diff --git a/.gitattributes b/.gitattributes
index 27f68fdbe785f91ef774a1f2d9b172c88f22c85b..5e576a3028a5098d62cfbe44eb1031d99adc1043 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3882,3 +3882,6 @@ dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/fruit_kn
 dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/mesh/fruit_knife_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb/fruit_knife_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb/mesh/fruit_knife_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/65ded07e2dd25046ab569a866f295c8f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/wooden_cutting_board.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/wooden_cutting_board_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/65ded07e2dd25046ab569a866f295c8f.urdf b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/65ded07e2dd25046ab569a866f295c8f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f0da8e2b209ba14235eec73941e1c1e229efbcc3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/65ded07e2dd25046ab569a866f295c8f.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="1.1500" />
+         <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>0.331621</scale>
+         <version>v0.1.7</version>
+         <category>wooden cutting board</category>
+         <description>flat rectangular wooden cutting board with rounded 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>1.5</max_mass>
+         <generate_time>20260120121434</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>4.409599781036377</ImageAestheticChecker>
+         <overall>NO</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/65ded07e2dd25046ab569a866f295c8f/65ded07e2dd25046ab569a866f295c8f.usd b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/65ded07e2dd25046ab569a866f295c8f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b05a0adca09b965bbd9d4e611ac1429281a6b7ea
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/65ded07e2dd25046ab569a866f295c8f.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fb63ca6c08231016af36788ceb7381d497b2d37ce9f3241832805fede528e4d
+size 1001357
diff --git a/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/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/65ded07e2dd25046ab569a866f295c8f/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f6a72c9fdbcbeb7238dcdc58a76b6f14c4206e9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40030f420f0f9f6fffc2b81f4450d68160cf6b1940f08a90863ec7e73a8276b6
+size 1910887
diff --git a/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/wooden_cutting_board.glb b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/wooden_cutting_board.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6b5af0f5fa2f7724deb2aeebcffc7b6547601c11
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/wooden_cutting_board.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f99c9604c1755353d0f1f4425af1cb71b0cdbf04ff68dbff87962603031e404
+size 2561480
diff --git a/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/wooden_cutting_board.obj b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/wooden_cutting_board.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daa7ef48825af878dfbe578b9d504555c26a5006
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/wooden_cutting_board.obj
@@ -0,0 +1,59114 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/wooden_cutting_board_collision.obj b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/wooden_cutting_board_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1bf48946eaaddfcec03e6ee3707e4b3b326f2e1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/wooden_cutting_board_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/wooden_cutting_board_gs.ply b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/wooden_cutting_board_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6cbde79a0b5771bb7f6124621868464c06352a3a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mesh/wooden_cutting_board_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7370fd1ccbe17b34e9646951f300ad8bacf4f80452377907e6a2bcebc95f2a2a
+size 2342729
diff --git a/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/65ded07e2dd25046ab569a866f295c8f.xml b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/65ded07e2dd25046ab569a866f295c8f.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b2430e78c39c2c035b26ba4bd032a40103c46661
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/65ded07e2dd25046ab569a866f295c8f.xml
@@ -0,0 +1,18 @@
+<?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" />
+  </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/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:40030f420f0f9f6fffc2b81f4450d68160cf6b1940f08a90863ec7e73a8276b6
+size 1910887
diff --git a/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/wooden_cutting_board.obj b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/wooden_cutting_board.obj
new file mode 100644
index 0000000000000000000000000000000000000000..450989a6b481498aa277974222dd742db2ec4d28
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/wooden_cutting_board.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.002303 0.009982 0.012042
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diff --git a/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/wooden_cutting_board_collision.obj b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/wooden_cutting_board_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a7d7ff638bf4be6fa47e4e4341813641b5050ce
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/wooden_cutting_board_collision.obj
@@ -0,0 +1,2401 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/wooden_cutting_board_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/wooden_cutting_board_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d270ed221760cf91b00acd06deab4836f6d5118
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/wooden_cutting_board_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/wooden_cutting_board_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/wooden_cutting_board_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53fa5083ef96b69a177fa3b8645840403dbc0ff9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/mjcf/mesh/wooden_cutting_board_collision_1.obj
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