diff --git a/.gitattributes b/.gitattributes
index 52c2920eff3f744f334721d15244d6fcf6325f76..06dc2b62742cd36178d04ba191208f37fbcb0491 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3884,5 +3884,5 @@ dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/fruit_kn
 dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4/garlic_press_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4/mesh/garlic_press_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/94c03725417052b3939b100980cd98ca/mesh/peeler_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/94c03725417052b3939b100980cd98ca/peeler_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/fruit_knife_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/fruit_knife_016.urdf b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/fruit_knife_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f25ca30532d4669ebb7eb6dc8047f405d3fe5dcc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/fruit_knife_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_016">
+   <link name="fruit_knife_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_016.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/fruit_knife_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>
+         <scale>1.000000</scale>
+         <uuid>8dcf9d23ce6f533f81ca6b0cc8fe9d5e</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>wooden fruit knife</name>
+         <color>brown,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small curved fruit knife with wooden handle and narrow metal blade</description>
+         <min_height>0.0106</min_height>
+         <max_height>0.0106</max_height>
+         <real_height>0.0106</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518181923</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.093463 -0.013012 -0.004806</min>
+            <max>0.061916 0.009672 0.005828</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/fruit_knife_016.usd b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/fruit_knife_016.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/fruit_knife_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13d9c19f1bc7d444bfd6b6c06e89cccb482c548f9979b83df9dd51e0a195c54d
+size 4973933
diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016.glb b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..360d0fd06573be726d18f5258c2358aae01bcb78
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c960cc59f5f7c1b5a121611593150dda702b13d92a2e1d3e7c6b806546b2be6c
+size 13646212
diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016.mtl b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..866382c1a0197ce3d08f929b7abd179d8317689c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016.mtl
@@ -0,0 +1,6 @@
+newmtl fruit_knife_016_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/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016.obj b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed89631793a0450cce3de5053664fed3c93ffc26
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016.obj
@@ -0,0 +1,110462 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016_collision.obj b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ba3f879bad564ab5b995a94f2679ab4328cebd5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bb4d3eecf53211f27abe025db58d8aa7cf42e12
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/fruit_knife_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21f45e80fe6d1d14911691d0b42020c6c192034b6c5d4f18a4bc9dd9d9ab5a2b
+size 10216873
diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5dde44c051ca4d2855b87f696396cc35555f6bcc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_016_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 fruit_knife_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bb4d3eecf53211f27abe025db58d8aa7cf42e12
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21f45e80fe6d1d14911691d0b42020c6c192034b6c5d4f18a4bc9dd9d9ab5a2b
+size 10216873
diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/fruit_knife_016.xml b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/fruit_knife_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..17c589138470fe7b9e37edf8bf85d6b88628233d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/fruit_knife_016.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_016">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_016_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_016_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_016_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fruit_knife_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/fruit_knife_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_016">
+      <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/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016.obj b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25c6e1d856196a18300867ab97e8087e36718dc5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016.obj
@@ -0,0 +1,110462 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_016_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision.obj b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b2d95ac5a80684fadcdce06c8182c51d5f6f39
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision.obj
@@ -0,0 +1,2140 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2a6dece8a4dbc070ffd6572df0cd1b91c200965
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f330686dca09b5e2d33f564e8304a85f6d67dd82
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..948ae87131d2bd0ad49c65a52aa5636969f83872
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision_2.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe370b2a9a379d0bb1b1a19f9c1377894389695c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision_3.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/mjcf/mesh/fruit_knife_016_collision_4.obj
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index 0000000000000000000000000000000000000000..bc91ffbc5aed884758c5e22b1ae5e70bb41ef27a
--- /dev/null
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diff --git a/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/8dcf9d23ce6f533f81ca6b0cc8fe9d5e/textures/material_0.png
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