diff --git a/.gitattributes b/.gitattributes
index ffd3634dd09819e79e4d5cda04a199c02085e730..8b9b25021f18d0499a35c68dc7ef7db55c335986 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3861,3 +3861,5 @@ dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot_gs.p
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/bc4f157ed6015f68a223cddbc41982f4.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/peeler_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/peeler_029.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc8505ad51a93ed5370efa378e094481db5b02b0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_029_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d840198d419d7a5d93dfa159ce99c35d570ced07
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97f666c09901325b06fe2b14139d381baebc4bd7a8edb33c8853c88ab674ac0f
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/peeler_029.glb b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/peeler_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..57338ebef94da110b354d24b93e6f871a1dbcee2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/peeler_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12848496
diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/peeler_029.mtl b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/peeler_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a0936d0ea358618fd5c16fe933c0b0cfb265164
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/peeler_029.mtl
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+newmtl peeler_029_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/peeler_029.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/peeler_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecbcc8c53f88ef1803cdcd7963cac760b2a25dc3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/peeler_029.obj
@@ -0,0 +1,112220 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl peeler_029_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/peeler_029_collision.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/peeler_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..783d7c3554faea37dcae3430ed1b942fc9004506
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mesh/peeler_029_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5f2bcdc97294ae66339e730b78802f22266fa15
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision.obj
@@ -0,0 +1,10096 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8a3e1cecb9ea88fde55ec4382cf14a4875d136a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130f1d8521cebe12298f45392b35a497cc5fc0cf
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_1.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09091358110a4751ae335f7aff5c921ac64cc66c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_10.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6eaec4ec601996c41d559036f1c99951725df61
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_11.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1fc39c6884c344acaee79177b78169ff4746319
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_12.obj
@@ -0,0 +1,559 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acd6b4900b36778ce3c60bd404114c280360b1da
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_13.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c636664f220e2c08097182f4cb240cab921a3d73
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_14.obj
@@ -0,0 +1,1600 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a467b710ef0ac0ce7b46cb2c69fb21f4eb3c9f7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_15.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_16.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8971cf0bbeac45084788be457a4809f78c429be
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_16.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_17.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efe1596ba465767368d9607aaa3f9e39a10240df
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_17.obj
@@ -0,0 +1,1612 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_18.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..738586cb04651c7a5881a4be074096d1c6bebac5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_18.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_19.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00b22cb7bbddac0698af9f8e2b2bb6fe3f53a22d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_19.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b47549c534fd5e3f67672d9f5c06c926a295e2e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bfb543ccc313c74a6900573076ed26569d95e8b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..146e53d49b97a9b9e5e3bfbdcdfdfd52fa0bae91
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_4.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88761d6ac689629778340e971218aa59021347a8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_5.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5147aebca5824aea4eae2565cccb21e84033ccd9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_6.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee8a7a4abb1fbfac592eaf789d1713c2d0b15995
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_7.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4530f3a078b138f57040a81176fe8402ac57ff6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_8.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..258f6c7aa74d28a44619c33f9a1061e26405ca79
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/mesh/peeler_029_collision_9.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/peeler_029.xml b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/peeler_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3805639fad28d595daa46570047f62d33f39f913
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/mjcf/peeler_029.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_029">
+  <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_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_029_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_029_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_029_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_029_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_029_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_029_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_029_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_029_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_029_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_029_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/peeler_029_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/peeler_029_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/peeler_029_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/peeler_029_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/peeler_029_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/peeler_029_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_029">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" 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/12930de739295e5eacfe39a94825b943/peeler_029.urdf b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/peeler_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..20c3c91e2a78cd9cf7e1592f4869c67279085cab
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/peeler_029.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_029">
+   <link name="peeler_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_029.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_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0650" />
+         <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>12930de739295e5eacfe39a94825b943</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>blue peeler</name>
+         <color>blue,silver</color>
+         <shape>T-shape</shape>
+         <material>plastic</material>
+         <description>blue y-shaped vegetable peeler with metal blade and hanging hole</description>
+         <min_height>0.0135</min_height>
+         <max_height>0.0135</max_height>
+         <real_height>0.0135</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518183355</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.044419 -0.025551 -0.006647</min>
+            <max>0.037764 0.025449 0.006848</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/12930de739295e5eacfe39a94825b943/peeler_029.usd b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/peeler_029.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/peeler_029.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b0833dd3197981c8e93a7441cdac9aa63575ec41a531413bbac46f0a9b1231c
+size 4934258
diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d840198d419d7a5d93dfa159ce99c35d570ced07
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97f666c09901325b06fe2b14139d381baebc4bd7a8edb33c8853c88ab674ac0f
+size 9429200
diff --git a/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/video.mp4 b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ab02adfd0705846c9a2b01d31dec8999fea045b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6826dd0685bbdcc0dc1822f7f555ae3b3c954e3fad266b474c9eafb348339708
+size 129073