diff --git a/.gitattributes b/.gitattributes
index 57a4225332a61b305e99c567fdc2f824ec57c3e0..939033afa5cf0b00cbece9679ee088af193fe827 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3918,3 +3918,5 @@ dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/fruit_kn
 dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/mesh/fruit_knife_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/ccb10511f602560eb0e980d78be81978/fruit_knife_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/ccb10511f602560eb0e980d78be81978/mesh/fruit_knife_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/wire_cutters_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a8f76d15baaebee7cb3eeb9c5cf99790793f261
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wire_cutters_005_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..20ddb8a4d5cc5b7ed75d386e7049e6d9e2cc7bf3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/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/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005.glb b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1405717d6bda0aafc1f753387bf2e76607d1c569
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005.mtl b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d5e5ddab8e7dd90905c37a5f18ebac5d16dbbd3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005.mtl
@@ -0,0 +1,6 @@
+newmtl wire_cutters_005_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e60ceda3fb458b71fc5dac34ff7f573d2a39be
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005.obj
@@ -0,0 +1,116226 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005_collision.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2159a49803d77d8249859704361805dac11dbeb7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005_collision.obj
@@ -0,0 +1,5914 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mesh/wire_cutters_005_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fe3d2a849d9ea0980fd536e5cd5b2f0f04ca0d3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision.obj
@@ -0,0 +1,5914 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dda0add42cd6051b8ecbb113febff5e117461760
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4559f7a9ee7acb218a3ff61ee091f749c41c1f0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_1.obj
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3c7635d31372a20f7839002716351bed4f3a47a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_10.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02329453 -0.05070725 0.00076292
+v -0.02373480 -0.05070725 -0.00107531
+v -0.02357768 -0.05070726 0.00210252
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+v -0.01898515 -0.05296374 -0.00097885
+v -0.02524295 -0.05070724 -0.00176985
+v -0.01898515 -0.05499246 -0.00118168
+v -0.02696452 -0.05070726 0.00235926
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+v -0.01898515 -0.05666152 0.00246609
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acef3ea2cc8725bc5e420bbfe4f1ccd6c98eb627
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_11.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.01444944 -0.05449076 0.00340156
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5e99be7d5b32dc350433f161a9df8f282899d66
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_12.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v -0.01494613 0.00317566 -0.00798095
+v -0.01293478 0.00317566 -0.00792114
+v -0.01494613 0.00221456 -0.00787054
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+v -0.01846794 0.00077056 -0.00766506
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b297ded9b89259b257fea00df5e9c0478a8bdc3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_13.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6515b8d28ccf0f56ea2dcbdd376aadbe24081b8d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_14.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c00f32e90c55db977c83442428f4e8c9f25173a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_15.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_16.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c82eda9257a3b48c084d1ab3b06df1fc9ac8717a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_16.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a56f797a9cee29f623ac1d5501fd8b66448b9b6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_2.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96156ddd9bb5679354f9542d200bf3391353cd07
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_3.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de653f83099a1e3adb50183e04c70b48cb9b1448
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_4.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94e9ff79cfb5b27e9b75d7e5debbef896c35c24a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_5.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8816add8c72f55da33ed2e99a294a2e196929bc8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_6.obj
@@ -0,0 +1,379 @@
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64d4f4a3477694b46eb68699bc03fad8c81dff53
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_7.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+v 0.00100527 -0.04071164 -0.00791297
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03d5df966d39bb3f1e78be01542620dd4d3bf7c7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_8.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0ca0f05d4011d64c0d02e561bcecfb27dad646b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/mesh/wire_cutters_005_collision_9.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/wire_cutters_005.xml b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/wire_cutters_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f13ff543a47256a80a52531a527d72d51844c8e7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/mjcf/wire_cutters_005.xml
@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wire_cutters_005">
+  <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_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wire_cutters_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wire_cutters_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wire_cutters_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wire_cutters_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wire_cutters_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wire_cutters_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wire_cutters_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wire_cutters_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wire_cutters_005_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wire_cutters_005_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wire_cutters_005_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wire_cutters_005_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wire_cutters_005_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wire_cutters_005_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wire_cutters_005_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wire_cutters_005_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wire_cutters_005_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wire_cutters_005">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 11771595
diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/video.mp4 b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/video.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 220274
diff --git a/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/wire_cutters_005.urdf b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/wire_cutters_005.urdf
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+++ b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/wire_cutters_005.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wire_cutters_005">
+   <link name="wire_cutters_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wire_cutters_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>ddd8499a2d495f69beca0f59f289e187</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>wire_cutters</category>
+         <name>heavy-duty wire cutters</name>
+         <color>black,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>ergonomic wire cutters with black handles and sharp cutting blades</description>
+         <min_height>0.0208</min_height>
+         <max_height>0.0208</max_height>
+         <real_height>0.0208</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428003450</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>13</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/ddd8499a2d495f69beca0f59f289e187/wire_cutters_005.usd b/dataset/kitchen_supplies/cutting_tools/ddd8499a2d495f69beca0f59f289e187/wire_cutters_005.usd
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