diff --git a/.gitattributes b/.gitattributes
index 59a57b4a54fbc3dca1ad08cfdf72427023369526..de144e9f6684cd30857b11a64a2d847e391c9225 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3884,5 +3884,6 @@ dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mesh/pee
 dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/peeler_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/7c22110adbfa55bfa6ce194ecb79b636/fruit_knife_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/7c22110adbfa55bfa6ce194ecb79b636/mesh/fruit_knife_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/7e35bc198bdb5d33bd4c06a13f4f0591/garlic_press_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/7e35bc198bdb5d33bd4c06a13f4f0591/mesh/garlic_press_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/85f06d0993ec50c8b52c14f56ace2ae6.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/wooden_cutting_board.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/wooden_cutting_board_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/85f06d0993ec50c8b52c14f56ace2ae6.urdf b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/85f06d0993ec50c8b52c14f56ace2ae6.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e975757c7270bff46f0cf2c5fad02c3cf9a35d1a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/85f06d0993ec50c8b52c14f56ace2ae6.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>0.356532</scale>
+         <version>v0.1.7</version>
+         <category>wooden cutting board</category>
+         <description>flat rectangular wooden cutting board with smooth 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>20260120121104</generate_time>
+         <gs_model>mesh/wooden_cutting_board_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.634486198425293</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/85f06d0993ec50c8b52c14f56ace2ae6/85f06d0993ec50c8b52c14f56ace2ae6.usd b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/85f06d0993ec50c8b52c14f56ace2ae6.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/85f06d0993ec50c8b52c14f56ace2ae6.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22e928781b7f0c56bc35c0cf65522f8aefa37a5b73f4829f8a94d0ea8b7a8aa9
+size 957540
diff --git a/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/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/85f06d0993ec50c8b52c14f56ace2ae6/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e85174ce6dc4118fcf95e67318cd9f89ac6d1a48
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d84b277d95000a506147b5663113f131794c9da323648cbc0c40b9fb2572831
+size 1276606
diff --git a/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/wooden_cutting_board.glb b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/wooden_cutting_board.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f763c076cd20b5e54f567148c5ec2c2ea7ca65d6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/wooden_cutting_board.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d784c9154d15a5fa1e3f4e5e9b8cd38f5a0930c8a4b1ae4507728bc131e1f493
+size 1900952
diff --git a/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/wooden_cutting_board.obj b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/wooden_cutting_board.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc0e87bd05b87303d42c7d715c1f79a2d4efef2e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/wooden_cutting_board.obj
@@ -0,0 +1,56734 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/wooden_cutting_board_collision.obj b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/wooden_cutting_board_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37b3618422eccfff02226a67c554a2a9b23c87b1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/wooden_cutting_board_collision.obj
@@ -0,0 +1,2710 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/wooden_cutting_board_gs.ply b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mesh/wooden_cutting_board_gs.ply
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diff --git a/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/85f06d0993ec50c8b52c14f56ace2ae6.xml b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/85f06d0993ec50c8b52c14f56ace2ae6.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b2430e78c39c2c035b26ba4bd032a40103c46661
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/85f06d0993ec50c8b52c14f56ace2ae6.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <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" />
+  </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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e85174ce6dc4118fcf95e67318cd9f89ac6d1a48
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d84b277d95000a506147b5663113f131794c9da323648cbc0c40b9fb2572831
+size 1276606
diff --git a/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/wooden_cutting_board.obj b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/wooden_cutting_board.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd461c767e3a9291ce3cd14bb0d5c3b8f86c3b4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/wooden_cutting_board.obj
@@ -0,0 +1,56734 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/wooden_cutting_board_collision.obj b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/wooden_cutting_board_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11409c2afb77bc75fe2347eafecb460ec893ebcb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/wooden_cutting_board_collision.obj
@@ -0,0 +1,2710 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/wooden_cutting_board_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/wooden_cutting_board_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb4c610c9bcdd013d6261581a1ea2b94c9e50874
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/wooden_cutting_board_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/wooden_cutting_board_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/wooden_cutting_board_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c8ea66cb3c0dbc771dbd31e5342f6f62b484707
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/85f06d0993ec50c8b52c14f56ace2ae6/mjcf/mesh/wooden_cutting_board_collision_1.obj
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