diff --git a/.gitattributes b/.gitattributes
index 04225ccedc50a5a98f80a6c3b875a6824634aa91..63b91b247de0f02159604dae9561f0f34786b620 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3863,5 +3863,5 @@ dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/garlic_press_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/mesh/garlic_press_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/garlic_press_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/mesh/garlic_press_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/fruit_knife_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/fruit_knife_014.urdf b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/fruit_knife_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..db54022105a7750abc8769aac88caa8454df8b5b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/fruit_knife_014.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_014">
+   <link name="fruit_knife_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_014.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_014_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>266fad8dd2f055a49b421a1e978f231f</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>black fruit knife</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small black serrated fruit knife with textured ergonomic handle</description>
+         <min_height>0.0106</min_height>
+         <max_height>0.0106</max_height>
+         <real_height>0.0106</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518181854</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.108754 -0.015703 -0.004960</min>
+            <max>0.044296 0.010084 0.005605</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/266fad8dd2f055a49b421a1e978f231f/fruit_knife_014.usd b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/fruit_knife_014.usd
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+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/fruit_knife_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64d81d8b0a7953bc58cf946ba4a2533ef09dab2afa936ccfd1d2c903969fd3d6
+size 4883816
diff --git a/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014.glb b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014.glb
@@ -0,0 +1,3 @@
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+size 10159540
diff --git a/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014.mtl b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014.mtl
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+newmtl fruit_knife_014_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/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014.obj b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1278d240c8a53741e2d8960865a04d221018aaa2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_014_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014_collision.obj b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5626f88295ce476a25054f8cb9cf077c21ef1835
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014_collision.obj
@@ -0,0 +1,2298 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b0393641efd68871e5413c5e09ec0ab4d299bfc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0022028da8026857a11fcb98875549b52b6f68477578bf6d50a16a96523f4be4
+size 6872105
diff --git a/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4980801c5ba06f689bc150b93884ebb4748f96e7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b0393641efd68871e5413c5e09ec0ab4d299bfc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0022028da8026857a11fcb98875549b52b6f68477578bf6d50a16a96523f4be4
+size 6872105
diff --git a/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/fruit_knife_014.xml b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/fruit_knife_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e27876b1bd33f24a12a384e28db0d6f373b984cc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/fruit_knife_014.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_014">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_014_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_014_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_014_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fruit_knife_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_014">
+      <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/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014.obj b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23570937271db0a0e8153363f9ead749e4d20cea
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014.obj
@@ -0,0 +1,107456 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_014_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision.obj b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53af4b0f9fe7b06aa67496d3c1b986b2d7127183
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision.obj
@@ -0,0 +1,2298 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f21bc61c45d6dcaed6c9d29f03ec196dd5fbdf56
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision_0.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce2d0cd9ffa46f1be60d3ea9997ae5f5baadf6cd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision_1.obj
@@ -0,0 +1,715 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c02ab6e9d31b2e18d00a0a30e669de0c5604a97
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f07158d8f0c5b8beaed9f6f21505db0290936404
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mjcf/mesh/fruit_knife_014_collision_3.obj
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