diff --git a/.gitattributes b/.gitattributes
index 142f612a5a4c4b8e465e5be6bad7f58d9ac3d6ee..d41e500bcb8c5367435efb05995116cf16c9ad95 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3884,3 +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/8c005a30c09252e7be8019dd0ba16d62/fruit_knife_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/fruit_knife_005.urdf b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/fruit_knife_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e7e6f9b1a693fd03d815e38fbb4b88e208e6ecfc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/fruit_knife_005.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_005">
+   <link name="fruit_knife_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>1.000000</scale>
+         <uuid>8c005a30c09252e7be8019dd0ba16d62</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>folding knife</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact folding knife with sharp blade and ergonomic handle</description>
+         <min_height>0.0064</min_height>
+         <max_height>0.0064</max_height>
+         <real_height>0.0064</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428002447</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/fruit_knife_005.usd b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/fruit_knife_005.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9740c790772fc0096fd1a76a8ba6ea3b4b56319e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/fruit_knife_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30d5590585480c4f50185fc8f60d2309fc951ebe5dc62db3af7f0f1c6448c207
+size 4686000
diff --git a/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005.glb b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..663ba90ed93770cfa67fc0aadf91c515f0045dcf
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:140bbbd2779099b61ce8f5892f2298562e2f927bbab9255279e871fe503101bb
+size 9615984
diff --git a/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005.mtl b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e1360e3743c3af536ffca579068fcf19840ffd59
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005.mtl
@@ -0,0 +1,6 @@
+newmtl fruit_knife_005_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/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005.obj b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3441fd45425b5ce1ea4f2207152869603d4d4b37
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005.obj
@@ -0,0 +1,112320 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_005_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005_collision.obj b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1749c55a987703c0a3e96bb7ff4f937a11ed51e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea63a17904e063cc99dc4780946ee2aa58ccb692
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/fruit_knife_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a88747bf3341b3b05c0a90e5f0699e8ce1f3a8abb7ba569fd884c1acddbb634
+size 6649427
diff --git a/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f23e411662712860f68437821af51621555672a5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_005_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_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea63a17904e063cc99dc4780946ee2aa58ccb692
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a88747bf3341b3b05c0a90e5f0699e8ce1f3a8abb7ba569fd884c1acddbb634
+size 6649427
diff --git a/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/fruit_knife_005.xml b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/fruit_knife_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f6791653553b3ebfaa7a764de9df8f5df2ab8879
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/fruit_knife_005.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_005">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_005_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_005_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_005_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_005">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005.obj b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0caec24a740170120db5fa06b7369d4792df7e41
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005.obj
@@ -0,0 +1,112320 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_005_geometry_Looks_material_0
+v 0.005165 0.028523 0.002377
+v 0.005262 0.028676 0.002391
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005_collision.obj b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..911538a78ef05c62f9f0ae89886d62d7d8650749
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005_collision.obj
@@ -0,0 +1,2111 @@
+# https://github.com/mikedh/trimesh
+
+o fruit_knife_005_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a78c246a5359b9cf36cdec518d865ef95c297ac
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff2d671161e8af23fd74a0dc8bae650811271452
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa6eaf200a467e1eabdabfba1a921717baac0500
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/8c005a30c09252e7be8019dd0ba16d62/mjcf/mesh/fruit_knife_005_collision_2.obj
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