diff --git a/.gitattributes b/.gitattributes
index ea2063b00193ed7045bc3da296f0d87126c114ce..b790051f8ce211b66950a08765ee8d919e41008d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3874,9 +3874,5 @@ dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/fruit_kn
 dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4904292ccc6c5a3f9041dfbca8b8ff90/mesh/peeler_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4904292ccc6c5a3f9041dfbca8b8ff90/peeler_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/mesh/peeler_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/peeler_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/wire_cutters_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/peeler_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/fruit_knife_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/fruit_knife_004.urdf b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/fruit_knife_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..62d1a58df1a621dc2f76278000ef0a5ae16fca4e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/fruit_knife_004.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_004">
+   <link name="fruit_knife_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_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/fruit_knife_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>4e57cd44701650fe8a8add831544a990</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>sharp fruit knife with wooden handle and metallic blade</description>
+         <min_height>0.0114</min_height>
+         <max_height>0.0114</max_height>
+         <real_height>0.0114</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428002429</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>3</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/fruit_knife_004.usd b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/fruit_knife_004.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/fruit_knife_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4823177
diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004.glb b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004.glb
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004.mtl b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9be4bb737f19ebf6d98c58fd972fc6b8955311ea
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004.mtl
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+newmtl fruit_knife_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/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004.obj b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b55fa08b3caf947ae4a561855913cff53aed138f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004.obj
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+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004_collision.obj b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..807585293c363a86f4f0181afac3c7795b355721
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004_collision.obj
@@ -0,0 +1,2376 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..efdf2df9dcb89200f6bdf5b3f4efc973835f0afc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/fruit_knife_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52a153dafac5b045e7d4e7986a97cb3ba20824eb118c0e3d176e86807dfbd22d
+size 11604613
diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5271f78c46fd9f20ed56076450a1ed9cd784da46
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_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 fruit_knife_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..efdf2df9dcb89200f6bdf5b3f4efc973835f0afc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52a153dafac5b045e7d4e7986a97cb3ba20824eb118c0e3d176e86807dfbd22d
+size 11604613
diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/fruit_knife_004.xml b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/fruit_knife_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..983bcd671872fe5ed7fb8dff4c7f8567f0d8be9e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/fruit_knife_004.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_004">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_004_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_004_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_004_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fruit_knife_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004.obj b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2383255be84ef7de47cb1833f3de04c87dcaa295
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004.obj
@@ -0,0 +1,112212 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_004_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision.obj b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4570c8556aa35da88aa880da667f6987d64c2807
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision.obj
@@ -0,0 +1,2376 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cab14f026e7233f5b83ac6b46a23357fb76355d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision_0.obj
@@ -0,0 +1,655 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f2bd8d1a0155eda39f967a1187ec1ce493c7a60
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision_1.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ebf1a7c628a25b5bc5df19d2cfa9cd0e64c9be
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bac503183feafdaf7c47fac596657e7f9a383f1d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4e57cd44701650fe8a8add831544a990/mjcf/mesh/fruit_knife_004_collision_3.obj
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