5.obj b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11b9c7c1ed3563ff8b32150e020c405a5aeda574
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mjcf/mesh/magnifier_008_collision_5.obj
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