diff --git a/.gitattributes b/.gitattributes
index 9afc61e7881df27c039533339d521a7b42ce40f5..61d1c28bd9ac239fa5d3b1f33fa1bb9b5bff91ec 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3872,3 +3872,5 @@ dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/fruit_kn
 dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/mesh/fruit_knife_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/fruit_knife_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/3cf503d21a915572821371a3a81c0b88/mesh/fruit_knife_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/fruit_knife_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/fruit_knife_007.urdf b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/fruit_knife_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..76454b422ceedba0801a62fcf1cfff609c412097
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/fruit_knife_007.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_knife_007">
+   <link name="fruit_knife_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/fruit_knife_007.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_007_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>3adfcf9ffa105e7d8914752a7a9996f1</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>fruit_knife</category>
+         <name>wooden fruit knife</name>
+         <color>silver,brown</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>sharp fruit knife with wooden handle and metallic blade</description>
+         <min_height>0.0147</min_height>
+         <max_height>0.0147</max_height>
+         <real_height>0.0147</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428002521</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_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/3adfcf9ffa105e7d8914752a7a9996f1/fruit_knife_007.usd b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/fruit_knife_007.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/fruit_knife_007.usd
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diff --git a/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007.glb b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10318164
diff --git a/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007.mtl b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d18a016ad6a7f9946408b88d333bfa31cafecbf
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007.mtl
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+newmtl fruit_knife_007_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/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007.obj b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0251daf798a18b49844ed0bd908754921be81ca
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007_collision.obj b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..297204f60b4dcd81ad2ce78edeec28582aa34e5a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007_collision.obj
@@ -0,0 +1,2318 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/fruit_knife_007_geometry_Looks_material_0.png
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c87509bd0e8a66fae6aa33ddcb7edab66db643fc569d322196da6ff74ba1870
+size 7255290
diff --git a/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d9255ef66b207e1d5065c96379e3b1c3dc814842
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl fruit_knife_007_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:6c87509bd0e8a66fae6aa33ddcb7edab66db643fc569d322196da6ff74ba1870
+size 7255290
diff --git a/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/fruit_knife_007.xml b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/fruit_knife_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a5973bbdfe65d6e2e43a357ae0c45838d32f7bf0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/fruit_knife_007.xml
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+    <body name="fruit_knife_007">
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diff --git a/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/mesh/fruit_knife_007.obj b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/mesh/fruit_knife_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c851044fb551f4ab061ffe7484a8de5b2f14de11
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/mesh/fruit_knife_007.obj
@@ -0,0 +1,107174 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/mesh/fruit_knife_007_collision.obj b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/mesh/fruit_knife_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..780f8a552c14578fceb3b4b7389a0af86a5a98e5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/mesh/fruit_knife_007_collision.obj
@@ -0,0 +1,2318 @@
+# https://github.com/mikedh/trimesh
+
+o fruit_knife_007_collision.obj
+v -0.00357998 -0.00479065 -0.00119684
+v -0.00357998 -0.00478066 0.00120448
+v -0.00357998 -0.00478565 -0.00121296
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+v 0.01098232 -0.01425960 0.00026929
+v -0.00357998 -0.00417855 0.00258250
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diff --git a/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/mesh/fruit_knife_007_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/mesh/fruit_knife_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..945d77de38e256470ec171c0779c722e163f7785
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/mesh/fruit_knife_007_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/mesh/fruit_knife_007_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/mesh/fruit_knife_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38a2d5158d140bbe6464919c9c1f511a8d3f36f5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3adfcf9ffa105e7d8914752a7a9996f1/mjcf/mesh/fruit_knife_007_collision_1.obj
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