diff --git a/.gitattributes b/.gitattributes
index f45f0fdae900698cdae680135c1a8d9934207dba..1019271b66e097fd74176a9e5fc5b884523d52ea 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3911,5 +3911,6 @@ dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/fruit_kn
 dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/peeler_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/peeler_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/cea111db9e0458ba967300e600c7eda5/garlic_press_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/cea111db9e0458ba967300e600c7eda5/mesh/garlic_press_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/d9450f2d6f9f59aea75b24582168aff7.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/d9450f2d6f9f59aea75b24582168aff7.urdf b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/d9450f2d6f9f59aea75b24582168aff7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..48ecc83c2fae1ba15b2f2984b8a34a379cdf2308
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/d9450f2d6f9f59aea75b24582168aff7.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="2.0000" />
+         <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>0.312668</scale>
+         <version>v0.1.7</version>
+         <category>wooden cutting board</category>
+         <description>rectangular wooden cutting board with a handle slot</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <generate_time>20260120115901</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 fragmented.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.190759181976318</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>1</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/d9450f2d6f9f59aea75b24582168aff7/d9450f2d6f9f59aea75b24582168aff7.usd b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/d9450f2d6f9f59aea75b24582168aff7.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4029437021154b606b3de59e9439c05a73dddb9a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/d9450f2d6f9f59aea75b24582168aff7.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9db31c826f4eb36d2f00238fbf0083064bdc4fca7c9ec10df3fbb2767bea2850
+size 680552
diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/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/d9450f2d6f9f59aea75b24582168aff7/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d12f9c03c6fa0e9f97a8caa069b62adad9c7e03
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:910b75c758c46c248eea3bb204e5e827d40a156da35aa52f6322ef952b644624
+size 2545685
diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board.glb b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d0d297f598e91040e6d52fbef8ebf10a4a87edf1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd147843338910445924870411ed2eee3f90b01b7de70ff3fdbafc330f2499b0
+size 3001248
diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board.obj b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b641e25c40e458de0f7bde3b5f169cf7a836443c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board.obj
@@ -0,0 +1,41528 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board_collision.obj b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a1f4d544de58b16dabc723553f069ea40cbae6b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board_collision.obj
@@ -0,0 +1,3521 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board_gs.ply b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..674a66b83ffcfbc0b8ccfecdbcc4faf20ba4f220
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mesh/wooden_cutting_board_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f520d73c75a042643fc5e7c83cd34dac6778e3bbe02eff681c8bed824460a273
+size 1349065
diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/d9450f2d6f9f59aea75b24582168aff7.xml b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/d9450f2d6f9f59aea75b24582168aff7.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9779e73487ab0f68dde5957eeaba36d5a7fbc5a6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/d9450f2d6f9f59aea75b24582168aff7.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wooden_cutting_board">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/wooden_cutting_board.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wooden_cutting_board_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wooden_cutting_board_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wooden_cutting_board_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wooden_cutting_board_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wooden_cutting_board_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wooden_cutting_board_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wooden_cutting_board">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" 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/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d12f9c03c6fa0e9f97a8caa069b62adad9c7e03
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:910b75c758c46c248eea3bb204e5e827d40a156da35aa52f6322ef952b644624
+size 2545685
diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board.obj b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d87a0a48a2cb0e4d1122a5d60b89523a1d66a6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision.obj b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83255c6ca07d2dcff370ee71c2cebe2b6f147f6b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision.obj
@@ -0,0 +1,3521 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eae9a11ebd7c337e01d5d89c6e712de9f3aa0d9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1148c2c52ef33a8e5429b602561914cf9e5f01c3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f7ef07a37beb2ad3827ed49785dd87261291ff9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de660d449c06d8dc388bcb8600b9822ff0b10b83
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed7fefd010f9c976b2c370a37625e56cc3140465
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_4.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b53380a1979ed62faa9636c72e6444c8e7d69685
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/d9450f2d6f9f59aea75b24582168aff7/mjcf/mesh/wooden_cutting_board_collision_5.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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