diff --git a/.gitattributes b/.gitattributes
index 99d54a52c47e20736245e92fed268001f85ccf04..53e7bf2e8ceec28ca5f4af7e96614f7f130ce10c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3891,6 +3891,7 @@ dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/mesh/wir
 dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/wire_cutters_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/fruit_knife_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/aa99c23b0e9458539bb51c4bf7b8c977/aa99c23b0e9458539bb51c4bf7b8c977.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/aa99c23b0e9458539bb51c4bf7b8c977/mesh/knife.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/aa99c23b0e9458539bb51c4bf7b8c977/mesh/knife_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/garlic_press_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/fruit_knife_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/fruit_knife_023.urdf b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/fruit_knife_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6db9c0bb410357315c5a227a53fc45664cbafbde
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/fruit_knife_023.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_023">
+   <link name="fruit_knife_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_023.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_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>a9d10facb8375ad5af2cfdf9f1cdc6b8</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>black fruit knife</name>
+         <color>silver,black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>small serrated kitchen knife with black handle and silver blade</description>
+         <min_height>0.0144</min_height>
+         <max_height>0.0144</max_height>
+         <real_height>0.0144</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518182107</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.157503 -0.022207 -0.008297</min>
+            <max>0.087372 0.012793 0.006060</max>
+         </aabb>
+         <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/fruit_knife_023.usd b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/fruit_knife_023.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9d16453149f6a4f6aaf4958e52e0363ee69b4e6b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/fruit_knife_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c8190e5b326113b2fab0d6b4a41495e39d879cfe04578bbe8ae088c0dd15e37
+size 4937552
diff --git a/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023.glb b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..220b0db612a3f1587423309cc3e43a22b0900a6c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9214ee81b4e581320a7404d393d1cb5c2ad131739ea13fb376401476d4a2fc7
+size 10552448
diff --git a/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023.mtl b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2a107952aef95cd71f9171add77e5ca5348b61d8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023.mtl
@@ -0,0 +1,6 @@
+newmtl fruit_knife_023_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/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023.obj b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed2dddf56c484ec439c307660294c51246f2ab34
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023.obj
@@ -0,0 +1,115712 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_023_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023_collision.obj b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5de15da4bdabd8c4d31f5615053df799e6047dd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d15f2c9b44e3922a5e7a29435d8bcd2d42a5a72c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:645e16c2fa9022d4d6ad8488ed789b5a974f1d5ae94f4760d804bb7d79277927
+size 7138912
diff --git a/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5db5927afd44b9e9261dded483ad0fdedb3e782f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_023_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_023_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d15f2c9b44e3922a5e7a29435d8bcd2d42a5a72c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:645e16c2fa9022d4d6ad8488ed789b5a974f1d5ae94f4760d804bb7d79277927
+size 7138912
diff --git a/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/fruit_knife_023.xml b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/fruit_knife_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5290720d21092c8c6e3e4c6eb1270cbce9d9fe19
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/fruit_knife_023.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_knife_023">
+  <asset>
+    <material name="material_0" texture="texture_0_fruit_knife_023_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_fruit_knife_023_geometry_Looks_material_0" type="2d" file="mesh/fruit_knife_023_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/fruit_knife_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/fruit_knife_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_knife_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_knife_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_knife_023">
+      <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/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/mesh/fruit_knife_023.obj b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/mesh/fruit_knife_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f893d75ceff66abf74fc9c737017dd2ac6400ad6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/mesh/fruit_knife_023.obj
@@ -0,0 +1,115712 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl fruit_knife_023_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/mesh/fruit_knife_023_collision.obj b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/mesh/fruit_knife_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e14e2c6173ace62f3fc138b9317cd10f93534d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/mesh/fruit_knife_023_collision.obj
@@ -0,0 +1,1724 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/mesh/fruit_knife_023_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/mesh/fruit_knife_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d62a4fd3ad6c4f08549796f882c5144a7717d3ab
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/mesh/fruit_knife_023_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/mesh/fruit_knife_023_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/mesh/fruit_knife_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..451825b84ab028c73027042c50ae03246e3c1edb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/mesh/fruit_knife_023_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/mesh/fruit_knife_023_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mjcf/mesh/fruit_knife_023_geometry_Looks_material_0.png
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