diff --git a/.gitattributes b/.gitattributes
index a841e3bb7e946090c1479f283a8e6aa25f3730cc..e152b6521fe1eccb4b80cd079615d23bbfa7cfd9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3898,7 +3898,5 @@ dataset/kitchen_supplies/cutting_tools/bac9d3b974b05362808b10c64ea54f02/mesh/kni
 dataset/kitchen_supplies/cutting_tools/bac9d3b974b05362808b10c64ea54f02/mesh/knife_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/fruit_knife_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/mesh/fruit_knife_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/b8d32bbff77f5f8b98aca723f1343d42/mesh/wire_cutters_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/b8d32bbff77f5f8b98aca723f1343d42/wire_cutters_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/c22350312cb85b37b25d36bbad5b6cc1/fruit_knife_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/c22350312cb85b37b25d36bbad5b6cc1/mesh/fruit_knife_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a2a333accd31fd735129493750f23b49513cb5fa
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wire_cutters_002_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002.glb b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2367e5c73d520e4af18e6117df053339f95774e9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002.mtl b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7886cde24024f5f134869be86c519235e9bdfbb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002.mtl
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+newmtl wire_cutters_002_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002.obj b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44c788bfe63ddb0d09b9162f36c469d4f6b5d8be
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002.obj
@@ -0,0 +1,115036 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wire_cutters_002_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002_collision.obj b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e4b9dd0eb60c5a92481951efa891df65acebd12
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mesh/wire_cutters_002_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002.obj b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision.obj b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7a0bf9d1e1b83a0dff22a619e8247e22fcb2755
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision.obj
@@ -0,0 +1,3983 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6aa8408e1c9df70073d59be91af728a2df2d0dd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_0.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4094a7367d76d1d90d6d9ef9bd4990eb5ac5a1da
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_1.obj
@@ -0,0 +1,1045 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93a2f85178767d8575343adbadd5fc9b45faba50
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_2.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa77d8ca91e59a5f9d26a487ffa9d7eb41e12f7f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_3.obj
@@ -0,0 +1,1114 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68d3a49729b327bc387996ae087ea69361b161eb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_4.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eff54d8efa580ecbd42460b420d33d94705b6bc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_5.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.00123235 -0.04843395 -0.00632795
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bc9ab2c92abb871964a7b91d6de2514d402424a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_6.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
+v -0.00182963 -0.00210001 -0.00348384
+v -0.00183162 -0.00210001 -0.00349858
+v -0.00183560 -0.00210003 0.00310324
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9555e5a7f9cb69df798b5f1aa17380c4c6bbecf5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_7.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23433e5c292ae9a4c0231bc546debf925d132c1e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/mesh/wire_cutters_002_collision_8.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/wire_cutters_002.xml b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/wire_cutters_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ee5a87ecf0cc65aac7c78548af575da2d8bc0a49
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/mjcf/wire_cutters_002.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wire_cutters_002">
+  <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/wire_cutters_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wire_cutters_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wire_cutters_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wire_cutters_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wire_cutters_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wire_cutters_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wire_cutters_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wire_cutters_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wire_cutters_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wire_cutters_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wire_cutters_002">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3d20f4795cf77b4294afca13306f93e4b05799ad5fa26497c60c4d44d5ba5863
+size 10645646
diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/video.mp4 b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/video.mp4
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+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 173195
diff --git a/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/wire_cutters_002.urdf b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/wire_cutters_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f929e0438148c1f204dfe5dc14040966c391006a
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+++ b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/wire_cutters_002.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wire_cutters_002">
+   <link name="wire_cutters_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wire_cutters_002.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/wire_cutters_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>bfb8b678a5bb5faaa2045868c578269d</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>wire_cutters</category>
+         <name>insulated wire cutters</name>
+         <color>black,red</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>ergonomic wire cutters with red-black handles and sharp metal cutting edges</description>
+         <min_height>0.0180</min_height>
+         <max_height>0.0180</max_height>
+         <real_height>0.0180</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428003349</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>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/bfb8b678a5bb5faaa2045868c578269d/wire_cutters_002.usd b/dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/wire_cutters_002.usd
new file mode 100644
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