diff --git a/.gitattributes b/.gitattributes
index f0ac50a1d4f5c4cef727e6bb798afa15903067ba..4c1b9b24fff4df91caa99af9d8adb343b5135533 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3889,7 +3889,5 @@ 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/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/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/peeler_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/fruit_knife_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/fruit_knife_025.urdf b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/fruit_knife_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2b8f25ef6a8d78ac804c1fce0be0d73bc125438d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/fruit_knife_025.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_025">
+   <link name="fruit_knife_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>a14933a64c0652ac8f85037acbfcb964</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>wooden fruit knife</name>
+         <color>brown,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small serrated fruit knife with curved wooden handle</description>
+         <min_height>0.0142</min_height>
+         <max_height>0.0142</max_height>
+         <real_height>0.0142</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518182144</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.134278 -0.020605 -0.007088</min>
+            <max>0.052273 0.014395 0.007077</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/a14933a64c0652ac8f85037acbfcb964/fruit_knife_025.usd b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/fruit_knife_025.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/fruit_knife_025.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eaf137a764d1ae5fc4af84b409bafa806a0921ba2971624e4d916231b23c8fa
+size 4868625
diff --git a/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025.glb b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f31fae4c2b71349188cb9bb87cd08ac5468f0bdd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14671356
diff --git a/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025.mtl b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c34c1114d9d5f3cbc5a72ad65f09634d20ae5b56
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025.mtl
@@ -0,0 +1,6 @@
+newmtl fruit_knife_025_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/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025.obj b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccec384b42a21ffb7425a9162fcd5166bed5e5e8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_025_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025_collision.obj b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e64d9ea01f2f75b2086c16fd47b0352bfdd809
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025_collision.obj
@@ -0,0 +1,3063 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a728e646f02ecb3d4156e4ac912004fd31870352
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96a0c66aafd8aa5509f560fa3c1608853932ab04f1b6b0960769a1eb5e466e69
+size 11399094
diff --git a/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1c20092b3c4feb75114cd76a950e166a9326a5f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_025_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_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a728e646f02ecb3d4156e4ac912004fd31870352
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96a0c66aafd8aa5509f560fa3c1608853932ab04f1b6b0960769a1eb5e466e69
+size 11399094
diff --git a/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/fruit_knife_025.xml b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/fruit_knife_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d57b3d369ac76f41f4d016cdc8e58d5dcd65257a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/fruit_knife_025.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_025">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_025_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_025_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_025_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fruit_knife_025_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_025">
+      <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/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025.obj b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..400fe024f059701f840da93b17ec7eba9c4933f2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025.obj
@@ -0,0 +1,108786 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_025_geometry_Looks_material_0
+v 0.041239 -0.013112 0.006310
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diff --git a/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision.obj b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b8ea7f17c88445b19283c08a6d76265aa272672
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision.obj
@@ -0,0 +1,3063 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f790d5926ad3e7c6c2da53ff2cabf141b396f37
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1817cc2a4793bf2d502426079f88016480c5b82
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dc11756e3cdd2b2f7d6aa8fe3ca1e802715382b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..707ec2e0b73428c8323b757847b3710ef333584c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mjcf/mesh/fruit_knife_025_collision_3.obj
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