diff --git a/.gitattributes b/.gitattributes
index 40b6a8f46054bba4100009f6bcc51df78546af79..3eee137928847d6bbded5e129a0dd4f08a541dfa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3466,3 +3466,5 @@ dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/stap
 dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/staples_box_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/magnifier_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/magnifier_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/magnifier_022.urdf b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/magnifier_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eb893aac0c3d3afee529ce5bdd21cd981bbbaad0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/magnifier_022.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="magnifier_022">
+   <link name="magnifier_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/magnifier_022.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_022_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>f4ad684b217152bd83dd515aa1f10d3e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>magnifier</category>
+         <name>bear magnifier</name>
+         <color>yellow,black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>yellow handheld magnifier with bear-ear frame and short handle</description>
+         <min_height>0.0205</min_height>
+         <max_height>0.0205</max_height>
+         <real_height>0.0205</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609172228</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.046424 -0.099761 -0.009452</min>
+            <max>0.046411 0.050239 0.011076</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/f4ad684b217152bd83dd515aa1f10d3e/magnifier_022.usd b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/magnifier_022.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/magnifier_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4997112
diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022.glb b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..38282c96d00aec9a1502f978c998ba940b3e4050
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:440436d61c5f44fc8d551f13c77fb26fc3e8c1df4b279206b3dd84b4f2f08575
+size 10145624
diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022.mtl b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb733f8a6f54e81bdfacd1e529283d77fe377b2e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022.mtl
@@ -0,0 +1,6 @@
+newmtl magnifier_022_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/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022.obj b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7097ad1b41a8decc80cc48062f0caa6f8efd948
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022.obj
@@ -0,0 +1,113906 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl magnifier_022_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022_collision.obj b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f4ab31fbd2983868478eae9512754b09705b50e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022_collision.obj
@@ -0,0 +1,6110 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4609d183ec9324333c4de9183d0774905d53d363
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34b6d677f5f78f499b02191b8927e38c3574ad6fb9a80ee86236dddedaf648bc
+size 6663309
diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/material.mtl b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..35edf37c17859dd7e465014613dffe2bdde4f053
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl magnifier_022_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_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/material_0.png b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4609d183ec9324333c4de9183d0774905d53d363
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34b6d677f5f78f499b02191b8927e38c3574ad6fb9a80ee86236dddedaf648bc
+size 6663309
diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/magnifier_022.xml b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/magnifier_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6ed933c9c1774cafdd2cd883d474aec177e08898
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/magnifier_022.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="magnifier_022">
+  <asset>
+    <material name="material_0" texture="texture_0_magnifier_022_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_magnifier_022_geometry_Looks_material_0" type="2d" file="mesh/magnifier_022_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/magnifier_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/magnifier_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/magnifier_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/magnifier_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/magnifier_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/magnifier_022_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/magnifier_022_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="magnifier_022">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022.obj b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec0f7980573f6bec6a8ce580dcc00d87841ade0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022.obj
@@ -0,0 +1,113906 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl magnifier_022_geometry_Looks_material_0
+v 0.045129 0.042162 0.001458
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diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision.obj b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ce1d63e42c0af66157cc420174540be3aba2f0c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision.obj
@@ -0,0 +1,6110 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_0.obj b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..280536c04dc28c8088ea98c946edea946e745b8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_1.obj b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d068b38c0b2d082ea33a1199d71b99a43b46bd2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_2.obj b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9035cb1a084dabda3f770d054062eb6558c4047
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_3.obj b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44908dcb7e9a70484640399d103432eb0292ceeb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_4.obj b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..372791ae33bca09761eccfd75efcba6ce4bb86b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_5.obj b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26d3dc6840f27abbfbf553ca48e9c3f0111a1d87
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mjcf/mesh/magnifier_022_collision_5.obj
@@ -0,0 +1,667 @@
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