diff --git a/.gitattributes b/.gitattributes
index 6f576e6d1e0215d374d09ad013edfb3696c31127..f2b518c8ca801c2e61ce7bfd349309a897384efc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3902,3 +3902,6 @@ dataset/kitchen_supplies/cutting_tools/c4ab5b550965584085a829e7e4424bd0/garlic_p
 dataset/kitchen_supplies/cutting_tools/c4ab5b550965584085a829e7e4424bd0/mesh/garlic_press_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/c99e1f702ed85812b059bbb05ba14850/garlic_press_019.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/c99e1f702ed85812b059bbb05ba14850/mesh/garlic_press_019.glb filter=lfs diff=lfs merge=lfs -text
+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
diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/cc10238c0d7958b0b9a7757f20dc8343.urdf b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/cc10238c0d7958b0b9a7757f20dc8343.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fcb5133f850304aa692ebdcab40b2f018006e59a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/cc10238c0d7958b0b9a7757f20dc8343.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_cutting_board">
+   <link name="wooden_cutting_board">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_cutting_board.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_cutting_board_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>0.533162</scale>
+         <version>v0.1.7</version>
+         <category>wooden cutting board</category>
+         <description>flat rectangular wooden cutting board with rounded edges</description>
+         <min_height>0.02</min_height>
+         <max_height>0.03</max_height>
+         <real_height>0.025</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260120122254</generate_time>
+         <gs_model>mesh/wooden_cutting_board_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: the object appears incomplete or overly simplified.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.440138816833496</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/cc10238c0d7958b0b9a7757f20dc8343.usd b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/cc10238c0d7958b0b9a7757f20dc8343.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ffd3d2e60eba89541759f6bc12ee45d6920e5dea
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/cc10238c0d7958b0b9a7757f20dc8343.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd7c3329d2d194080cdf8c05e3340bbac73c49bf1b88a3885f59544c3aaa8c57
+size 551470
diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..85efa9ae93593ad119603ad4cb6fec59fa8a579f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa1db1c627a01372e479a234fac8bd6d5e6d30ed1b4b25af5356d9fdba6e7765
+size 1762088
diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/wooden_cutting_board.glb b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/wooden_cutting_board.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0cf3a1ce93ba98b8647d75b4623cb0b0d5a7d139
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/wooden_cutting_board.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5eca17b35c8670e9e8ea717cf404277317a106b255bd87dfc04e12e290cb2d3
+size 2127232
diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/wooden_cutting_board.obj b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/wooden_cutting_board.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c5417659b5cdfb3396c837eec579e32767d3c58
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/wooden_cutting_board.obj
@@ -0,0 +1,33232 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.00654606 -0.01143967 0.00333691
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diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/wooden_cutting_board_collision.obj b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/wooden_cutting_board_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e80e90c208c4f14b2e0338ea374dd14746674263
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mesh/wooden_cutting_board_collision.obj
@@ -0,0 +1,2117 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board.obj b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board.obj
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index 0000000000000000000000000000000000000000..b9411843b74ed75ff4fa71fde6f2c5eb7afc30d9
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diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision.obj b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f23963e4ebd78a1128a4f796e83a6a8e64e564c2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision.obj
@@ -0,0 +1,2117 @@
+# https://github.com/mikedh/trimesh
+
+o wooden_cutting_board_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ab416d06815681e16f7f08d115381b250bcf83d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_0.obj
@@ -0,0 +1,997 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997ab0f6450acd0fc7f731910e0d25b8e284d90a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_1.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fff5e256f5cf1f91fda0ca4f4af8571901abc12e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_2.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0de3ddc07b9ac26e750bce93ec8611221aa368e0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_3.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b162f001ca109c138e500a5cb264428f686c213
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_4.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee882745ba395530614bca3effd416f4e8218b29
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/mjcf/mesh/wooden_cutting_board_collision_5.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.22624758 0.01215232 0.00358074
+v 0.22624758 0.01216355 -0.00287374
+v 0.22624758 0.01285864 0.00513111
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