diff --git a/.gitattributes b/.gitattributes
index 7f1252fbc127ab8a37d4ae0f6a5a86f54c6dae66..cb2e523fa64954f644fe83dd054af888f76b6dfe 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3443,5 +3443,5 @@ dataset/desktop_supplies/office_tools/cf02ac041c085cc79b49f7baa3518310/mesh/stic
 dataset/desktop_supplies/office_tools/cf02ac041c085cc79b49f7baa3518310/sticky_notes_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/d96ffbd0686c54f1af2940efd3e620a3/mesh/scotch_tape_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/d96ffbd0686c54f1af2940efd3e620a3/scotch_tape_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/de7b175185f5540d837dcaca59977307/magnifier_023.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/de7b175185f5540d837dcaca59977307/mesh/magnifier_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/cutter_knife_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/cutter_knife_019.urdf b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/cutter_knife_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ae082af120cb83b09dfa6f5dab454706dc7e0c00
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/cutter_knife_019.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="cutter_knife_019">
+   <link name="cutter_knife_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/cutter_knife_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</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>dd8394532ee65ce4b8f2d07142f60545</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>cutter_knife</category>
+         <name>retractable utility knife</name>
+         <color>black,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>black and silver retractable utility knife with segmented blade</description>
+         <min_height>0.0135</min_height>
+         <max_height>0.0135</max_height>
+         <real_height>0.0135</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609171446</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.014505 -0.044080 -0.005313</min>
+            <max>0.016081 0.072086 0.008221</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>14</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/dd8394532ee65ce4b8f2d07142f60545/cutter_knife_019.usd b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/cutter_knife_019.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/cutter_knife_019.usd
@@ -0,0 +1,3 @@
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+size 5018892
diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019.glb b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a001789fb072f7f73f3a7f398663daac8665959c
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+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019.mtl b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..24d1093469b65cdb077887db0fd7f56c435a5333
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019.mtl
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+newmtl cutter_knife_019_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/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019.obj b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bd4a8ac10300aab5c3d49088c9f9bcf0c7e30da
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019.obj
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+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019_collision.obj b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e3663784fa95a5a084b186dfe17ccd3fb8e98f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/cutter_knife_019_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 9628069
diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/material.mtl b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0d4657d213758814c97fb14f58bc54ec711b07d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl cutter_knife_019_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/material_0.png b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mesh/material_0.png
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index 0000000000000000000000000000000000000000..2196f78e3eb4b4e59ee4ec71386bd435db255e40
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/cutter_knife_019.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="cutter_knife_019">
+  <asset>
+    <material name="material_0" texture="texture_0_cutter_knife_019_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_cutter_knife_019_geometry_Looks_material_0" type="2d" file="mesh/cutter_knife_019_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/cutter_knife_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/cutter_knife_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/cutter_knife_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/cutter_knife_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/cutter_knife_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/cutter_knife_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/cutter_knife_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/cutter_knife_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/cutter_knife_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="cutter_knife_019">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019.obj b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b643c4515f679b091aaf5c5ef2eb947bba467390
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019.obj
@@ -0,0 +1,117980 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision.obj b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44456d54b97b6affbd87db5fcc89019121116d6f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_0.obj b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f73fb592db25cc60d14c4998c2b29862368f1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_1.obj b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..925412f6b76bc830c51b038c16a1c95b58249c0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_2.obj b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8926188f9ee5a0669afed002460a41015c91b22f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_2.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_3.obj b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66131f13665a62638a9c44d408775c3b3e042363
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_3.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_4.obj b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d933760fe5207fc726e910d886a18b0988448699
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_4.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_5.obj b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92e63008692799aa1b96a26077f5700cb299a011
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_5.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_6.obj b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbfa6d880e39cf52a6008709b1711dc37773ffc9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_6.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_7.obj b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60f30924030ac3e92acc8c5b37de0819296289ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/mjcf/mesh/cutter_knife_019_collision_7.obj
@@ -0,0 +1,502 @@
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