diff --git a/.gitattributes b/.gitattributes
index 4461d99ea2abdfb4d440c2a637f250e7d932fa28..bae06585c4931adc356c98987ba882c39d4d39e0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5494,3 +5494,5 @@ dataset/kitchen_supplies/cookware/915b223c60d1556baf50c4ee3c1947a0/915b223c60d15
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 dataset/kitchen_supplies/cutting_tools/35c1ed8fa9e552d59d9c9d5069496a61/mesh/knife.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/35c1ed8fa9e552d59d9c9d5069496a61/mesh/knife_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/garlic_press_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/garlic_press_004.urdf b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/garlic_press_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..10f1ef78841d628d44cac160aa4e99ed828b02f7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/garlic_press_004.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="garlic_press_004">
+   <link name="garlic_press_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_press_004.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/garlic_press_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>6b1f63d527aa51e4a18082583ed9e482</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>garlic_press</category>
+         <name>ergonomic garlic press</name>
+         <color>gray,brown</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>garlic press with ergonomic handles and perforated crushing chamber</description>
+         <min_height>0.0250</min_height>
+         <max_height>0.0250</max_height>
+         <real_height>0.0250</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428002743</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/6b1f63d527aa51e4a18082583ed9e482/garlic_press_004.usd b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/garlic_press_004.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/garlic_press_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10bf45fb1f91a2547f1a1cdd252999177fc66428cf31af67f79bb097bc5762eb
+size 4985097
diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004.glb b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..33d179e13cf8bb9280f78b002cdfffe3f3d95d5d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd5766ec66e62ac733b395e47acff9b3d42bf620cf436f99a8e6839b905102da
+size 12949364
diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004.mtl b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00c01514e3e8efa6c7f5894c6ab96d65b26a2f5e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004.mtl
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+newmtl garlic_press_004_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/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004.obj b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..652994876f6cc3f661c79decfd7c761824dede8b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_press_004_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004_collision.obj b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1764a2bcfa218256e977ff1e297b66c3c1624516
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d32e292e5a586ae3cf416d99f2b38aff8c6b469d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/garlic_press_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:220b3286ccd18d29a34e3d141f242762c12aac92250fccd864e4e0be7047aaf4
+size 9499246
diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af2dce9306b17c31d5fe9f0092a65b492041f6ce
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl garlic_press_004_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 garlic_press_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d32e292e5a586ae3cf416d99f2b38aff8c6b469d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:220b3286ccd18d29a34e3d141f242762c12aac92250fccd864e4e0be7047aaf4
+size 9499246
diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/garlic_press_004.xml b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/garlic_press_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f24c18e043814be6e8442e7e3b06873626604455
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/garlic_press_004.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="garlic_press_004">
+  <asset>
+    <material name="material_0" texture="texture_0_garlic_press_004_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_garlic_press_004_geometry_Looks_material_0" type="2d" file="mesh/garlic_press_004_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/garlic_press_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/garlic_press_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/garlic_press_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/garlic_press_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/garlic_press_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/garlic_press_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/garlic_press_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="garlic_press_004">
+      <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/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004.obj b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..273d450a087d4c15f1d548f05eb2c50abcf54e6d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004.obj
@@ -0,0 +1,113926 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_press_004_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision.obj b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..826a6b97189d4a3dea842c0419fc77e0896f03fc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision.obj
@@ -0,0 +1,7202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c94974578e4955ffcd71784419e71e70961e5a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca8846191255bdb1dc99d78df71a22e5d60a0bd8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa462251d627cd61aac04fca137e8df59a456b79
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b1ef19f8b244631d77611fe6390569ad7a5c02
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd307b2e33263603748273c0227cd71f8fe6a17f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_4.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45ea6eaefe382cad9ca253296d9872a46011a627
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/6b1f63d527aa51e4a18082583ed9e482/mjcf/mesh/garlic_press_004_collision_5.obj
@@ -0,0 +1,925 @@
+# https://github.com/mikedh/trimesh
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