diff --git a/.gitattributes b/.gitattributes
index ab854fb02fbc638fc3d79860e918b64cb702ca87..65b8dfaec3c1bc0200fb675cf7cfa7dfb63875ff 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3880,7 +3880,5 @@ dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/fruit_kn
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 dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/wire_cutters_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mesh/peeler_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/peeler_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/748a226d3b575980833fce2aa084af22/mesh/peeler_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/748a226d3b575980833fce2aa084af22/peeler_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/fruit_knife_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/fruit_knife_028.urdf b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/fruit_knife_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..652b9c77483c28935eec3d1804a49a0e612a6055
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/fruit_knife_028.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_028">
+   <link name="fruit_knife_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>78063c0a07be5d5aad931147da8a0329</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>blue fruit knife</name>
+         <color>blue</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small blue serrated fruit knife with curved plastic handle</description>
+         <min_height>0.0142</min_height>
+         <max_height>0.0142</max_height>
+         <real_height>0.0142</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518182233</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.110754 -0.020561 -0.007038</min>
+            <max>0.053473 0.014439 0.007144</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/fruit_knife_028.usd b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/fruit_knife_028.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/fruit_knife_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43e5e3981948072f0125bab22fbb1d16050975394e3f93b3abaeb0d4a98c0e30
+size 4946294
diff --git a/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028.glb b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028.glb
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028.glb
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+size 12747748
diff --git a/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028.mtl b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838df481a08e500c5a2c665a8d0a115b7bc77b7b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028.mtl
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+newmtl fruit_knife_028_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/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028.obj b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f82606b43ee648aa754b1d5ebf9f3c8f2ac36964
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028.obj
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+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028_collision.obj b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ea983ea5e45984fdb6a28170d4f94c2626cb97
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/fruit_knife_028_collision.obj
@@ -0,0 +1,2655 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mesh/material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/fruit_knife_028.xml b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/fruit_knife_028.xml
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diff --git a/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028.obj b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cefeadf886fb1185fdc898409559bad39a253889
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028.obj
@@ -0,0 +1,114686 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision.obj b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2799a3e33e71a72c3dd6b0e3f00cab34c28fce2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision.obj
@@ -0,0 +1,2655 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e233554c741be45ca6ec3acec6c83c6b6ceda77
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e0a212fffb0635e075fb0282ba5252e490c11ea
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision_1.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c3d75c2831589c77a4a3502f00a98f812b1a971
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision_2.obj
@@ -0,0 +1,859 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea111345c99f035314e9db68089f46b2195db06e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/78063c0a07be5d5aad931147da8a0329/mjcf/mesh/fruit_knife_028_collision_3.obj
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