diff --git a/.gitattributes b/.gitattributes
index 6c3b51858d01c2e605257af3ee3c13fa630ac446..95b02801a583ac822d651a1f97991cb07a7c2066 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3863,7 +3863,5 @@ dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/garlic_press_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/mesh/garlic_press_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/peeler_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/wire_cutters_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/wire_cutters_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/wire_cutters_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..060ebb00dbe08d332ed15b71ed8a1e7bc537263a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wire_cutters_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9105254af00d4d1273d12ffdb838e2af3f907a5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a959c7984214e7d9d517f904b420609f68ae06586b5f982bfdc13763687cc26
+size 7581271
diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003.glb b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5f22b7b30ead1fd2a04167bcbbd5224654361f75
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b692443416f6a37f6a449090316b3aec8b02a70c1b53d569c93e1b250a0a8db4
+size 10976968
diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003.mtl b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cda648e4e03c2c04908e2dcf4a0c1d9c0d2e001c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003.mtl
@@ -0,0 +1,6 @@
+newmtl wire_cutters_003_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/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003.obj b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc26dcc8486751fbde149ea257e0f746899f617
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003.obj
@@ -0,0 +1,107960 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wire_cutters_003_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003_collision.obj b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4013f317573fece4a0e7a10dd35469c6b0b83896
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003_collision.obj
@@ -0,0 +1,2945 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mesh/wire_cutters_003_geometry_Looks_material_0.png
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9105254af00d4d1273d12ffdb838e2af3f907a5
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+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 7581271
diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003.obj b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003.obj
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index 0000000000000000000000000000000000000000..782a3f250affcffe4cdbf4645251e147681fcadb
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+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision.obj b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b86769597d832fdd4f57cb3c741f858bd5876ee5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision.obj
@@ -0,0 +1,2945 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6ca9f9a29dc10927644dc7492031c31100b5be7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e751df1ee486d9dd557015a037f69fa54e028ad1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_1.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a05386f5afd4a004611bd22b7076ddaa0a8c2717
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_2.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db7f87f4e7f6b01f3e431d1874ead50bf74bf3cb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aafa93df4c093d9954562cd7dbe2a4a0cf9b2651
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_4.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b468c786adcd53e358ceca9bd78c8bad2b78921
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_5.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.03523549 -0.00228067 -0.00696113
+v 0.03277699 -0.00228067 -0.00681610
+v 0.03523549 0.00001977 -0.00694794
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+v 0.03118033 0.00001976 -0.00600524
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+v 0.03696423 0.00001976 -0.00673962
+v 0.04508304 -0.00228068 -0.00423455
+v 0.02815630 -0.00228072 0.00579103
+v 0.03270249 0.00001972 0.00631842
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+v 0.02778719 0.00001973 0.00382521
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+v 0.03693545 0.00001972 0.00627755
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33597cc92d4222575f24e836d8ee2925771bb923
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_6.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.02778719 0.00577336 -0.00721571
+v 0.03523549 0.00202381 -0.00695577
+v 0.03434658 0.00202381 -0.00693935
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diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46abb2f62ab6916c592c35e680a10ac567757656
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_7.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.03523549 0.00202381 -0.00695686
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70e110d37b331dc2fbfd779609202f865ac18ac0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/mesh/wire_cutters_003_collision_8.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.02778719 -0.00563727 -0.00721326
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diff --git a/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/wire_cutters_003.xml b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/wire_cutters_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..81a44806ed6369249f5800d23cba56c83785351d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/mjcf/wire_cutters_003.xml
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+    <mesh name="collision_mesh_0_0" file="mesh/wire_cutters_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wire_cutters_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wire_cutters_003">
+   <link name="wire_cutters_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wire_cutters_003.obj" scale="1.0 1.0 1.0" />
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+      <collision>
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+         <geometry>
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+         <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>1759ff2636cb5a8390d830027ece6aad</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>wire_cutters</category>
+         <name>compact wire cutters</name>
+         <color>gray,blue</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact wire cutters with ergonomic handle and sharp cutting blades</description>
+         <min_height>0.0142</min_height>
+         <max_height>0.0142</max_height>
+         <real_height>0.0142</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428003409</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>
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+            <geometry>
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+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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