diff --git a/.gitattributes b/.gitattributes
index f8e0f901ec1d0f616cff87b13df242ee93060e8d..b18a2a68866a547b59ef4ce6cd9fbe990b1189df 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3339,3 +3339,5 @@ dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/cutter_kn
 dataset/desktop_supplies/office_tools/2a392f06750153e8b80eeb125dfeb73b/mesh/cutter_knife_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/2a4bf8c8e22459248f9212a42a081db9/mesh/sticky_notes_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/2a4bf8c8e22459248f9212a42a081db9/sticky_notes_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/cutter_knife_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/cutter_knife_006.urdf b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/cutter_knife_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..677705a57ef893fa73b1cca1cf8834a2edd6b804
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/cutter_knife_006.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="cutter_knife_006">
+   <link name="cutter_knife_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/cutter_knife_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <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>32aae530a0f559989682342662b9f1f3</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>cutter_knife</category>
+         <name>utility knife</name>
+         <color>black,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>retractable blade knife with ergonomic handle and sharp cutting edge</description>
+         <min_height>0.0141</min_height>
+         <max_height>0.0141</max_height>
+         <real_height>0.0141</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506210041</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>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/32aae530a0f559989682342662b9f1f3/cutter_knife_006.usd b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/cutter_knife_006.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/cutter_knife_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f917880cc660b24ea4a5512740b296b9e09ad9c8cf966d92343e445d6273c752
+size 4991132
diff --git a/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006.glb b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..02b61e115d13979ea611edb1b78182edd9d942b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f57e6a3e050769b0c07767d3f26762b7a510142006485c1adb11444b3c6b23c
+size 12958920
diff --git a/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006.mtl b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7f8b4fc983104fdf0fe31c76e14d9f72df07025d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006.mtl
@@ -0,0 +1,6 @@
+newmtl cutter_knife_006_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/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006.obj b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10972f96abc7322506fca2d894a5c2ae5284eca3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006.obj
@@ -0,0 +1,115178 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006_collision.obj b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfbdc8e6de4560d78a10fbd83cc8e325d949f791
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006_collision.obj
@@ -0,0 +1,2155 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..82626bf0d18a29daaa0b2ab67886f8f77f8c31c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/cutter_knife_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc5e2566c8182aeccbb3ed6a8d3e723e09ec9ca93fad60d6563bd379cc717f49
+size 9497163
diff --git a/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/material.mtl b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf11ecf899b5800ddcfbb3c9128e476702bf890b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl cutter_knife_006_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_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/material_0.png b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..82626bf0d18a29daaa0b2ab67886f8f77f8c31c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc5e2566c8182aeccbb3ed6a8d3e723e09ec9ca93fad60d6563bd379cc717f49
+size 9497163
diff --git a/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/cutter_knife_006.xml b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/cutter_knife_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e4454583664d8e23d0595faf452cb8cad4fde7b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/cutter_knife_006.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="cutter_knife_006">
+  <asset>
+    <material name="material_0" texture="texture_0_cutter_knife_006_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_cutter_knife_006_geometry_Looks_material_0" type="2d" file="mesh/cutter_knife_006_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/cutter_knife_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/cutter_knife_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/cutter_knife_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/cutter_knife_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/cutter_knife_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/cutter_knife_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="cutter_knife_006">
+      <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/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006.obj b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db4ee97df676e4b9567814264a5004a43b3667ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006.obj
@@ -0,0 +1,115178 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl cutter_knife_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision.obj b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69a2b546bcbd80d2db018038b642916eb506bab8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision.obj
@@ -0,0 +1,2155 @@
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diff --git a/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_0.obj b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ec24ffa0314af0307941fbe107c4ca84bcc094c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_0.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_1.obj b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4277bec5fa31bca2bac931f0f759ebdc6008f305
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_1.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_2.obj b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..397521fec97ed1523aafee68132be5988e7cf740
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_3.obj b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7dad4775c3f4754630adecb7135d72ce3dba493
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_4.obj b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32e24042f1d120bb44312f09f23a9a03f119e7bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/32aae530a0f559989682342662b9f1f3/mjcf/mesh/cutter_knife_006_collision_4.obj
@@ -0,0 +1,553 @@
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