diff --git a/.gitattributes b/.gitattributes
index 61d1c28bd9ac239fa5d3b1f33fa1bb9b5bff91ec..76b500c79df70fa5942966b1d5202ebb9893be35 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3870,7 +3870,5 @@ dataset/kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf/mesh/fru
 dataset/kitchen_supplies/cutting_tools/38b3e11d48b55ffc88b68823ff7e67c6/38b3e11d48b55ffc88b68823ff7e67c6.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/fruit_knife_027.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/mesh/fruit_knife_027.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/fruit_knife_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/fruit_knife_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/fruit_knife_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/fruit_knife_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/fruit_knife_032.urdf b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/fruit_knife_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f8dd409b9b8407d893ca68800dafd94e8cb4e5e8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/fruit_knife_032.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_032">
+   <link name="fruit_knife_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_032.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_032_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0650" />
+         <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>31139df982ac5b7e92086b4bd37e8b1c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>paring knife</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small gray paring knife with curved handle and pointed blade</description>
+         <min_height>0.0239</min_height>
+         <max_height>0.0239</max_height>
+         <real_height>0.0239</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611152452</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.193479 -0.028749 -0.012230</min>
+            <max>0.086521 0.017653 0.011626</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/31139df982ac5b7e92086b4bd37e8b1c/fruit_knife_032.usd b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/fruit_knife_032.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/fruit_knife_032.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79be70cc1266d0a82bdf425b546164689faa29fbd47a76a670463863e7bb8c44
+size 4846362
diff --git a/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032.glb b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:530570e05deddeac38f29a74361094b31c1d2eba857354ec86241897c319f394
+size 8285668
diff --git a/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032.mtl b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1252817fb9051caa2d70b9b47cab24af415930b3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032.mtl
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+newmtl fruit_knife_032_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/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032.obj b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d49f42ac7e3c7ba702cadf7a21c3f29a1556b102
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_032_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032_collision.obj b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ef22dd192d42e94a916775938c2a1a981a044ae
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032_collision.obj
@@ -0,0 +1,2333 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..819be615d16e039350fd751d39b2d8ae32241ceb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/fruit_knife_032_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31208b11c66e70f5e8fb99fb3be3e648ec32e4ee4005a292d3c1e244172b6372
+size 5070394
diff --git a/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..996228c29b4e2720cdc7a335ef8608121142fd9c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_032_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_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..819be615d16e039350fd751d39b2d8ae32241ceb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31208b11c66e70f5e8fb99fb3be3e648ec32e4ee4005a292d3c1e244172b6372
+size 5070394
diff --git a/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/fruit_knife_032.xml b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/fruit_knife_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fc27b52f51ca49250f068adc369b7fdad8dc5878
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/fruit_knife_032.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_032">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_032_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_032_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_032_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_032">
+      <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/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032.obj b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19c6b404be9535370f0f2b4c5c5e4247aff0ca82
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032.obj
@@ -0,0 +1,105136 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_032_geometry_Looks_material_0
+v 0.054524 -0.011029 -0.000873
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diff --git a/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032_collision.obj b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa38525003fd75d16d3d4009b6e068de5d2591ef
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032_collision.obj
@@ -0,0 +1,2333 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be461eca3b635c71e1dfd350e4fa3aa7e607324a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b090be5f0d0d4c156e892b87dd70fd349a5e238
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f275305b6ddf287bb367f6331eb00862a93e54c7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/mjcf/mesh/fruit_knife_032_collision_2.obj
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