diff --git a/.gitattributes b/.gitattributes
index 2741f901bc1342982366a96e014c6996e2b3da8d..8ec44a2cfd15e19917d85342958e37d950ec61c4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3335,3 +3335,5 @@ dataset/desktop_supplies/office_tools/243944bd29d7583d85e523ef0d0109f2/mesh/stic
 dataset/desktop_supplies/office_tools/243944bd29d7583d85e523ef0d0109f2/sticky_notes_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/stamp_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/cutter_knife_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/cutter_knife_001.urdf b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/cutter_knife_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6716046705efd475bd0a80da25087fbbf1794e5b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/cutter_knife_001.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="cutter_knife_001">
+   <link name="cutter_knife_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/cutter_knife_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>2a392f06750153e8b80eeb125dfeb73b</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>cutter_knife</category>
+         <name>utility knife</name>
+         <color>beige,gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>retractable blade cutter with ergonomic grip and compact design</description>
+         <min_height>0.0092</min_height>
+         <max_height>0.0092</max_height>
+         <real_height>0.0092</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506205908</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>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/2a392f06750153e8b80eeb125dfeb73b/cutter_knife_001.usd b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/cutter_knife_001.usd
new file mode 100644
index 0000000000000000000000000000000000000000..54e089061de106f9fe1a9eadffc1146004980c49
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/cutter_knife_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31d35c9db3f9cadf44d5f0019047fdcaf2ee422a55d3d6d36981b67cb9628687
+size 4867908
diff --git a/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001.glb b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5294cb95bcd8d5db5aa588b6be817cc62c556b5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ade1fc9674ed78a33312142187bf900e00bb1a10a1a0c778f4c13f4ffdf026e
+size 12865736
diff --git a/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001.mtl b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..60d7f7d131fb5b943aeaa32c7cbb8d616e39f056
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001.mtl
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+newmtl cutter_knife_001_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/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001.obj b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58324d8914758ab9b4e8e6c75e455c25bb7bedd2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001_collision.obj b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d2113f813459a55fa5a9fb9d2374af525d7042f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001_collision.obj
@@ -0,0 +1,1591 @@
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diff --git a/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..02aa40107c5bf964db9ef2ede7c1b90509094e72
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:449ee0ddaae34a4cf01eab7a9f5f8d798a3978447dbb9995fdd7564951b7333e
+size 9615144
diff --git a/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/material.mtl b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..734ad27df537b2b3a2603248fa1a291533dd7d00
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl cutter_knife_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/material_0.png b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..02aa40107c5bf964db9ef2ede7c1b90509094e72
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:449ee0ddaae34a4cf01eab7a9f5f8d798a3978447dbb9995fdd7564951b7333e
+size 9615144
diff --git a/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mjcf/cutter_knife_001.xml b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mjcf/cutter_knife_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..110e8d85cb8151bce75bd5e6af05c26fc566fe1e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mjcf/cutter_knife_001.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="cutter_knife_001">
+  <asset>
+    <material name="material_0" texture="texture_0_cutter_knife_001_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_cutter_knife_001_geometry_Looks_material_0" type="2d" file="mesh/cutter_knife_001_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/cutter_knife_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/cutter_knife_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/cutter_knife_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="cutter_knife_001">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mjcf/mesh/cutter_knife_001.obj b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mjcf/mesh/cutter_knife_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f22b4cf30b957ad3f75dc94f20b3ae126cfe8d3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mjcf/mesh/cutter_knife_001.obj
@@ -0,0 +1,115986 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_001_geometry_Looks_material_0
+v 0.009363 -0.003085 -0.001678
+v 0.009363 -0.003085 -0.001678
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diff --git a/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mjcf/mesh/cutter_knife_001_collision.obj b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mjcf/mesh/cutter_knife_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..352f3220a5e54862e41c69290ec84d2316bbb639
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mjcf/mesh/cutter_knife_001_collision.obj
@@ -0,0 +1,1591 @@
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diff --git a/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mjcf/mesh/cutter_knife_001_collision_0.obj b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mjcf/mesh/cutter_knife_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d231bc53d9a5538ff5d90e41e22a9d7d7a1bde3e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mjcf/mesh/cutter_knife_001_collision_0.obj
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--- /dev/null
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