diff --git a/.gitattributes b/.gitattributes
index 95b02801a583ac822d651a1f97991cb07a7c2066..5ce5a2d6da44f6ad587d6416dbe16562f307ff3b 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/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/wire_cutters_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/fruit_knife_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/fruit_knife_018.urdf b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/fruit_knife_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..32970da40f60a665097d61897b6fbc90f3e78b94
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/fruit_knife_018.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_018">
+   <link name="fruit_knife_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_018.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_018_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>247d1ccadab95cdd8b3ba917c43447ed</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>paring knife</name>
+         <color>black,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small silver paring knife with black ergonomic handle</description>
+         <min_height>0.0158</min_height>
+         <max_height>0.0158</max_height>
+         <real_height>0.0158</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518181950</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.118995 -0.014700 -0.007892</min>
+            <max>0.036056 0.011484 0.007896</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/247d1ccadab95cdd8b3ba917c43447ed/fruit_knife_018.usd b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/fruit_knife_018.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/fruit_knife_018.usd
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diff --git a/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018.glb b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018.glb
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+version https://git-lfs.github.com/spec/v1
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+size 9034124
diff --git a/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018.mtl b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bbc236c1c4cdba37ddbcded6c4df39e6006b6d37
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018.mtl
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+newmtl fruit_knife_018_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/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018.obj b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..983fa03f93a650596ac2612b4ea02eb9deccb7b5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_018_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018_collision.obj b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09c4398a25cfaf328e23f20390f3a531da1ea12c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018_collision.obj
@@ -0,0 +1,3341 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5240ae41cffc27d7f168421132024123d83119ee
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/fruit_knife_018_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:785c71bdbff70783aacef6ca2044c2a82fe9ed7c9b8d194e5e48ab13fa071b73
+size 6062211
diff --git a/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..515fdab5ffd8f5a96a7bf9abb689f8ecd9f85b98
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_018_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_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5240ae41cffc27d7f168421132024123d83119ee
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:785c71bdbff70783aacef6ca2044c2a82fe9ed7c9b8d194e5e48ab13fa071b73
+size 6062211
diff --git a/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/fruit_knife_018.xml b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/fruit_knife_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9158d6b77a1c51740541ffcb4e1d17d9bc798f27
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/fruit_knife_018.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_018">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_018_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_018_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_018_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_018">
+      <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/247d1ccadab95cdd8b3ba917c43447ed/mjcf/mesh/fruit_knife_018.obj b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/mesh/fruit_knife_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d8f0ffd984e8ec37c14822323fda2fd5cfa01cf
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/mesh/fruit_knife_018.obj
@@ -0,0 +1,105342 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_018_geometry_Looks_material_0
+v -0.106693 0.003544 0.000481
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diff --git a/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/mesh/fruit_knife_018_collision.obj b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/mesh/fruit_knife_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4abb09b570dafb8167527a6914c4cb0d16c1d36d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/mesh/fruit_knife_018_collision.obj
@@ -0,0 +1,3341 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/mesh/fruit_knife_018_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/mesh/fruit_knife_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ba21f7d103ea30502aa3c7d2805445a51bc46f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/mesh/fruit_knife_018_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/mesh/fruit_knife_018_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/mesh/fruit_knife_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec7fc054c63e93f3412e8e5d3d258a45f915b491
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/mesh/fruit_knife_018_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/mesh/fruit_knife_018_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/mjcf/mesh/fruit_knife_018_collision_2.obj
new file mode 100644
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--- /dev/null
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