diff --git a/.gitattributes b/.gitattributes
index 8a42bc3627e1ae82473e8ec2557c4df29ff12f33..de8e219bf85fae31514c525aaa722472802063e7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3896,3 +3896,5 @@ dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/peeler_0
 dataset/kitchen_supplies/cutting_tools/bac9d3b974b05362808b10c64ea54f02/bac9d3b974b05362808b10c64ea54f02.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/bac9d3b974b05362808b10c64ea54f02/mesh/knife.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/bac9d3b974b05362808b10c64ea54f02/mesh/knife_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/wire_cutters_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..23de2ac1e21ebe737be13f89973d5392a4f13949
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wire_cutters_009_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 wire_cutters_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ca1d72e879a904cf89287ae45db92827a812e32
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:964f13dc0011c2d02bdf44e32046d10d4b33131144d008a88651bf88f9975df6
+size 11130289
diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009.glb b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ea5b6301b8372694a65c8445dab69eeb36354b35
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a496ac2bdba1e899cb8f0f22a2c3c8c21d969d41c16364aae05731e838f1481
+size 14591672
diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009.mtl b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fa5ceda5eeb0a5cc8e6414c4f2da7fa84f159387
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009.mtl
@@ -0,0 +1,6 @@
+newmtl wire_cutters_009_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/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6765d41605d91cfe16634eff7e4777ef61c9e668
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009.obj
@@ -0,0 +1,112706 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wire_cutters_009_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009_collision.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b1ef4f834b79cbcbf7ef4f19a80e46485f4e1c9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009_collision.obj
@@ -0,0 +1,7139 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ca1d72e879a904cf89287ae45db92827a812e32
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mesh/wire_cutters_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11130289
diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ca1d72e879a904cf89287ae45db92827a812e32
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:964f13dc0011c2d02bdf44e32046d10d4b33131144d008a88651bf88f9975df6
+size 11130289
diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52072567bf2f8a71a7daabce531d8dd991e7cebd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wire_cutters_009_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e51864fa440d02de7d35dcbf26165f2ff5bb223a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision.obj
@@ -0,0 +1,7139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3844e1b8485c2ec01be787614d592b1939f66a2c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_0.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18063473f42c7dd7e713b8b9a31f3eb9d1b34c38
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9fdce2a599b081356f6cea5106cdfb82b61dd1c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_10.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..263f5ca8f9142750a738884412dc5c3b79289066
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_11.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f82ae74e8dbacce979ce36ed109f20a86cbaf8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_2.obj
@@ -0,0 +1,1417 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ba10a227df58a76ba02b39a3eaf6492def19827
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..239460aff2adf0f86530b8b85a6a1cd810ad0494
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_4.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..569a85212e5aa405d18469f01cbed6262a8b3ba4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_5.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c36eff5847f2c5d6e08879287b8ccfd56d1326ec
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_6.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5761e288a8a1360d4e79486d366ebf794955944d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_7.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0f86b921aff8507d94d57425f28cfebc9e759a5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_8.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de15823bb45f94d33e7336bba62a0b72cf903c53
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/mjcf/mesh/wire_cutters_009_collision_9.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/wire_cutters_009.urdf b/dataset/kitchen_supplies/cutting_tools/b267d4347edc56beb5c38aad7509d0d8/wire_cutters_009.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wire_cutters_009">
+   <link name="wire_cutters_009">
+      <visual>
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+         <geometry>
+            <mesh filename="mesh/wire_cutters_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>b267d4347edc56beb5c38aad7509d0d8</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>wire_cutters</category>
+         <name>insulated wire cutters</name>
+         <color>orange,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>orange-handled wire cutters with spring mechanism and sharp metal jaws</description>
+         <min_height>0.0123</min_height>
+         <max_height>0.0123</max_height>
+         <real_height>0.0123</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428003609</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>10</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>
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