diff --git a/.gitattributes b/.gitattributes
index fcb19b4f299e41e6cf277eeb639a8f08d1941898..b499963c9c38320df0b4c65f69271b314feab5a0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3872,6 +3872,5 @@ dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/fruit_kn
 dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/mesh/fruit_knife_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/fruit_knife_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/42d55e2b9cf15503933a2569fd8d4eea/42d55e2b9cf15503933a2569fd8d4eea.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/42d55e2b9cf15503933a2569fd8d4eea/mesh/knife.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/42d55e2b9cf15503933a2569fd8d4eea/mesh/knife_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/wire_cutters_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/wire_cutters_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f5c4dcd9614d767d2d91ebf1c74048dc9ce3edef
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wire_cutters_013_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4295ede46be6934d677ba56a6b3e60c70f08567e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/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/3f64b05226ef5cf9bee528e2083d76c7/mesh/wire_cutters_013.glb b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/wire_cutters_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6c60affecb545fcf2ba8810f4309385b737af02f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/wire_cutters_013.glb
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+size 11121468
diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/wire_cutters_013.mtl b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/wire_cutters_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c3e4796d04941c11b61f29d4bf70ba26eac34e89
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/wire_cutters_013.mtl
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+newmtl wire_cutters_013_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/3f64b05226ef5cf9bee528e2083d76c7/mesh/wire_cutters_013.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/wire_cutters_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..798c5397400a291ef91b70f72aff15c7410777f8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/wire_cutters_013.obj
@@ -0,0 +1,109958 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/wire_cutters_013_collision.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/wire_cutters_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56869f5de88d36a1ea1ea0d35255cd3d28445a8a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mesh/wire_cutters_013_collision.obj
@@ -0,0 +1,5852 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3d4c827229f28f4f962c269d0319b5e8846ce96
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision.obj
@@ -0,0 +1,5852 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e12b565755db36b0c8fb42548c7a26de4cbb22bd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad5567ff8e2f801f987f8b7c20eb14a412ddc6ae
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_1.obj
@@ -0,0 +1,775 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e41fba97efcb53f433afa53b4ac66431ca2bc7d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_10.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1eeb228a600d33f6a3ebd76e8f4e123dcfc72b3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_11.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f920d60303f470b7c38196ed8fb6b94bb38f08b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_2.obj
@@ -0,0 +1,1138 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a371a072a51fd06623cf21b5aff2b3ca11c13a5a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a81a92ed10846253eb77ca69ce87ee1833a2482d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_4.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db84282078ee8c73e38e56063756fad37539c039
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_5.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8127ed940bbc66b1f31c23aaa86d0fe03516fa37
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_6.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f537e58386c6e75fe3190fde944881f24f30172
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_7.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b15d2d27f0d57fbd186bafc96f6d426f2b1ef771
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_8.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.01289987 0.00004179 0.00479939
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/mesh/wire_cutters_013_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6414c01da7d65d36cd47021cc24c42f7f5d855cf
--- /dev/null
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/wire_cutters_013.xml b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/wire_cutters_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4f7d56f00ca5cbc8a66541b067a1c5cf0d2f1c5a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/mjcf/wire_cutters_013.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wire_cutters_013">
+  <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_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wire_cutters_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wire_cutters_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wire_cutters_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wire_cutters_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wire_cutters_013_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wire_cutters_013_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wire_cutters_013_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wire_cutters_013_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wire_cutters_013_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wire_cutters_013_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wire_cutters_013_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wire_cutters_013_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wire_cutters_013">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ce6acdb077660b3e62876909092764d6fe0a80d52ce9f3dad8e16191e834d0dc
+size 7685440
diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/video.mp4 b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b61725742f38611350fd738bc93cfd17756674c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2e99cdc0a8e41f716cc6742c559b547270fba1e19ba9acde9de488ee3e87317
+size 128111
diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/wire_cutters_013.urdf b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/wire_cutters_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4728526958f57c82b80d516f2788f0ac622e421d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/wire_cutters_013.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wire_cutters_013">
+   <link name="wire_cutters_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wire_cutters_013.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_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>3f64b05226ef5cf9bee528e2083d76c7</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>wire_cutters</category>
+         <name>gray pliers</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>gray metal pliers with curved coated handles and narrow jaws</description>
+         <min_height>0.0109</min_height>
+         <max_height>0.0109</max_height>
+         <real_height>0.0109</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518183511</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.058650 -0.021707 -0.005479</min>
+            <max>0.066958 0.021710 0.005434</max>
+         </aabb>
+         <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>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/wire_cutters_013.usd b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/wire_cutters_013.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/3f64b05226ef5cf9bee528e2083d76c7/wire_cutters_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e8dbad33b65e3954678d412189372ce51cbb0c1052090921c6332864696978b
+size 4973404