diff --git a/.gitattributes b/.gitattributes
index f332d277de874aa9094f56d0db761e8ada9f083c..7f48d8d53bf44b6f9d9be01cc34919de5667f47d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3889,5 +3889,7 @@ dataset/kitchen_supplies/cutting_tools/9eaa9260bd2b5ed19159274b5dcb4dfa/garlic_p
 dataset/kitchen_supplies/cutting_tools/9eaa9260bd2b5ed19159274b5dcb4dfa/mesh/garlic_press_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/mesh/wire_cutters_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/wire_cutters_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291/garlic_press_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291/mesh/garlic_press_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/962e3c16974e5204a19e822e1494a3c7/fruit_knife_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/962e3c16974e5204a19e822e1494a3c7/mesh/fruit_knife_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/fruit_knife_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/fruit_knife_002.urdf b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/fruit_knife_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..efc65853f89817446c26e0dbe26f2e6bafb64204
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/fruit_knife_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_002">
+   <link name="fruit_knife_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>a54cc94d8f255182b9ea3b53a86e3d33</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>folding knife</name>
+         <color>silver,black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact folding knife with textured handle and sharp blade</description>
+         <min_height>0.0112</min_height>
+         <max_height>0.0112</max_height>
+         <real_height>0.0112</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428002351</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>6</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/a54cc94d8f255182b9ea3b53a86e3d33/fruit_knife_002.usd b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/fruit_knife_002.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/fruit_knife_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4890615
diff --git a/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002.glb b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ea59958612bc7db155b9c0c379fd721f6dfcb77a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7abbe77158102a95855cbc3bc18209f160e98de88c28e97b79d03c2f775f588c
+size 12995040
diff --git a/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002.mtl b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..feaf2760ebd8c583dd3cd156cd85e3692234be80
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002.mtl
@@ -0,0 +1,6 @@
+newmtl fruit_knife_002_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/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002.obj b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a89a2dd9a904f687124592e6acdb9a18f7ef5d20
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_002_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002_collision.obj b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d1b62d2433b610e01f860222d1cdee5361c6bb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e679b9f637c4392b92c3e4c2ce1cb782a18c474
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec2fc34e559dd12196ab649db64fd48619f2591822abccb10495bae8c23e9a09
+size 9694017
diff --git a/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c61431e1d814f0a9700866db7e2976da69b5e6f5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e679b9f637c4392b92c3e4c2ce1cb782a18c474
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec2fc34e559dd12196ab649db64fd48619f2591822abccb10495bae8c23e9a09
+size 9694017
diff --git a/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/fruit_knife_002.xml b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/fruit_knife_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..968a1d8095f57900a1d75b21f13a7c3407db6f9d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/fruit_knife_002.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_002">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_002_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fruit_knife_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_002">
+      <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/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002.obj b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..455e13bf2be3982af6ee2927e4aff01d49e57ce8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002.obj
@@ -0,0 +1,112268 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_002_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision.obj b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df2c2ec6ca8f973d1ab94c02e18e42699842efe1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision.obj
@@ -0,0 +1,1872 @@
+# https://github.com/mikedh/trimesh
+
+o fruit_knife_002_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ad6c95dbc6f91102eef487b50d6ab6e11afff84
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c171195bd2c6cdce5b716148d1778da3241a966
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c10a66a87cbe7519428dc85cd7450c07799cc8db
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3295d90d06fd9ac08b87dcbf512d8d5c9b2f5ce9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mjcf/mesh/fruit_knife_002_collision_3.obj
@@ -0,0 +1,388 @@
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