diff --git a/.gitattributes b/.gitattributes
index aef88f07ae2157a907f51f9f6791cd3ba24a127d..d7662f199d2985e9902a4b68c8785817409577a3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3401,3 +3401,5 @@ dataset/desktop_supplies/office_tools/8fb03f5a2e7b5e488e8df7acca2e1e1f/mesh/stic
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 dataset/desktop_supplies/office_tools/9aaf1bc5ce28553fa0a9e32a68fda39b/mesh/scissors_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/9aaf1bc5ce28553fa0a9e32a68fda39b/scissors_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/cutter_knife_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mesh/cutter_knife_029.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/cutter_knife_029.urdf b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/cutter_knife_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fe76f654d8146250e9a097950ad98c6d4391a4d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/cutter_knife_029.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="cutter_knife_029">
+   <link name="cutter_knife_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/cutter_knife_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/cutter_knife_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="0.0700" />
+         <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>
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+         <uuid>9a723d73452c588dabd758b04566e521</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>cutter_knife</category>
+         <name>utility knife</name>
+         <color>gray,silver</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>gray retractable utility knife with short metal blade</description>
+         <min_height>0.0057</min_height>
+         <max_height>0.0057</max_height>
+         <real_height>0.0057</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609171747</generate_time>
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+            <max>0.006188 0.048697 0.002890</max>
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+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
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+         <part_count>4</part_count>
+         <visual_seg>
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+            <geometry>
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+            </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/9a723d73452c588dabd758b04566e521/cutter_knife_029.usd b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/cutter_knife_029.usd
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+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/cutter_knife_029.usd
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new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mesh/cutter_knife_029.mtl
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+d 1.000000
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new file mode 100644
index 0000000000000000000000000000000000000000..b0452a3438ecb01e747924b4dfddae73ec86c633
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+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mesh/cutter_knife_029.obj
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diff --git a/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mesh/cutter_knife_029_collision.obj b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mesh/cutter_knife_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e7dae58c054f4f28a4086b56a891cc30e03a6ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mesh/cutter_knife_029_collision.obj
@@ -0,0 +1,2072 @@
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+size 7729063
diff --git a/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mesh/material.mtl b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mesh/material.mtl
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index 0000000000000000000000000000000000000000..0de3253229a717dc252adb4e83809a359f19532f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mesh/material_0.png b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/cutter_knife_029.xml b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/cutter_knife_029.xml
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index 0000000000000000000000000000000000000000..61dfb39672782be9a20710d49804621d5e5f4847
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/cutter_knife_029.xml
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diff --git a/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029.obj b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbf4eceebf28c3f24108b1e87f2954b1d2324ceb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029.obj
@@ -0,0 +1,118256 @@
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diff --git a/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision.obj b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8db475921ec7dee219ac6da5fe5296ee01e78ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision.obj
@@ -0,0 +1,2072 @@
+# https://github.com/mikedh/trimesh
+
+o cutter_knife_029_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_0.obj b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78545606ecea0a59a59dfd9808d4cf7a474ea1de
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_0.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_1.obj b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8665e8a7b16f6bbdf1dc3886329710343d3440f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_2.obj b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..664440be3e2b82072e1e1938312e9bfec5c89e07
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_2.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_3.obj b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..235cf0e057ac3f6e4063c8fba65ce9d94d266141
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_3.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_4.obj b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cf7216df3929f5517f6bbd193c7638ed6078126
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_4.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_5.obj b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8d3b53524d05f655970db2a478ad93bdfd57f67
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mjcf/mesh/cutter_knife_029_collision_5.obj
@@ -0,0 +1,289 @@
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