diff --git a/.gitattributes b/.gitattributes
index abc212e624605cfeb956d64a35d099be5b6865f0..987c3dd32bdb477f41469eba489ebd893d392854 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/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/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/peeler_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/fruit_knife_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/fruit_knife_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/fruit_knife_012.urdf b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/fruit_knife_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c617dce818ce15fff0a87a8d82ffd54260063def
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/fruit_knife_012.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_012">
+   <link name="fruit_knife_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_012.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_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.55</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>7d573e11add5578b80a886eb9adf1c8c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>folding fruit knife</name>
+         <color>beige,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small folding knife with beige handle and silver blade</description>
+         <min_height>0.0135</min_height>
+         <max_height>0.0135</max_height>
+         <real_height>0.0135</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518181826</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
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+            <max>0.071666 0.012428 0.007091</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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>
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new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/fruit_knife_012.usd
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/fruit_knife_012.glb b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/fruit_knife_012.glb
new file mode 100644
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new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/fruit_knife_012.mtl
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+newmtl fruit_knife_012_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/7d573e11add5578b80a886eb9adf1c8c/mesh/fruit_knife_012.obj b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/fruit_knife_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..116a4d22b3099fbbc5ce81a2c800be48312cdeb5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/fruit_knife_012.obj
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+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/fruit_knife_012_collision.obj b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/fruit_knife_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ae40227fc553dda4f9c6f8095285c465aa425b3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/fruit_knife_012_collision.obj
@@ -0,0 +1,1927 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/fruit_knife_012_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/fruit_knife_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0d702ade0370515cdcaa4b272c0aa17ad18ad86
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/fruit_knife_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5c3f69582773be157f07cc20360e63cee19db4b1051e18ed47397908d48cb1f
+size 11137675
diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1245061e230770485571ad4ae266336cc5270d06
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0d702ade0370515cdcaa4b272c0aa17ad18ad86
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5c3f69582773be157f07cc20360e63cee19db4b1051e18ed47397908d48cb1f
+size 11137675
diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/fruit_knife_012.xml b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/fruit_knife_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..37559af95abbdeae985fd2c376a5f97a2ad0423b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/fruit_knife_012.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_012">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_012_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_012_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_012_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fruit_knife_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/fruit_knife_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_012">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" 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/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012.obj b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb2c7cdc183a7455fb62175362faa3143240059c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012.obj
@@ -0,0 +1,111688 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision.obj b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf0fd6b00f2701f64caae58dda5e472254927dad
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision.obj
@@ -0,0 +1,1927 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99d26f02d1d6159147e8906528203032899566b8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd972ff5761d1e7b502b7e4dc13b40d829c47ac3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision_1.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.06754144 0.01124482 -0.00328364
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diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8384534485a33b6d4744d0b00ff3120e6968727
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision_2.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95cda06565ad70fbb2f527ca57afdfaf8af4b3dc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_collision_4.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/mjcf/mesh/fruit_knife_012_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/video.mp4 b/dataset/kitchen_supplies/cutting_tools/7d573e11add5578b80a886eb9adf1c8c/video.mp4
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