diff --git a/.gitattributes b/.gitattributes
index 359f27768391e03989cab8d8ad56d702770a2b54..abc212e624605cfeb956d64a35d099be5b6865f0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3882,7 +3882,5 @@ dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wir
 dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/wire_cutters_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mesh/peeler_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/peeler_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/7c22110adbfa55bfa6ce194ecb79b636/fruit_knife_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/7c22110adbfa55bfa6ce194ecb79b636/mesh/fruit_knife_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/84a108c5f2ae5bacb970be066e49d0d1/mesh/peeler_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/84a108c5f2ae5bacb970be066e49d0d1/peeler_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/peeler_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cbfdd570c0986274c935bd8addf39669234b1636
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_030_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f001ffb69903340e3347da837a438615fabe0b24
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9122668cfd8144b686d02607a1cc18a914f25e554bd6d8f3770c20a39d6e3187
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030.glb b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8d501acf675750f4654b1cbffb60ce2e00219d27
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9114704
diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030.mtl b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..24160a38d5183cf1e9769cb8e617d668dd6bdf6e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030.mtl
@@ -0,0 +1,6 @@
+newmtl peeler_030_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/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a263515835053e80a31c09b950ab97aeba79b54f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030.obj
@@ -0,0 +1,110136 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030_collision.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6c71f84398462868daf25cc80c8a021f00e4081
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mesh/peeler_030_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41de5be52b0c1550afc7dc1cfe0c7778b4a25aec
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision.obj
@@ -0,0 +1,10167 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..265c2053c98c8f74023bc770ed226b54f6ef9ead
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db6b47d5c4ca0ebdc38239459b41e0b44e557948
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_1.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9b776dafc8a6c8e3d56ed7b755721fb75a327c7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_10.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00613595 0.00023325 0.00411086
+v 0.00613595 -0.00059520 0.00410714
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a0d562463aecfd07eba9a15e30e2fc301fcf231
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_11.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00211571 0.00023329 -0.00521963
+v 0.00535744 0.00174005 -0.00615228
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9af49302147baa1648f60b53465fc983db7f1b78
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_12.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bea9727130de66d5da93ca976b006eba5ab0a0c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_13.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4e7dcb2bc7323b0223acdea6d679f489aa141e5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_14.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ddbbdcfe8101342629833138cc6f026b5254d03
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_15.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
+v 0.03607649 -0.00972060 -0.00142033
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_16.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a05d180d7b3c55aecacad57951b7241915d6417
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_16.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_17.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81c94216526642136ebf179df07c3e5272d8cb4f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_17.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_18.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65a937d0cad62369f3679f53e7ec7431a9119a4e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_18.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_19.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9742e8e03ed0ab210c32eeb4a47ff1cd22e3df9d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_19.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3912eb5c1b7e7e20bcf90dcf02c975870f875d62
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_2.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_20.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cc41645449e4c9280e84edd6d299ad49efa405a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_20.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_21.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81e79cab327076af4d0bf4c124ff8e47847ef476
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_21.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_22.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9a27b3db32b720ac7f29f851cb0552ddbff4445
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_22.obj
@@ -0,0 +1,304 @@
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_23.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f437e0e76f25d5598cb92b951c134bd35ba1932
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_23.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02036017 0.00551295 -0.00088266
+v 0.02036017 0.00024275 0.00131890
+v 0.02036017 0.00551293 0.00420690
+v 0.02817647 0.00551295 -0.00018907
+v 0.02817647 0.00024274 0.00148022
+v 0.02036017 0.00024273 0.00546343
+v 0.02036017 0.00479985 0.00449100
+v 0.02125696 0.00494845 0.00449753
+v 0.02125696 0.00551293 0.00427156
+v 0.02817647 0.00551293 0.00447402
+v 0.02817647 0.00024273 0.00553201
+v 0.02036017 0.00076851 0.00551176
+v 0.02072593 0.00024273 0.00549086
+v 0.02036017 0.00356047 0.00493901
+v 0.02125696 0.00349391 0.00502652
+v 0.02263199 0.00349391 0.00510751
+v 0.02263199 0.00505784 0.00453345
+v 0.02263199 0.00551293 0.00434993
+v 0.02817647 0.00523120 0.00458700
+v 0.02813286 0.00551293 0.00447467
+v 0.02813286 0.00522192 0.00459157
+v 0.02817647 0.00025924 0.00553266
+v 0.02813286 0.00024273 0.00553854
+v 0.02036017 0.00213173 0.00535895
+v 0.02125696 0.00076851 0.00557772
+v 0.02125696 0.00213173 0.00542556
+v 0.02125696 0.00024273 0.00552940
+v 0.02036017 0.00260591 0.00522049
+v 0.02263199 0.00213173 0.00550981
+v 0.02400701 0.00213173 0.00558557
+v 0.02400701 0.00349391 0.00517869
+v 0.02400701 0.00514400 0.00456153
+v 0.02400701 0.00551293 0.00441197
+v 0.02817647 0.00521985 0.00459092
+v 0.02715037 0.00551293 0.00447793
+v 0.02675707 0.00523017 0.00459223
+v 0.02538204 0.00349391 0.00522637
+v 0.02675707 0.00349391 0.00520482
+v 0.02817647 0.00076851 0.00553984
+v 0.02813286 0.00076851 0.00554638
+v 0.02675707 0.00076851 0.00573447
+v 0.02675707 0.00024273 0.00569528
+v 0.02263199 0.00076851 0.00566524
+v 0.02263199 0.00024273 0.00561691
+v 0.02400701 0.00076851 0.00573447
+v 0.02538204 0.00213173 0.00564370
+v 0.02538204 0.00520231 0.00458178
+v 0.02447836 0.00551293 0.00442699
+v 0.02817647 0.00455992 0.00480448
+v 0.02675707 0.00551293 0.00447728
+v 0.02580212 0.00551293 0.00446291
+v 0.02675707 0.00213173 0.00558035
+v 0.02817647 0.00352487 0.00510947
+v 0.02817647 0.00453825 0.00481101
+v 0.02817647 0.00081134 0.00553658
+v 0.02538204 0.00076851 0.00578867
+v 0.02817647 0.00213173 0.00539944
+v 0.02538204 0.00024273 0.00573512
+v 0.02347675 0.00024273 0.00565936
+v 0.02400701 0.00024273 0.00568548
+v 0.02485101 0.00024273 0.00571879
+v 0.02538204 0.00551293 0.00445573
+v 0.02817647 0.00217455 0.00539291
+v 0.02817647 0.00349391 0.00511665
+f 1 2 6
+f 1 6 12
+f 1 12 24
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+f 1 28 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 33
+f 1 33 48
+f 1 48 62
+f 1 62 51
+f 1 51 50
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+f 1 20 10
+f 1 10 4
+f 1 4 5
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+f 2 23 42
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+f 39 55 40
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+f 41 57 52
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+f 43 44 45
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+f 45 56 46
+f 47 62 48
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+f 52 63 64
+f 52 64 53
+f 56 61 58
+
diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_24.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e1fbd2383f796bd39cbada024d910908de8a130
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_24.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.04275035 0.00551296 -0.00232364
+v 0.04262408 0.00551296 -0.00295097
+v 0.04274461 0.00551296 -0.00148161
+v 0.04317126 0.00485715 -0.00232364
+v 0.04260208 0.00551296 -0.00302195
+v 0.04377202 0.00376947 -0.00232365
+v 0.04283358 0.00483135 -0.00349057
+v 0.04306795 0.00491855 -0.00148161
+v 0.03614493 0.00551296 -0.00148161
+v 0.04237823 0.00526838 -0.00384281
+v 0.04222326 0.00551296 -0.00373745
+v 0.04357495 0.00341654 -0.00353599
+v 0.04405709 0.00308270 -0.00148162
+v 0.04405900 0.00308786 -0.00232365
+v 0.04398917 0.00291037 -0.00306780
+v 0.04269200 0.00435976 -0.00443532
+v 0.03547242 0.00551296 -0.00223767
+v 0.03478653 0.00551244 -0.00148161
+v 0.04197645 0.00551297 -0.00417698
+v 0.04385429 0.00213176 -0.00399712
+v 0.04288810 0.00345112 -0.00486692
+v 0.04425511 0.00219264 -0.00148162
+v 0.04433738 0.00213176 -0.00232365
+v 0.04409535 0.00213176 -0.00335921
+v 0.04240501 0.00387680 -0.00528617
+v 0.04193340 0.00491856 -0.00494538
+v 0.04162442 0.00551297 -0.00472231
+v 0.03568097 0.00551296 -0.00359109
+v 0.03993790 0.00024276 -0.00148163
+v 0.03581107 0.00551296 -0.00394818
+v 0.04092035 0.00024277 -0.00500316
+v 0.04050518 0.00024276 -0.00359992
+v 0.04394899 0.00144345 -0.00423606
+v 0.04337694 0.00213177 -0.00487574
+v 0.04264799 0.00296817 -0.00558287
+v 0.04443017 0.00123189 -0.00148163
+v 0.04455931 0.00076854 -0.00232366
+v 0.04418049 0.00090063 -0.00372689
+v 0.04148858 0.00456821 -0.00570806
+v 0.04114324 0.00547685 -0.00545589
+v 0.04112028 0.00551297 -0.00543649
+v 0.04450191 0.00024276 -0.00148163
+v 0.03591342 0.00551297 -0.00418095
+v 0.04118533 0.00024277 -0.00552689
+v 0.04367157 0.00090064 -0.00479419
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+v 0.04455548 0.00024276 -0.00232366
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+v 0.04211707 0.00024277 -0.00577421
+v 0.03739139 0.00551297 -0.00578300
+v 0.04291106 0.00024277 -0.00577685
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+f 57 59 68
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+f 62 69 63
+f 63 69 64
+f 64 69 67
+
diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_25.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11b005fa191a2c8167965371bd71649ba855990e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_25.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.03397497 0.00485713 0.00398753
+v 0.03397497 0.00371218 0.00365830
+v 0.03397497 0.00551294 0.00390340
+v 0.03064857 0.00349391 0.00483014
+v 0.02950874 0.00213173 0.00523091
+v 0.02950874 0.00076851 0.00534152
+v 0.02950874 0.00024273 0.00535279
+v 0.03074223 0.00024273 0.00495864
+v 0.03397497 0.00024274 0.00182004
+v 0.03137061 0.00024273 0.00446182
+v 0.03292085 0.00551293 0.00410081
+v 0.03048622 0.00434785 0.00474469
+v 0.03397497 0.00551295 -0.00122713
+v 0.02950874 0.00349391 0.00501761
+v 0.02817647 0.00217455 0.00539254
+v 0.02817647 0.00213173 0.00539917
+v 0.02817647 0.00081134 0.00553628
+v 0.02817647 0.00076851 0.00554025
+v 0.02817647 0.00024273 0.00553230
+v 0.03397497 0.00024275 -0.00060645
+v 0.03158064 0.00551293 0.00428894
+v 0.02950874 0.00516103 0.00457842
+v 0.02950874 0.00447994 0.00478709
+v 0.03363438 0.00024275 -0.00060645
+v 0.03278973 0.00024275 -0.00058592
+v 0.03225898 0.00024275 -0.00056538
+v 0.03175832 0.00024275 -0.00050444
+v 0.03145917 0.00024275 -0.00046668
+v 0.02817647 0.00551295 -0.00018910
+v 0.02817647 0.00349391 0.00511631
+v 0.02817647 0.00024274 0.00148021
+v 0.02996569 0.00551293 0.00442341
+v 0.02817647 0.00521985 0.00459101
+v 0.02817647 0.00455992 0.00480497
+v 0.02950874 0.00551293 0.00444196
+v 0.02817647 0.00453825 0.00481160
+v 0.02817647 0.00352487 0.00510902
+v 0.02817647 0.00551293 0.00447376
+v 0.02853466 0.00551293 0.00446780
+v 0.02817647 0.00525339 0.00457776
+f 1 2 9
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+f 1 20 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
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+f 1 6 7
+f 1 7 8
+f 1 8 2
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+f 15 19 18
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+f 15 17 16
+f 21 32 22
+f 22 33 34
+f 22 34 23
+f 22 32 35
+f 22 35 33
+f 23 34 36
+f 23 36 37
+f 23 37 30
+f 28 31 29
+f 33 35 39
+f 33 39 40
+f 38 40 39
+
diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_26.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddcaf4ddb01529129c8c4e04b3775459f65428ee
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_26.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.00211571 -0.00178925 -0.00256854
+v -0.00211571 -0.00290422 -0.00093807
+v -0.00211571 -0.00178923 -0.00750405
+v -0.00213569 -0.00178925 -0.00251722
+v -0.00211571 -0.00330806 -0.00093807
+v -0.00361759 -0.00178925 -0.00177633
+v -0.00487660 -0.00178925 -0.00151380
+v -0.00212647 -0.00290505 -0.00093807
+v -0.00211571 -0.00195827 -0.00758169
+v -0.00212647 -0.00195827 -0.00758235
+v -0.00212647 -0.00178923 -0.00750405
+v -0.00211724 -0.00745978 -0.00093809
+v -0.00211571 -0.00747643 -0.00103876
+v -0.00763749 -0.00448879 -0.00093808
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_27.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df8f25df9819f6d465bbfe98298c9bbd82a05bd2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_27.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_28.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e78304fc71ad8fa67e5ad5fa12cf9d5f3d7f14b5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_28.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_29.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b571214f3f6454609cd10b3dfd03bce965052ff6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_29.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8514ef5e9fd116c9b1594bb5a5a1285281bf9f0a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_3.obj
@@ -0,0 +1,910 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_30.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eaeb72cf3bfd4657a4197bc7a085fa24b1995be
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_30.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6f491ce453319c5b9487450c886db27ec6ff445
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_4.obj
@@ -0,0 +1,835 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32eeb1f42223db9c8e9d8fa5b0cc960878a1c184
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_5.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..068adc3844b3cfeb1152341f10ed5abadbc7eca5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_6.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc1d764452525b9cb7c27622535cec0b28c763d3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_7.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..349a9a5ad3ce6ea8e1b5e29daa7b1f263362e243
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_8.obj
@@ -0,0 +1,151 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10a7d99eb267268d0c28d157a3ad4bc8bbf6116a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/mesh/peeler_030_collision_9.obj
@@ -0,0 +1,244 @@
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+v -0.03527845 -0.02111656 0.00242128
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diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/peeler_030.xml b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/peeler_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..95af60b3efa2f29c38da52abe48c99f8decbe00a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/mjcf/peeler_030.xml
@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_030">
+  <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_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_030_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_030_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_030_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_030_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_030_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_030_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_030_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_030_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_030_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_030_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/peeler_030_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/peeler_030_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/peeler_030_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/peeler_030_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/peeler_030_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/peeler_030_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/peeler_030_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/peeler_030_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/peeler_030_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/peeler_030_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/peeler_030_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/peeler_030_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/peeler_030_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/peeler_030_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/peeler_030_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/peeler_030_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/peeler_030_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_030">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" 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/763514e4db2c53818459d54c9d6f415b/peeler_030.urdf b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/peeler_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4908dc459f21c866618d307defd7d7a395aa9dad
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/peeler_030.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_030">
+   <link name="peeler_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_030.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_030_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>763514e4db2c53818459d54c9d6f415b</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>y peeler</name>
+         <color>gray</color>
+         <shape>T-shape</shape>
+         <material>plastic</material>
+         <description>gray y-shaped handheld vegetable peeler with horizontal blade</description>
+         <min_height>0.0145</min_height>
+         <max_height>0.0145</max_height>
+         <real_height>0.0145</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518183416</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038840 -0.025412 -0.007688</min>
+            <max>0.044254 0.025588 0.006800</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/763514e4db2c53818459d54c9d6f415b/peeler_030.usd b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/peeler_030.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7401c1ad22a94c6bae8b1575bc611076390b5601
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/peeler_030.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7c85417278edf00c8e2922a24e58dbfb8f941e3a0e66370816fafa75665862d
+size 4975861
diff --git a/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f001ffb69903340e3347da837a438615fabe0b24
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/763514e4db2c53818459d54c9d6f415b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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