diff --git a/.gitattributes b/.gitattributes
index 441837c293d04212763df2cb9ffc74b92a436d35..41b18efd8020d942e8b90214f41510875d28d87f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3372,5 +3372,5 @@ dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mesh/scis
 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
-dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/staples_box_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/cutter_knife_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/cutter_knife_021.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/cutter_knife_021.urdf b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/cutter_knife_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..83b651fa87e8e0258792640f8195c899a81b2278
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/cutter_knife_021.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="cutter_knife_021">
+   <link name="cutter_knife_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/cutter_knife_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>7c0a0f0af53c53a7aebeac68f8f4da33</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>cutter_knife</category>
+         <name>retractable cutter</name>
+         <color>gray,black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>slim retractable utility knife with exposed blade and dark handle</description>
+         <min_height>0.0099</min_height>
+         <max_height>0.0099</max_height>
+         <real_height>0.0099</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609171519</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.008305 -0.043540 -0.003931</min>
+            <max>0.008287 0.056460 0.005983</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/7c0a0f0af53c53a7aebeac68f8f4da33/cutter_knife_021.usd b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/cutter_knife_021.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/cutter_knife_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe86c35de299c471746e26b042899d1f53cff66ac612f3f8fb4ccb3fdeb827f5
+size 4687404
diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/cutter_knife_021.glb b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/cutter_knife_021.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/cutter_knife_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/cutter_knife_021.mtl b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/cutter_knife_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8ed6038665ad842e1cd4ade892b4eef0a671e261
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/cutter_knife_021.mtl
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+newmtl cutter_knife_021_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/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/cutter_knife_021.obj b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/cutter_knife_021.obj
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/cutter_knife_021.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/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/cutter_knife_021_collision.obj b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/cutter_knife_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c31c73ee03f0e91bc818603864cb86863f457a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/cutter_knife_021_collision.obj
@@ -0,0 +1,3461 @@
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diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/material.mtl b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/material.mtl
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diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/material_0.png b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/cutter_knife_021.xml b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/cutter_knife_021.xml
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+    <mesh name="collision_mesh_0_0" file="mesh/cutter_knife_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/cutter_knife_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/cutter_knife_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
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diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021.obj b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bf719fc08ba83e451ec20b3a2a6f811b7ce5135
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021.obj
@@ -0,0 +1,114212 @@
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diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision.obj b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49166395bcf9392808d21b8736458628d9a94d3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision.obj
@@ -0,0 +1,3461 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_0.obj b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebaa3f109cb219c7724f48489fe1f5ef53d843cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_1.obj b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcacd5bd28bb03cf0fc173c62fb4a2016c0f660d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_2.obj b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c073a7baef811883c614e9b332db1caedb5c5d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_2.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_3.obj b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f06cb2669ad336abfd53966cb0759d6ec0dc8844
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_3.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_4.obj b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e614b25cf2fb6bca02565bc1a4efea9ac95be138
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_4.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_5.obj b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..885326f86d2df833d7fff805d7566b3e12afc34f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_6.obj b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97b320b5156d4321b96e5e80ca2c864d84501f6a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_6.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_7.obj b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b90245cc74b1c2755cb26753ceb3f990becd0caa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7c0a0f0af53c53a7aebeac68f8f4da33/mjcf/mesh/cutter_knife_021_collision_7.obj
@@ -0,0 +1,289 @@
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