diff --git a/.gitattributes b/.gitattributes
index 4b80fedf859acd74de2460d9a34ed15c83e3fc21..9d6ffab9509357c6d4abc886d0ddb521480674d2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3932,3 +3932,5 @@ dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/fruit_kn
 dataset/kitchen_supplies/cutting_tools/f16f71f0d3f65a359abcf8f4d7a255bf/mesh/fruit_knife_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/f96101f739745c6fb001da94a23ae74f/mesh/wire_cutters_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/f96101f739745c6fb001da94a23ae74f/wire_cutters_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/wire_cutters_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..47af5449115c04a50b538273fac8d7993b89a1fb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wire_cutters_006_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006.glb b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1454b308db6bb19c0111525e1bbdcce3534e7546
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+++ b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006.glb
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006.mtl b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3dfc86e274e044bf996be8992270a1ed3d219c34
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006.mtl
@@ -0,0 +1,6 @@
+newmtl wire_cutters_006_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006.obj b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ebffc3515a6346b35fc883906a6403e08073f7f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006.obj
@@ -0,0 +1,113862 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wire_cutters_006_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006_collision.obj b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a83b274e1ad1455a7be19a077494c84a384be82
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006_collision.obj
@@ -0,0 +1,3656 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mesh/wire_cutters_006_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/wire_cutters_006.obj b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/wire_cutters_006.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/wire_cutters_006_collision.obj b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/wire_cutters_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40916a00e1a7ab9134f99fb0aca2e69615e7d0a1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/wire_cutters_006_collision.obj
@@ -0,0 +1,3656 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/wire_cutters_006_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/wire_cutters_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f65b065d0ddab1d49a46269af37c81be563ec475
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/wire_cutters_006_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/wire_cutters_006_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/wire_cutters_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19719f016718e26a3b97b245ecfbd8f782b6c4d4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/wire_cutters_006_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/wire_cutters_006_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/wire_cutters_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e21cd7c050726b0fae7555cbf082d8c77033ee89
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/mesh/wire_cutters_006_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/wire_cutters_006.xml b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/wire_cutters_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b47d371643cafb40bd4d02872121ba3289eadc07
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/mjcf/wire_cutters_006.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wire_cutters_006">
+  <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_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wire_cutters_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wire_cutters_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wire_cutters_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wire_cutters_006">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/video.mp4 b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/video.mp4
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diff --git a/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/wire_cutters_006.urdf b/dataset/kitchen_supplies/cutting_tools/f1cc31c9a9f85d7a91ee55c7b2f7798c/wire_cutters_006.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wire_cutters_006">
+   <link name="wire_cutters_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wire_cutters_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</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>f1cc31c9a9f85d7a91ee55c7b2f7798c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>wire_cutters</category>
+         <name>ergonomic wire cutters</name>
+         <color>blue,brown</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact wire cutters with curved blade and ergonomic handle</description>
+         <min_height>0.0166</min_height>
+         <max_height>0.0166</max_height>
+         <real_height>0.0166</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428003511</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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