diff --git a/.gitattributes b/.gitattributes
index f2b518c8ca801c2e61ce7bfd349309a897384efc..3c5540b72fdab356143938888460d64d29a65bf7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3905,3 +3905,5 @@ dataset/kitchen_supplies/cutting_tools/c99e1f702ed85812b059bbb05ba14850/mesh/gar
 dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/cc10238c0d7958b0b9a7757f20dc8343.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/wooden_cutting_board.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/wooden_cutting_board_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/fruit_knife_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/fruit_knife_010.urdf b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/fruit_knife_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..86dddeff73673bace85ac0bdd00d8b4db723e231
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/fruit_knife_010.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_010">
+   <link name="fruit_knife_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>ca9e4f1fffde5e47bd7fce1107a993eb</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>patterned fruit knife</name>
+         <color>silver,brown</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>sleek knife with patterned blade and wooden handle</description>
+         <min_height>0.0163</min_height>
+         <max_height>0.0163</max_height>
+         <real_height>0.0163</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428002614</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <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_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/ca9e4f1fffde5e47bd7fce1107a993eb/fruit_knife_010.usd b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/fruit_knife_010.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/fruit_knife_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:440df64d73cd8f235fe0730364061157b0c55c070adfa3f6089f7580e98d0277
+size 4840400
diff --git a/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010.glb b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6122f0922d4b9d4fcbce76c854fc8a820480563cef2a5539b45d807d224eff7
+size 14148964
diff --git a/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010.mtl b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..01b567a2652dda7f01bfd22699e90bdba2e48cbd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010.mtl
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+newmtl fruit_knife_010_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/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010.obj b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..745943d968a869f49aa7cd9033bbdfb38ce46145
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_010_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010_collision.obj b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea7514a503b0c8bdf30fdfdead6a8dd881fbb1d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6f6bebbf44c0f1f26e509dace64b7a099d52f7c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:764e5258996aa1975222a5b472f45b1b980161979131ee3990d9217cf4d9d428
+size 10948228
diff --git a/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..700524a3e981a38721d19b306908b1e3fd98cea2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6f6bebbf44c0f1f26e509dace64b7a099d52f7c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:764e5258996aa1975222a5b472f45b1b980161979131ee3990d9217cf4d9d428
+size 10948228
diff --git a/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/fruit_knife_010.xml b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/fruit_knife_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e7e7396a64976d980c0c5fb425e5d87509f80569
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/fruit_knife_010.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_010">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_010_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_010_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_010_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fruit_knife_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_010">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010.obj b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5764b225b4de062d80b88aa714d89280aa006770
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010.obj
@@ -0,0 +1,106108 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_010_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision.obj b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71f5038ab8c618d345106f3dd4eab31638025641
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision.obj
@@ -0,0 +1,2433 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..455c92106adf12da94ec140b9b5e2613b90df135
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision_0.obj
@@ -0,0 +1,727 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46098056e9420b73ba1598d7b1d8900c825c08a5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision_1.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46478ec4a750b65d3b4969073400b601c1ce9677
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision_2.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5677c7b749df53165f00e51c02ca060cb9e083e9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mjcf/mesh/fruit_knife_010_collision_3.obj
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