diff --git a/.gitattributes b/.gitattributes
index ad71ecff2cb03b0a1f21c3eb974baa75fb9a338a..7949f45c0c5a944d5c0da3a5f15969982b8516b9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3920,3 +3920,5 @@ dataset/kitchen_supplies/cutting_tools/ccb10511f602560eb0e980d78be81978/fruit_kn
 dataset/kitchen_supplies/cutting_tools/ccb10511f602560eb0e980d78be81978/mesh/fruit_knife_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/e0fb0d235afb5a00b55c51f2fb7373d0/mesh/wire_cutters_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/e0fb0d235afb5a00b55c51f2fb7373d0/wire_cutters_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/peeler_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97372090b6709f2dbbcac14e2e8c0908eaf62fd6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_012_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 peeler_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..aef64ed7d2d75093576c0dbfc66ad4afcbda2f24
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddd063aeefd7bb05a08efce2ac4ee170495871995b1fb188809e1940c92d5539
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012.glb b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..84c4d42d26a89a0d3aff93054d5195d544d7d63e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13387228
diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012.mtl b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d9b689527f5a85c9b76810b104d0cc88e9acc41d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012.mtl
@@ -0,0 +1,6 @@
+newmtl peeler_012_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/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012.obj b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8aef997c630495ee02ece6f786cd785435f06f0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012.obj
@@ -0,0 +1,108562 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl peeler_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012_collision.obj b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..353e6208c8effc9b79fd81e7e85d40e9dfcf8cb7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012_collision.obj
@@ -0,0 +1,6057 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..aef64ed7d2d75093576c0dbfc66ad4afcbda2f24
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/peeler_012_geometry_Looks_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/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012.obj b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012.obj
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+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012.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/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision.obj b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d892840a077773de3ad2180bed18631e194a28e5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision.obj
@@ -0,0 +1,6057 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee068c5bc61a235d3dde392064b32f8452a9ad4a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_0.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bc826cc30c2a3353695e5071fdac5560b708452
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_1.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ab4778fe58c769fb77323033d53697e9dbcd666
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eb332c67bd78748186c01debf906091645670b8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_3.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08a930ae7bd5ea9dba176db169e40b84a6cda128
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_4.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c48e1b7430bc04dcbb07389c928e3cc4ad9c768
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_5.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b6f2c4761ba69435ad5df53984347a3589d28a1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_6.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..368e3f60141318f36a6b29b07fdab837b4d1f249
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_7.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a7724147622d97e603da3833a4539f1076f53bc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_8.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/mesh/peeler_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e68404ba463782ddb0da53b99208bc11a97dcf15
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diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/peeler_012.xml b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/peeler_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..487dc5f1c98f899ab9d232b660f0eceb59ce6654
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mjcf/peeler_012.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_012">
+  <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/peeler_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_012">
+      <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/e25e4e93dfe157ff959ceec13bdd7cf3/peeler_012.urdf b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/peeler_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3b43a2e86fd4717695d1a30e1c1d191480fc6aec
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/peeler_012.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_012">
+   <link name="peeler_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_012.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/peeler_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150" />
+         <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>e25e4e93dfe157ff959ceec13bdd7cf3</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>y peeler</name>
+         <color>gray,silver</color>
+         <shape>T-shape</shape>
+         <material>metal</material>
+         <description>gray y-shaped peeler with metal head and dark ergonomic handle</description>
+         <min_height>0.0162</min_height>
+         <max_height>0.0162</max_height>
+         <real_height>0.0162</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518182744</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.054253 -0.022578 -0.008139</min>
+            <max>0.061043 0.028197 0.008028</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/e25e4e93dfe157ff959ceec13bdd7cf3/peeler_012.usd b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/peeler_012.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/peeler_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:420c68750e936ed74b09a6ba4fb889672eba5e282ea97c15bc92e2dcfea2bfc5
+size 4940763
diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..aef64ed7d2d75093576c0dbfc66ad4afcbda2f24
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddd063aeefd7bb05a08efce2ac4ee170495871995b1fb188809e1940c92d5539
+size 9955425
diff --git a/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/video.mp4 b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b5d39469b58ed15be456104e547e2555aa106c7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7eb845fe8094e05468350b57328f4a3f623068490046d3e8cf3f1bce5054b10
+size 197816