diff --git a/.gitattributes b/.gitattributes
index c180fef224c5a3ee3dc038a5e9d032db39e6274f..a8f9d7eb33804ea5ac2cf916594cb75d7a1617ee 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3417,3 +3417,5 @@ dataset/desktop_supplies/office_tools/ab2056d72a145605bb59153ae4dae0a2/cutter_kn
 dataset/desktop_supplies/office_tools/ab2056d72a145605bb59153ae4dae0a2/mesh/cutter_knife_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/a8a4a7b4d1a45eba8de8f0789a658583/mesh/sticky_notes_019.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/a8a4a7b4d1a45eba8de8f0789a658583/sticky_notes_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/cutter_knife_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/cutter_knife_020.urdf b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/cutter_knife_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..612154c71aeac20a91977b831c1814f6c4f96d7b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/cutter_knife_020.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="cutter_knife_020">
+   <link name="cutter_knife_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/cutter_knife_020.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_020_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>b4e6e51392d75c8da524c08b73e2b24d</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>cutter_knife</category>
+         <name>retractable utility knife</name>
+         <color>silver,black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>silver and black retractable utility knife with segmented blade</description>
+         <min_height>0.0083</min_height>
+         <max_height>0.0083</max_height>
+         <real_height>0.0083</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609171504</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.015251 -0.046914 -0.003915</min>
+            <max>0.010748 0.072781 0.004412</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/b4e6e51392d75c8da524c08b73e2b24d/cutter_knife_020.usd b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/cutter_knife_020.usd
new file mode 100644
index 0000000000000000000000000000000000000000..02b9d832c8df87b6190a47437b4d29ab97219d12
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/cutter_knife_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e07180a23e1a8402e0d78013de205444c752e42f56624d60430607451a9be82f
+size 5027796
diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020.glb b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7220b7d02b91b9e38945f96b9147e6c5453b2015
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4011680b3563ca73bd6f5751514877f5d330f25700a8a437538fd8d42b0c150a
+size 12320676
diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020.mtl b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0edf42b4dcdb7e0a2ac8fa367d14edf8fcca25f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020.mtl
@@ -0,0 +1,6 @@
+newmtl cutter_knife_020_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/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020.obj b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3df126fea5b5c6877a740e4c7e2222c614575e17
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020.obj
@@ -0,0 +1,117800 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_020_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020_collision.obj b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ace47d4815116e9192747a56630ae55faafb085
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020_collision.obj
@@ -0,0 +1,1571 @@
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diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..912aa322cda51f5c71252d3666137b60793eec27
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d294b6465f7456f4a22c946eb43af94a03675b77d52a4117ab414a1744abc51d
+size 8822740
diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/material.mtl b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..472beb2104d0876998cbac9ea5dd97d9e4a838ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl cutter_knife_020_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_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/material_0.png b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..912aa322cda51f5c71252d3666137b60793eec27
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d294b6465f7456f4a22c946eb43af94a03675b77d52a4117ab414a1744abc51d
+size 8822740
diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/cutter_knife_020.xml b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/cutter_knife_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..018186fb4310ef678d16bdadbbb9a633f4d4d01e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/cutter_knife_020.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="cutter_knife_020">
+  <asset>
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+    <texture name="texture_0_cutter_knife_020_geometry_Looks_material_0" type="2d" file="mesh/cutter_knife_020_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/cutter_knife_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/cutter_knife_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/cutter_knife_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/cutter_knife_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="cutter_knife_020">
+      <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/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020.obj b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d170118955e3415f61c7ed637bc266d66b1f0462
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020.obj
@@ -0,0 +1,117800 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_020_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020_collision.obj b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b361dbda362798edc62ba469f31c0a268e10b58e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020_collision.obj
@@ -0,0 +1,1571 @@
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diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020_collision_0.obj b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cba130ef5e384866130cf5dc92d0fe29155eef7d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020_collision_1.obj b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8edb92e763d42fafe22d253e8d87b85c8944cb7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020_collision_2.obj b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020_collision_2.obj
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index 0000000000000000000000000000000000000000..11e49874af73e64efeba1326842c7d355e607ada
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diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mjcf/mesh/cutter_knife_020_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/textures/material_0.png b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/video.mp4 b/dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/video.mp4
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