diff --git a/.gitattributes b/.gitattributes
index b17c14e87f33946c049db184a21fd6274772ec57..cc6e21e1a7e034716c837a4a53056bccccc340d3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3316,7 +3316,5 @@ dataset/desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12/cutter_kn
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 dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scotch_tape_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/scotch_tape_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/mesh/sticky_notes_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/sticky_notes_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/stamp_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/magnifier_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/magnifier_029.urdf b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/magnifier_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f5ccbc0697fcdd9dce0260afe242bb7626235c6f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/magnifier_029.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="magnifier_029">
+   <link name="magnifier_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/magnifier_029.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/magnifier_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>1680b4a45f095d4581a81076de2bc274</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>magnifier</category>
+         <name>handheld magnifier</name>
+         <color>gray,silver</color>
+         <shape>irregular</shape>
+         <material>metal</material>
+         <description>round magnifying glass with ornate tapered handle</description>
+         <min_height>0.0121</min_height>
+         <max_height>0.0121</max_height>
+         <real_height>0.0121</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609172502</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.028332 -0.084836 -0.006496</min>
+            <max>0.028368 0.065164 0.005570</max>
+         </aabb>
+         <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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/magnifier_029.usd b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/magnifier_029.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/magnifier_029.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a739cb36c2b8d393f971b0ad634ef8a184212c169a6b3a52c860c24c1089c6d
+size 4833366
diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029.glb b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..01ba5804d9e99e42d164eb6c34969f21ae195b09
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d6b91d5602731da75547dce59637d7ffd348a864ed66191981b7a167efdecca
+size 11137600
diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029.mtl b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40aee212803e063d784dc3bede219d9fa3af57cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029.mtl
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+newmtl magnifier_029_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/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029.obj b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13fd3d6ebe1f2b4d27aa6a40d58e054342ddb6fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029.obj
@@ -0,0 +1,105402 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl magnifier_029_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029_collision.obj b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ecf8653fd2f26ca35ba11519a37db0340762ee8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d24a7993b656812cdcbf513e19c2625fa6fbf7fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04139a25601e2bcd7b4e9bedacc86591192fb2360f9a82a4a2cb2a7d3813a917
+size 7899684
diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/material.mtl b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3f92e7866a4d5a0b68faa0bdda6750241f390d57
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl magnifier_029_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 magnifier_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/material_0.png b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d24a7993b656812cdcbf513e19c2625fa6fbf7fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04139a25601e2bcd7b4e9bedacc86591192fb2360f9a82a4a2cb2a7d3813a917
+size 7899684
diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/magnifier_029.xml b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/magnifier_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..51837ec603dc34909ec1c54f0c9f0147a3b00dac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/magnifier_029.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="magnifier_029">
+  <asset>
+    <material name="material_0" texture="texture_0_magnifier_029_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_magnifier_029_geometry_Looks_material_0" type="2d" file="mesh/magnifier_029_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/magnifier_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/magnifier_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/magnifier_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/magnifier_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/magnifier_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/magnifier_029_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/magnifier_029_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/magnifier_029_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/magnifier_029_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/magnifier_029_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="magnifier_029">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" 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/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029.obj b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a5d374bee8378c6a70f5b376a9119f5e29097a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029.obj
@@ -0,0 +1,105402 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl magnifier_029_geometry_Looks_material_0
+v 0.027459 0.042180 0.002314
+v 0.027459 0.042180 0.002314
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+v 0.005189 0.063340 0.005008
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diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision.obj b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a81a74e56d782dd89d5898e007338a54be6eebd4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision.obj
@@ -0,0 +1,4691 @@
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diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_0.obj b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..388b65173abfd6f2535d2c75a6a65bfc28a06558
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_1.obj b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..995dcaf1bdad2161a53e4df2cfe7e57a767b04f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_2.obj b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27a5151fe18c96c202c8307a196cf60f934dd0e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_3.obj b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4539588632549025077309eb0dcdbd386740c788
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_3.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_4.obj b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7704bf844e1fb00ec0276feb66adc91ad0e7bfb9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_4.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_5.obj b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bb0dfbc19a319186a70acb5ce7f7a9157e9991a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_6.obj b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6a8369b766c616d4412e924a4082038d0eb2be8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_7.obj b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99402da533ab3776821edc303f3e604c5a00dbe4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_7.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_8.obj b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0c3adb660e42c99f2d9d355bf5aa06f5b93f733
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mjcf/mesh/magnifier_029_collision_8.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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