diff --git a/.gitattributes b/.gitattributes
index 6851af6006e3724a93ee195c1bd98952571f2569..c37f3197751113462880e5305920ca2ef571e738 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3406,3 +3406,5 @@ dataset/desktop_supplies/office_tools/a07deb7936125cab9533c221c948a123/staples_b
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 dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/magnifier_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/magnifier_027.urdf b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/magnifier_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6c1e04cd8f904e629268a7a4358b74fbf98b859d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/magnifier_027.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="magnifier_027">
+   <link name="magnifier_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/magnifier_027.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_027_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>a15c9fd8d6b558abb9e2249766af05f0</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>magnifier</category>
+         <name>handheld magnifier</name>
+         <color>black,orange</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>round handheld magnifier with black and orange handle</description>
+         <min_height>0.0206</min_height>
+         <max_height>0.0206</max_height>
+         <real_height>0.0206</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609172425</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038311 -0.102516 -0.010836</min>
+            <max>0.038296 0.047484 0.009785</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/a15c9fd8d6b558abb9e2249766af05f0/magnifier_027.usd b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/magnifier_027.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/magnifier_027.usd
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027.glb b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027.glb
@@ -0,0 +1,3 @@
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+size 12163044
diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027.mtl b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d6d97b020f5174d9343b4875d14cac3b08212606
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027.mtl
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+newmtl magnifier_027_geometry_Looks_material_0
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+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/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027.obj b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f10c43fa7956b913a5dd7d2e23e502ae32fcfb91
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027.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/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027_collision.obj b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d751f465b25eb7cafcea66c13a7639358b8e561e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027_collision.obj
@@ -0,0 +1,4560 @@
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diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8469bdc0ddcad8428d300b69ebfb58516a9c0ed4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magnifier_027_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ef9ae9ce9b3aab5b7625024d4ea97235aa6c02b6645b5d8e2d6df7a9f6225cf
+size 8797508
diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/material.mtl b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..938d6ebc712eda9c3c287462ab560d47067bf725
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl magnifier_027_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_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/material_0.png b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8469bdc0ddcad8428d300b69ebfb58516a9c0ed4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ef9ae9ce9b3aab5b7625024d4ea97235aa6c02b6645b5d8e2d6df7a9f6225cf
+size 8797508
diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/magnifier_027.xml b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/magnifier_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7870235f573a9a75ea3fd02b74e8e92b0304a317
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/magnifier_027.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="magnifier_027">
+  <asset>
+    <material name="material_0" texture="texture_0_magnifier_027_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_magnifier_027_geometry_Looks_material_0" type="2d" file="mesh/magnifier_027_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/magnifier_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/magnifier_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/magnifier_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/magnifier_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/magnifier_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/magnifier_027_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/magnifier_027_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/magnifier_027_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/magnifier_027_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/magnifier_027_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/magnifier_027_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="magnifier_027">
+      <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/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027.obj b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c2ea547d79a5b975683e2db9b78650f0b96623f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027.obj
@@ -0,0 +1,109210 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl magnifier_027_geometry_Looks_material_0
+v 0.001562 0.045095 -0.006984
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diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision.obj b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39db7870907cbd78d8308932ae18c7d1173da0e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision.obj
@@ -0,0 +1,4560 @@
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diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_0.obj b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78a512acfcef81c2e980cc1710239e44332aa8d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_1.obj b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05e17c59bd488481b02d9e91b65e855798fdd08c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_2.obj b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04dbe655d5206f7224b1633000ab2eef7883b661
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_3.obj b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c9cf3554a126fc5cfa1c8a0e7f7f06d6516d6e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_3.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_4.obj b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2cd667ccf281a49d4a659b750fd998d2ff4da45
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_4.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_5.obj b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8aa016e7939da223ec1845e3a01bd9725cbb737
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_5.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_6.obj b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e70876778d99e1bcf7073f129d5f1a75dca01f13
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_6.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_7.obj b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02e4d493daba65000318eac0380825bfff37cf21
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_7.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_8.obj b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b99a432246be0815125ef0a03d698fd1c5ddd66
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_8.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_9.obj b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..540349271334a436c97d9778ef78cf35aefc0246
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mjcf/mesh/magnifier_027_collision_9.obj
@@ -0,0 +1,334 @@
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