diff --git a/.gitattributes b/.gitattributes
index 866c8be86162eb07299e43536d321bbe08632185..fba9f5d2f5c7da491094c780eb5351535b266ef1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3861,3 +3861,5 @@ dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot_gs.p
 dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/d4fc3a3574865a8ca499337875006608.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/wire_cutters_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/wire_cutters_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5c5b135971bb6d5903f73343be4ad125fabb814d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wire_cutters_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..77cc811532730d2a6996b75be186ab92c04b71d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:946a132f5908b253091b9e7a45544405e7c36d97ea2d056f24a38a95d679d94e
+size 8716115
diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/wire_cutters_010.glb b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/wire_cutters_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5afd0b1e2e44627dad5e6a59b872af115a64efb2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/wire_cutters_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2c066f4045eda2a8bcd4acc4f7d178978c566b90cd39e2c96cb8e8485c6bd08
+size 12193472
diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/wire_cutters_010.mtl b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/wire_cutters_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..320416abfe8f6cfca3c649fb8730aac9682c3283
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/wire_cutters_010.mtl
@@ -0,0 +1,6 @@
+newmtl wire_cutters_010_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/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/wire_cutters_010.obj b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/wire_cutters_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ed573da69f4bd11bf7631f7b7f87293d9176b3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/wire_cutters_010.obj
@@ -0,0 +1,112960 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wire_cutters_010_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/wire_cutters_010_collision.obj b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/wire_cutters_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c1c9ef77afa09c5fa49e224c9023e567504c664
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/wire_cutters_010_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010.obj b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision.obj b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eb2bf274047c00c64322c6ad2bcfdf281a71152
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision.obj
@@ -0,0 +1,3939 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f3c1d1468bf3daac1c6eca0192a04c5bd4c324
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53c950caf09b9f21f4a7a3be1fbe2ddce0a18d8d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f15963572f712eaafc277e78ecbc1aed421cc3e2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..625336654a10767b5f382184f6d2f059365a0930
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_3.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..790cc5872cc4fffb9454ead1ab86ac56e79c144f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_4.obj
@@ -0,0 +1,982 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae482d5200951dc27ffe9f6e34954bddb75f3ea5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_5.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f85f53b49a503add700688e3a2d602e0c43a4191
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/mesh/wire_cutters_010_collision_6.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/wire_cutters_010.xml b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/wire_cutters_010.xml
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mjcf/wire_cutters_010.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wire_cutters_010">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/wire_cutters_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wire_cutters_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wire_cutters_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wire_cutters_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wire_cutters_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wire_cutters_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/video.mp4 b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/video.mp4
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diff --git a/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/wire_cutters_010.urdf b/dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/wire_cutters_010.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wire_cutters_010">
+   <link name="wire_cutters_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wire_cutters_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
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+         <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>0b5ffe4c8d355756a8b94dfc0bb830a6</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>insulated wire cutters with black and red handles and sharp metal jaws</description>
+         <min_height>0.0106</min_height>
+         <max_height>0.0106</max_height>
+         <real_height>0.0106</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428003629</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>9</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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