diff --git a/.gitattributes b/.gitattributes
index f41e4801f7e0e39903842cfb05cae68d82dfed86..54b5e4d3ab71cb7284708e164b9d10ca70c41a63 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3874,3 +3874,6 @@ dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/fruit_kn
 dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/garlic_press_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4ae0b70eecb55315a060d64a00c7eb34/mesh/garlic_press_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/4b5e9d0a8001514bb81de604272e2858.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/wooden_cutting_board.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/wooden_cutting_board_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/4b5e9d0a8001514bb81de604272e2858.urdf b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/4b5e9d0a8001514bb81de604272e2858.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..abdc34d6e80f13e66d70e41db52d8ddb859df44e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/4b5e9d0a8001514bb81de604272e2858.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_cutting_board">
+   <link name="wooden_cutting_board">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_cutting_board.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_cutting_board_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.1500" />
+         <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>0.517520</scale>
+         <version>v0.1.7</version>
+         <category>wooden cutting board</category>
+         <description>flat rectangular wooden cutting board with smooth edges</description>
+         <min_height>0.018</min_height>
+         <max_height>0.025</max_height>
+         <real_height>0.0215</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.5</max_mass>
+         <generate_time>20260120115031</generate_time>
+         <gs_model>mesh/wooden_cutting_board_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: The object appears incomplete or overly simplified, lacking discernible structure or identifiable geometry.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.740891456604004</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/4b5e9d0a8001514bb81de604272e2858.usd b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/4b5e9d0a8001514bb81de604272e2858.usd
new file mode 100644
index 0000000000000000000000000000000000000000..afdb2d94a38df4299f1b5ca45cbfbe74795f2c36
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/4b5e9d0a8001514bb81de604272e2858.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2d57b3c80dc81c1ea511ccd524a7020973e7f7135018c41f6d8217ba8180ec1
+size 971213
diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a847011650e3164c7e7af52141c30e0dac58b53
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a75d0f266ba893aed88bd5752c9e9358381eefe2f6e2f67a3578ba0db8abe9f6
+size 1684303
diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/wooden_cutting_board.glb b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/wooden_cutting_board.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d47f051db4736ff92ae77d1ba2a9a352d42f05c5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/wooden_cutting_board.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbe0ecac27331feabb5ab2614a4a7c6d8ab2ff43797b9b60b396867dfa38a1d3
+size 2325580
diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/wooden_cutting_board.obj b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/wooden_cutting_board.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c5110699c6255e7fbf0c89c20c991dcaf04dd1c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/wooden_cutting_board.obj
@@ -0,0 +1,58418 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/wooden_cutting_board_collision.obj b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/wooden_cutting_board_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eef47a8c782a4cccd5541fe48750a0d65cf267d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/wooden_cutting_board_collision.obj
@@ -0,0 +1,3776 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/wooden_cutting_board_gs.ply b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/wooden_cutting_board_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..33b29da4733cc6da5298a980cfb8730f31c8cadf
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mesh/wooden_cutting_board_gs.ply
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+version https://git-lfs.github.com/spec/v1
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+size 1224297
diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/4b5e9d0a8001514bb81de604272e2858.xml b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/4b5e9d0a8001514bb81de604272e2858.xml
new file mode 100644
index 0000000000000000000000000000000000000000..544841b1a740b5491f4259f9937e1a90b8e6587d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/4b5e9d0a8001514bb81de604272e2858.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/wooden_cutting_board_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wooden_cutting_board_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wooden_cutting_board_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wooden_cutting_board_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wooden_cutting_board_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wooden_cutting_board_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wooden_cutting_board_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wooden_cutting_board_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wooden_cutting_board_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wooden_cutting_board">
+      <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" />
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+      <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/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a847011650e3164c7e7af52141c30e0dac58b53
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+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 1684303
diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board.obj b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9abcbdcd830e51d7ff513794c2248c76ca6084dd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision.obj b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79064cfb22732f647ba57315e07adda5e85e5324
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision.obj
@@ -0,0 +1,3776 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca2090bf37b5053f7820111564caf9b77fb5545b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1bba28eb1e620b15215c5d03a40cfd40e07d696
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_1.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7644821b8895732763d71d77456b7e81e0f2e9b8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_2.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0953455332312858dddc0870ad87c4c11c53b67b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_3.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfd7a984b7b3b23f4fea90fa379c7054f6cb4859
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_4.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b550973cd377a2f414d176d87135c4e6d3327dc4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_5.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b497dcf1da0afd601fe4b0d5d0ab1a635a87242d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_6.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af08a122ff59cad8c58dac58b7790c2bdb6c6107
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_7.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/4b5e9d0a8001514bb81de604272e2858/mjcf/mesh/wooden_cutting_board_collision_8.obj
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index 0000000000000000000000000000000000000000..d7e1436010d63ab0594f5b1fe31e23484e9139ff
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