diff --git a/.gitattributes b/.gitattributes
index 33c8f6b52273b9190a7fe1424132e2e77702ed91..14c815d5bc64ec4b196f89c2996a61c2f9c94c48 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3876,3 +3876,5 @@ dataset/kitchen_supplies/cutting_tools/4904292ccc6c5a3f9041dfbca8b8ff90/mesh/pee
 dataset/kitchen_supplies/cutting_tools/4904292ccc6c5a3f9041dfbca8b8ff90/peeler_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/mesh/peeler_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/peeler_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/wire_cutters_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8600514d5a8c3ccd0044e94f3d28007717af7cef
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wire_cutters_014_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd wire_cutters_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..69f4eb299773120304f579609bd57ca6ed1de503
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+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/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/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014.glb b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ef9803d182d2a61594762988629b38f6c0d172de
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13195808
diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014.mtl b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..baa28b38166f734c94b2015cffda2db1d1b10e45
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014.mtl
@@ -0,0 +1,6 @@
+newmtl wire_cutters_014_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
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c516511149f663a14feb90be8f6906abfb9991b6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014.obj
@@ -0,0 +1,121034 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl wire_cutters_014_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014_collision.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3504fefb4e37443cf24f6da64ed8f3328e6b11a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab23431f58270e4e6dff3c2c5db120af3b25024a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision.obj
@@ -0,0 +1,5386 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..585bf557019a08091c40a3da30b260c971437372
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_0.obj
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b02db2f76c57a9e174b5df14dc395785fea5841a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_1.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15acf29e6c2fe3c497fc6f5675f1013ccccad966
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_10.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ea71563b6f5b086bd87334a07d97627e5978305
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_11.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..884c74e26e8b978470dc0986045ad14c285ba8e7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_12.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78bdcf7fa4a0ecd1ae797d23d1f5d8af87f731ec
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_13.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38b74dd8e65bdab7acb1af14a8c9938cb311b1a3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_2.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb02934b429ee0a7a9876d79737f969a6c28ffd5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07b6a1b15b0fde4ebb32c48b81c68c37814ce68c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_4.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f5728ca5e1691a816ecc4795650e30edaffc62e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_5.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..360aacb6f4c08588ede70611f18771f56aedbac0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_6.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d91b2557d39dfb9df7fc740af6744bc6e12c4993
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_7.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7e5e2f6fda517a78dfc993c7be6dd4740245eb9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_8.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b5bfe92b0d899e4785a1e2e3e9f22affb12bd06
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/mesh/wire_cutters_014_collision_9.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/wire_cutters_014.xml b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/wire_cutters_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6acba053782e214438fe2743c1991cb94516b7a4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mjcf/wire_cutters_014.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wire_cutters_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wire_cutters_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wire_cutters_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wire_cutters_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wire_cutters_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wire_cutters_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wire_cutters_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wire_cutters_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wire_cutters_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wire_cutters_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wire_cutters_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wire_cutters_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wire_cutters_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wire_cutters_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wire_cutters_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wire_cutters_014">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:250c71ddd466404022cb23d0461cb5371e0b943b9ddcc95388645b3c7c34a264
+size 9670970
diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/video.mp4 b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30b9981cbf0be018956b562c26e3b8d636542d9f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61eaf8dcf00b1cd1f8e2022c1bb0fba097cf5ce89dc1ca2eb40f2dfd04b11570
+size 152664
diff --git a/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/wire_cutters_014.urdf b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/wire_cutters_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9785bd40986dd8ad491ab32a6624324e75004626
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/wire_cutters_014.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wire_cutters_014">
+   <link name="wire_cutters_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wire_cutters_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>588d037a103d570cbf7cd0a454da28ee</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>wire_cutters</category>
+         <name>black wire cutters</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>black spring-loaded wire cutters with serrated jaws and rubberized handles</description>
+         <min_height>0.0315</min_height>
+         <max_height>0.0315</max_height>
+         <real_height>0.0315</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518183529</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.070477 -0.032784 -0.013497</min>
+            <max>0.080691 0.030225 0.018044</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>15</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/588d037a103d570cbf7cd0a454da28ee/wire_cutters_014.usd b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/wire_cutters_014.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/wire_cutters_014.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:310d2c57c85b845ac4f87d0f4d5ed131fe36a58f279e86b9e3bed23dc64b4192
+size 5029364