diff --git a/.gitattributes b/.gitattributes
index e6b11e2c793197faca270e49de9a45cfebb9a461..ea1a226bdfbd6894607c20b9db107ad336e0ce56 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5498,3 +5498,5 @@ dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/garlic_p
 dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/garlic_press_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/mesh/garlic_press_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/fruit_knife_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/fruit_knife_033.urdf b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/fruit_knife_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e6e9ea9692aece8bf5926d287f792d35e3b971e7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/fruit_knife_033.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_033">
+   <link name="fruit_knife_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_033.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_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0650" />
+         <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>7077ff50c73252cabf9de5c0ab08706d</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 silver fruit knife with brown wooden handle</description>
+         <min_height>0.0208</min_height>
+         <max_height>0.0208</max_height>
+         <real_height>0.0208</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611152504</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.193296 -0.030972 -0.011032</min>
+            <max>0.086704 0.017780 0.009775</max>
+         </aabb>
+         <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/7077ff50c73252cabf9de5c0ab08706d/fruit_knife_033.usd b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/fruit_knife_033.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/fruit_knife_033.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:106617046ebb127742e15d82fe33ba8b3bee8a30260ba57d040b6c50054f9a83
+size 4874102
diff --git a/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033.glb b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12188832
diff --git a/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033.mtl b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61357ee8960f51c186cec16be098d7924776d41e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033.mtl
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+newmtl fruit_knife_033_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/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033.obj b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12711112000be902663a51e37569086f70fa151f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_033_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033_collision.obj b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c593ea5008238854c4f3b9f1928f1286b31132f6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..14f1c5ac56b4e7460575e0900bba24f5f71150f3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a20fa5639194c69f743fbeff75a93a63e7b1cdb4bb7a23cd981ec36c38b0b20e
+size 8922879
diff --git a/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d20ee9f2710a579e8250dc6dd4425815995697ca
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_033_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_033_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..14f1c5ac56b4e7460575e0900bba24f5f71150f3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a20fa5639194c69f743fbeff75a93a63e7b1cdb4bb7a23cd981ec36c38b0b20e
+size 8922879
diff --git a/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/fruit_knife_033.xml b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/fruit_knife_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7a4f054baaabfd9912f14875bbb39a4460393c2a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/fruit_knife_033.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_033">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_033_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_033_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_033_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_033.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_033_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_033_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_033">
+      <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/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033.obj b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df1b857cf1f7ea76777eeb8460f596f048e5cd9a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033.obj
@@ -0,0 +1,110044 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_033_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033_collision.obj b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14a7f4759926a678cc4be886fbfa34762487caad
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033_collision.obj
@@ -0,0 +1,1934 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e157db790b57d8447b34cfcdab24627251031d2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb72806dabb8f2e37283d1cfe24e2b9a0aee056b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28610b5842ac5404972c6eeee960ff2df51bbcfa
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mjcf/mesh/fruit_knife_033_collision_2.obj
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