diff --git a/.gitattributes b/.gitattributes
index ec3b39c7cbe124f619e22422b3614551698e15fd..05a59c0c3eb925af8626e35b9d30c628308514c1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3878,7 +3878,5 @@ dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/mesh/pee
 dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/peeler_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/fruit_knife_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/mesh/fruit_knife_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/fruit_knife_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/mesh/fruit_knife_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/591c78335d405c059df45a9f9d212920/mesh/peeler_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/591c78335d405c059df45a9f9d212920/peeler_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/wire_cutters_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33c55733c4f7e6ef31fc9b55d42a5141f0089166
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wire_cutters_008_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/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/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008.glb b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..08d19e333efabe9d07cc4de71f68d3bac2c3d29c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14919288
diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008.mtl b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1b134f70500fadadc1bdd4d9af511a6e4c542e5c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008.mtl
@@ -0,0 +1,6 @@
+newmtl wire_cutters_008_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/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008.obj b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..690fb23bc587295c3da011404bf4963767a259a6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008.obj
@@ -0,0 +1,116410 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wire_cutters_008_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008_collision.obj b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c96aaf7bedde0998f7d22ab2200c45d862cad00
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008_collision.obj
@@ -0,0 +1,4638 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008.obj b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008.obj
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+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision.obj b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bcb9fae313d58943b97631159e2662f8fc48f5f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee7deface81a9f10d4675f4a948e065e816e1243
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8cf1dfd162fe805405637959c9633cfacdf3525
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afd78c5c1b11fb6cf88214904f60e811a381cf73
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cda3ebf21722c98bed90084358ae7bb42374492f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_3.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f480d83327bfa12a9f758ca6e11628e5f2fb9cd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_4.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..871ab088d67fc134cad31112b0717d333270717e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_5.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49b39ffa4ce94ceeee0adef6e9c466a583c2a128
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_6.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b127f424cead4786102685e7393d5a4e22d2b185
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_7.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aec76f904effc766ea9b325eb7f4960f6a876081
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_8.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84081457e28dd11e4d763bcaacd3aba59300daac
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/mesh/wire_cutters_008_collision_9.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/wire_cutters_008.xml b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/wire_cutters_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b74cbbba5d92c5760f8a91c08b297f7aae049dcf
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mjcf/wire_cutters_008.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wire_cutters_008">
+  <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_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wire_cutters_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wire_cutters_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wire_cutters_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wire_cutters_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wire_cutters_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wire_cutters_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wire_cutters_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wire_cutters_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wire_cutters_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wire_cutters_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wire_cutters_008">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 11385691
diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/video.mp4 b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2448cd4ea138f93de248004b217d5ee55785a7c5dde78965248aacefe0420951
+size 219554
diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/wire_cutters_008.urdf b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/wire_cutters_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..edccb83508cee9985f50818ce2fc0eda3c36b00d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/wire_cutters_008.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wire_cutters_008">
+   <link name="wire_cutters_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wire_cutters_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>5cd34ddda9b45272877ae17d31676f06</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>wire_cutters</category>
+         <name>wire stripping pliers</name>
+         <color>black,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>ergonomic wire cutters with black grips and metallic cutting edges</description>
+         <min_height>0.0201</min_height>
+         <max_height>0.0201</max_height>
+         <real_height>0.0201</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428003549</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>6</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>NO: {"summary":"Over-fragmented; many tiny spots split hardware, while jaw/cutter assembly is inconsistently partitioned.","merge_groups":[{"colors":["Green","Magenta","White"],"target_part":"jaw and cutter assembly","reason":"small hardware and jaw surfaces form one functional head"},{"colors":["Crimson","Maroon"],"target_part":"main metal frame","reason":"same frame side split without distinct function"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/wire_cutters_008.usd b/dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/wire_cutters_008.usd
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 5048938