diff --git a/.gitattributes b/.gitattributes
index a481742cd3878ec44c98dec81c5c9036ac553ca6..847360a91de72195172d7a4412feef3ec683dc67 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3905,6 +3905,7 @@ dataset/kitchen_supplies/cutting_tools/c99e1f702ed85812b059bbb05ba14850/mesh/gar
 dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/cc10238c0d7958b0b9a7757f20dc8343.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/wooden_cutting_board.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/wooden_cutting_board_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/c5810e7c2c785fe3940372b205090bad/c5810e7c2c785fe3940372b205090bad.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/c7f44546db7b55a0a75f6c0b11461d63/mesh/wire_cutters_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/c7f44546db7b55a0a75f6c0b11461d63/wire_cutters_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/fruit_knife_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/fruit_knife_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/fruit_knife_003.urdf b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/fruit_knife_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e34001c2e476eb0b1b06b87b647364a6cc10065f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/fruit_knife_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_003">
+   <link name="fruit_knife_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <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>ca1ee49e099c5681ab0858584b3e98f7</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>green fruit knife</name>
+         <color>green,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>green-handled knife with sharp metallic blade for cutting fruits</description>
+         <min_height>0.0162</min_height>
+         <max_height>0.0162</max_height>
+         <real_height>0.0162</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428002410</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>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/ca1ee49e099c5681ab0858584b3e98f7/fruit_knife_003.usd b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/fruit_knife_003.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/fruit_knife_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:155ba1f0152a5053ae876eae89f2953eef19547af802175cce87f58672186a17
+size 4792459
diff --git a/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003.glb b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003.glb
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003.glb
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+version https://git-lfs.github.com/spec/v1
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+size 9164268
diff --git a/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003.mtl b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf07b7864d8b98ffa7654e7fc965d767ca54c6c3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003.mtl
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+newmtl fruit_knife_003_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/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003.obj b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..454736ab6fbf9b8fad82ea49002dbe66e4e8e67e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003_collision.obj b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..815fba379ec1f5eb51ec6fdd2c66ba75616c5c03
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003_collision.obj
@@ -0,0 +1,2945 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5ff7ed36d18b4bae935037b19595001d1a8512a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f67e904f9c0976befdd234961c32799cf0d83c14ccc0a9595ade5deb877fc56
+size 6032013
diff --git a/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38400c2c87a592b785cd6a5b28ba2d490ef97a8c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5ff7ed36d18b4bae935037b19595001d1a8512a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f67e904f9c0976befdd234961c32799cf0d83c14ccc0a9595ade5deb877fc56
+size 6032013
diff --git a/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/fruit_knife_003.xml b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/fruit_knife_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3f01e1434f58fe1fe0c40b54dc1fbac56844f8dd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/fruit_knife_003.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_003">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_003_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_003">
+      <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/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003.obj b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a99cfb9ec1af8ce7153e39c3b8e37eb005af369
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003.obj
@@ -0,0 +1,107300 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_003_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003_collision.obj b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..129d6b77e1b28b6a19af193e78e2e7d85af440ec
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003_collision.obj
@@ -0,0 +1,2945 @@
+# https://github.com/mikedh/trimesh
+
+o fruit_knife_003_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb3516c0d05ca212099269a2719154cd4a7a67b6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4bac48e8c33c9ac8400d15f74309a689fb87aa4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b90042e20f36b9f37d317d64f9f5126b998b776
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mjcf/mesh/fruit_knife_003_collision_2.obj
@@ -0,0 +1,1807 @@
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