diff --git a/.gitattributes b/.gitattributes
index 0f3ea0a6f6f2a05b4e6f423771d62a15849abc21..a4276026fb8a1365add0d29f5c5f92575495b715 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5502,5 +5502,7 @@ dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/fruit_kn
 dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/mesh/fruit_knife_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/76d0aa48cb2a5a37b4b707cf6c462760/mesh/peeler_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/76d0aa48cb2a5a37b4b707cf6c462760/peeler_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/958c987820515de187e40f27c882e721/fruit_knife_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/958c987820515de187e40f27c882e721/mesh/fruit_knife_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/wire_cutters_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/wire_cutters_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/wire_cutters_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eb6e82f274ff2f84b43e09e74e67de080fd58d67
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl wire_cutters_001_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/material_0.png
new file mode 100644
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/wire_cutters_001.glb b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/wire_cutters_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d4bc28bad7fa5385dfb948fa61b5eb403f29ee4c
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+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/wire_cutters_001.glb
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/wire_cutters_001.mtl b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/wire_cutters_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0fc4236260ca790cda9f675c8059d6193e23cdd0
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+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/wire_cutters_001.mtl
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+newmtl wire_cutters_001_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/wire_cutters_001.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/wire_cutters_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..820ab2e267b4e2e8e9d8d843bf40e27190a878ec
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/wire_cutters_001.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/wire_cutters_001_collision.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/wire_cutters_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..074689f88294eda288d9764a153459a72a45b9c2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mesh/wire_cutters_001_collision.obj
@@ -0,0 +1,10127 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfb890c1e1fca03c27b85c5345cb9b1db73af2ac
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_0.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b4bebcf433a31945a9b6dfe696f557f4f4cf463
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_1.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4bd82df3a13df0f295a49697020d25c954bee6f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_10.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abf352a6c38f971bd9a1bd4ecbd41dc7c965718c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_11.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e843b0f5a9f6bd26f9c155603306e691e75106c5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_12.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c403d5c0361fd267dd792e73f5de14634031626b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_13.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1c3e9dd42de1e738484532132a3acc2d7ec3dd8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_14.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d8b92299eecce105bbd286670fb96d4e86f51be
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_15.obj
@@ -0,0 +1,589 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_16.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f2b8582c937ccead4685b96671c63731d5912d2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_16.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_17.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1462275e0d48df51bafe3c23dcadd64be3dfbf5b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_17.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_18.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8081749424d509ab19b6460b04c0c14cd74c5e8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_18.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_19.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b86fbbe7887cdbf8a89a300199e52e5cf600ac5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_19.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a209fc0d59e5a5686b831932bcf402b44247633
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_2.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_20.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4317e4af31f5c8a56c17d1f46a5d148e7592f122
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_20.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81411ef239893acc8b6f0bdac26253f567477b20
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_3.obj
@@ -0,0 +1,718 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d03b987aac86dc1ea9dfb27229594e8222791eaa
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_4.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1375c0fda7ec5d8d44283b88705a283cb40d1c02
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_5.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee604d47dc9aecfcfac8aaff54cd60b31dabe36e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_6.obj
@@ -0,0 +1,517 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74869b91f8798b2862f113af73d748849c94c7f6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_7.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..166220fee65843592f8c4ff7516433bea2d14e68
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_8.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7b29012b7e980cd487301bb36d18b051d418080
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/mesh/wire_cutters_001_collision_9.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/wire_cutters_001.xml b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/wire_cutters_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c592cef7ac77e4e82c44eedde5ab06c298baa62a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/mjcf/wire_cutters_001.xml
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new file mode 100644
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new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/wire_cutters_001.urdf b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/wire_cutters_001.urdf
new file mode 100644
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+         <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>c77a4271329d59f290798df2b6edef78</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>wire_cutters</category>
+         <name>red wire cutters</name>
+         <color>red</color>
+         <shape>elongated</shape>
+         <material>metal, plastic</material>
+         <description>compact wire cutters with red handles and sharp metal blades</description>
+         <min_height>0.0127</min_height>
+         <max_height>0.0127</max_height>
+         <real_height>0.0127</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414150856</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/c77a4271329d59f290798df2b6edef78/wire_cutters_001.usd b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/wire_cutters_001.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2ec13efc173d7b89b74e616e90a2a948bb4623d2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/wire_cutters_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d50470f8f8b0b7bab5e3e52fef122743912a0ddbd4fc3a321bfd88d68c8630
+size 90868605