diff --git a/.gitattributes b/.gitattributes
index b988e00bb72e62d1e79008e491098cfaf7635d40..a03fe6f2cd223ec3ceec6f5c94a300930d6189a1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3401,18 +3401,5 @@ dataset/desktop_supplies/office_tools/8fb03f5a2e7b5e488e8df7acca2e1e1f/mesh/stic
 dataset/desktop_supplies/office_tools/8fb03f5a2e7b5e488e8df7acca2e1e1f/sticky_notes_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scotch_tape_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/scotch_tape_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/a07deb7936125cab9533c221c948a123/mesh/staples_box_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/a07deb7936125cab9533c221c948a123/staples_box_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/a44f88a6de025498b5c6c0040e2780ff.usd filter=lfs diff=lfs merge=lfs -text
-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
-dataset/desktop_supplies/office_tools/a1e8baec13885edea3e8d0bf6f88f9b8/a1e8baec13885edea3e8d0bf6f88f9b8.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/a425eea88eaf592d946d44e8f80a762a/mesh/scotch_tape_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/a425eea88eaf592d946d44e8f80a762a/scotch_tape_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001.glb filter=lfs diff=lfs merge=lfs -text
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-dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/cutter_knife_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/cutter_knife_003.urdf b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/cutter_knife_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2d184385209b53add5b2d2ec10b6b3dbc7886cdd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/cutter_knife_003.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="cutter_knife_003">
+   <link name="cutter_knife_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/cutter_knife_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>90c6a863286751cf88ad287c2ba25352</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>cutter_knife</category>
+         <name>retractable knife</name>
+         <color>black,gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>retractable cutter knife with sharp blade and ergonomic handle</description>
+         <min_height>0.0096</min_height>
+         <max_height>0.0096</max_height>
+         <real_height>0.0096</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506205943</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>2</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/90c6a863286751cf88ad287c2ba25352/cutter_knife_003.usd b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/cutter_knife_003.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b2c22081888972265e4c1439a521df50b08e7be1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/cutter_knife_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8f6d634f62595f28df04ec4e6347c56614d0526f45eed1fa354ffca95e8ae32
+size 4974324
diff --git a/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003.glb b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1923cfbb138d80c23d7c40912a6f6831e4605cc8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13231152
diff --git a/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003.mtl b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2c31aaae9b173678dc5757a7d52231392a40b84f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003.mtl
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+newmtl cutter_knife_003_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/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003.obj b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ed049951357db62d1ab50d8b1fd37e6eb6b36fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003.obj
@@ -0,0 +1,114734 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003_collision.obj b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0322bcb8559f99e88d29c15e91746adb686a52d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003_collision.obj
@@ -0,0 +1,1651 @@
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diff --git a/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e151fdf08315d69e6d1a14acb95a33b89e9aa8cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:278775a071780d8947c2439c8222f563db37aa196736b6260eda8bf1edbd7816
+size 9802480
diff --git a/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/material.mtl b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..328544d2f2256cc172708033012b570b2d43bb76
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl cutter_knife_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/material_0.png b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e151fdf08315d69e6d1a14acb95a33b89e9aa8cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:278775a071780d8947c2439c8222f563db37aa196736b6260eda8bf1edbd7816
+size 9802480
diff --git a/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/cutter_knife_003.xml b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/cutter_knife_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..58aa6970288492dfdd33390eef0f4da0ab0640c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/cutter_knife_003.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="cutter_knife_003">
+  <asset>
+    <material name="material_0" texture="texture_0_cutter_knife_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_cutter_knife_003_geometry_Looks_material_0" type="2d" file="mesh/cutter_knife_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/cutter_knife_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/cutter_knife_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/cutter_knife_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/cutter_knife_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/cutter_knife_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/cutter_knife_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="cutter_knife_003">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003.obj b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4ee20566d1ea2093d3586926a12116963d9e2d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003.obj
@@ -0,0 +1,114734 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision.obj b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fc246f971b0c0aebc8ec383d9a2549308ada3cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision.obj
@@ -0,0 +1,1651 @@
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diff --git a/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision_0.obj b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..262ea9d0dde4777825395ef8668379b55621cd1d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision_0.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision_1.obj b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e089727acea81f398d8b9e60ad68872f2abf149
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision_1.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision_2.obj b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..029a64e38147ecd9e14b8c6af728757524559d39
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision_2.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision_3.obj b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60973787b0c52687caaec5dd1e2836f75a3e9ff0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mjcf/mesh/cutter_knife_003_collision_3.obj
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