diff --git a/.gitattributes b/.gitattributes
index 50d2b93471ddb7c97a92924266a76f264782987c..cb04b5ddfe13a5df93efd1b95d0a07aede974c59 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3900,3 +3900,5 @@ dataset/kitchen_supplies/cutting_tools/a5bd317764af5fe2ba456f60efe98c28/garlic_p
 dataset/kitchen_supplies/cutting_tools/a5bd317764af5fe2ba456f60efe98c28/mesh/garlic_press_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/peeler_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/peeler_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/wire_cutters_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/wire_cutters_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5975f0356c35c0b887674a83dc4de2f40092b4d7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wire_cutters_020_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/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/b24f24c182465f3e8debab8ceb27746e/mesh/wire_cutters_020.glb b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/wire_cutters_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d6148f340dadd912cfcdadcc9d8cd36c69f4561c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/wire_cutters_020.glb
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+size 14156032
diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/wire_cutters_020.mtl b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/wire_cutters_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e8ba0e8ebf3d27fb310de9270054bd02ba3ad2b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/wire_cutters_020.mtl
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+newmtl wire_cutters_020_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/b24f24c182465f3e8debab8ceb27746e/mesh/wire_cutters_020.obj b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/wire_cutters_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b41a5750f478497dcb94bb8f52fe95b3275efe7e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/wire_cutters_020.obj
@@ -0,0 +1,118044 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/wire_cutters_020_collision.obj b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/wire_cutters_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab10e21334e8fe4dfffc9d7c885b9fa69b9c284
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mesh/wire_cutters_020_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision.obj b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b16a6edb2a8cf9469984b58be6735697acd9eae1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a9e6f390854f70772c805c3ab19637a7a25bde
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_0.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bc670c1ed7fc36ba1e87c26f6b641cb7bc016d2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_1.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8218f224b0b4fd2ae6e68ff466b02a04ff77c123
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c65eb1f6e8c9925b46e9f1c2de0f945d3ee4848
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_3.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1895eff4ffcf971b22452930b2bb2df030e0b5d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_4.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d64e74a655b94a0f79740a74a8361daede03b0c6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_5.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a11cf7f59c859ad610d64ab16dfe9fcaafecf5b2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_6.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cc3a8a40a26ed54e16429305f910e44a43dbc96
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_7.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df60012d340f989e4833748b2a1fc7f19ca1655c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/mesh/wire_cutters_020_collision_8.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/wire_cutters_020.xml b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/wire_cutters_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..70ed515d38dd8f63bd777139b8fddc10622188e4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/mjcf/wire_cutters_020.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wire_cutters_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wire_cutters_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wire_cutters_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wire_cutters_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wire_cutters_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wire_cutters_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wire_cutters_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wire_cutters_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wire_cutters_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wire_cutters_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wire_cutters_020">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/textures/material_0.png
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+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9174b8285312309476ada218f12ed21e1e30f5f62e30703dd13372fe4c9afe19
+size 10626054
diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/video.mp4 b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/video.mp4
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eec1a7a01cc2bc441ae4ed313cb550d0d114114cb830876e3019f13e82012a9
+size 161919
diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/wire_cutters_020.urdf b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/wire_cutters_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b315319030d1cfc057ee76e024251b43a54eb861
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/wire_cutters_020.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wire_cutters_020">
+   <link name="wire_cutters_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/wire_cutters_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</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>b24f24c182465f3e8debab8ceb27746e</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>wire_cutters</category>
+         <name>red black cutters</name>
+         <color>black,red</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact metal wire cutters with red and black rubberized handles</description>
+         <min_height>0.0142</min_height>
+         <max_height>0.0142</max_height>
+         <real_height>0.0142</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518183718</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.064567 -0.020202 -0.007225</min>
+            <max>0.086681 0.022807 0.006985</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</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>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/wire_cutters_020.usd b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/wire_cutters_020.usd
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+++ b/dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/wire_cutters_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5036553