diff --git a/.gitattributes b/.gitattributes
index 228f68e0130fa4fdd369f384ea8a98677a865583..0bad1c41a4a9beb3c99b7ec32063a3c91c3d6cd2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3880,5 +3880,5 @@ dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/fruit_kn
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 dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/fruit_knife_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/mesh/fruit_knife_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/mesh/peeler_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/peeler_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/fruit_knife_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/fruit_knife_031.urdf b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/fruit_knife_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b7acf9826105ac7f1c66550d4122cb00c6046263
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/fruit_knife_031.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_031">
+   <link name="fruit_knife_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_031.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_031_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>62cda7ada62b53b2814ccb83f5c1191c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>wooden fruit knife</name>
+         <color>silver,brown</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small silver fruit knife with brown wooden handle</description>
+         <min_height>0.0187</min_height>
+         <max_height>0.0187</max_height>
+         <real_height>0.0187</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611152437</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.193956 -0.031454 -0.009926</min>
+            <max>0.086043 0.017917 0.008769</max>
+         </aabb>
+         <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_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/62cda7ada62b53b2814ccb83f5c1191c/fruit_knife_031.usd b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/fruit_knife_031.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/fruit_knife_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce34d02596ec1e12052dffe75d938e016604146e68485cdec8405fc452779913
+size 4771005
diff --git a/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031.glb b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..89540ec41babe0e043c19728a304615393e42b53
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+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4830980550b022b23d99e6416d9a99eb4968d68d13f8f6420e589dc9fdff82e
+size 13180528
diff --git a/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031.mtl b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..adb067a9b5ad2ce851175cbab945124c0fdaf0fe
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031.mtl
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+newmtl fruit_knife_031_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/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031.obj b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a71ab8f5d1415b48e14d5874cb3fb9ebcfda8fc0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_031_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031_collision.obj b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58d018e086f5b02125ec55e34041837d0bd4ea6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0fde6950cb3ee6699d03c8b4c89317da1db617f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/fruit_knife_031_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a55e62a2ddf0ca95aaa26d658d5641620af1161c5e3b161f5fd3ab26603daf1d
+size 10076109
diff --git a/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..06a7efd65ad9a0de7782441bc3fc43de2d23cd64
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_031_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_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0fde6950cb3ee6699d03c8b4c89317da1db617f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a55e62a2ddf0ca95aaa26d658d5641620af1161c5e3b161f5fd3ab26603daf1d
+size 10076109
diff --git a/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/fruit_knife_031.xml b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/fruit_knife_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b8b14d5ad494a16f6382eceaceade17ee6fb7075
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/fruit_knife_031.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_031">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_031_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_031_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_031_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_031">
+      <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/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031.obj b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144bc8f493022f6d1ed63e2074c749019e30bcca
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031.obj
@@ -0,0 +1,104798 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_031_geometry_Looks_material_0
+v 0.062743 -0.013762 -0.002215
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diff --git a/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031_collision.obj b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a0c41b13e5644be169432727a017cefd0577bc3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031_collision.obj
@@ -0,0 +1,2054 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6938605829fc2ddcaf1dda8533640c5a3abfad01
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5172c636df7fab10e42fe3b2821082794f6f686
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031_collision_1.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a59c702b936561d9781e1ea4f08fbcce0b1e5b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/mjcf/mesh/fruit_knife_031_collision_2.obj
@@ -0,0 +1,976 @@
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