diff --git a/.gitattributes b/.gitattributes
index 53e7bf2e8ceec28ca5f4af7e96614f7f130ce10c..9f061df797a0d6cdd9b0d77dd5d5862025614a4b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3891,7 +3891,5 @@ dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/mesh/wir
 dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/wire_cutters_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/fruit_knife_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/a14933a64c0652ac8f85037acbfcb964/mesh/fruit_knife_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/garlic_press_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/mesh/garlic_press_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/fruit_knife_023.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/mesh/fruit_knife_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/peeler_018.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..575c71c660bd7600460abea23270457cdc036152
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_018_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb5bd53b2ae53140fd13b1aa67856d9ecaea8760
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+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018.glb b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bb7e993b74457c658563981a3482b1782b06e73c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018.mtl b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1df556328ec5f95896d0246c042f20651da765e3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018.mtl
@@ -0,0 +1,6 @@
+newmtl peeler_018_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/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66841c506380bb861036ee24d2b6df0a567944fd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018.obj
@@ -0,0 +1,112020 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018_collision.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67efd78167a11454525ba4934f0415c274dbc86a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018_collision.obj
@@ -0,0 +1,9450 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb5bd53b2ae53140fd13b1aa67856d9ecaea8760
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mesh/peeler_018_geometry_Looks_material_0.png
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+size 8003467
diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb5bd53b2ae53140fd13b1aa67856d9ecaea8760
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+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:185bc05c1cb9ac726a11275677cf44f567dd9ee5f34bcc963ac6a29d20528842
+size 8003467
diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3376b61f1006566124b315b0d33a3ab14e177bc
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+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b0c555e2833918f2d982f9b613661fb2ac0e683
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision.obj
@@ -0,0 +1,9450 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7afceb177c683e866c0498f48b00828ebc7bad8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4194d4809905e54bab613ccbf1e3e41e63d17e3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b19a3133215d818c13ab5fbdb7287a8af8c46c2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_10.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea8e623bf97b76d41ba2ad3fa2997216c7ff8947
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_11.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..359a64cad45ab6a1ee0f4fa23befa361d9dabb54
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_12.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07df25a33d6b57532d6bedf4fdbccacb0ad8bfed
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_13.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d95e34099db5035ab7503f0b8b334e90ff5e5b67
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_14.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6591e1154ef84b350c66b1edfa6585fa35b634e2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_15.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e3dd654729aed1783fe201d1e1956d36ab365a3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_2.obj
@@ -0,0 +1,862 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..387cfde412876c5cc289513ed082d0b6dd81ea54
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fecde3f3196ca8db67350ddfcb7f04fdd835392
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_4.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3577eaa02bb83a217c80100b359fef707cef39bf
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_5.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b61c4fd5051a785899497e0a415b172393facba
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_6.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f365049638ecd87b090a5cb4c944694f5e7cc89
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_7.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a45e74ff58fd64a02e8a4174d1a56b8f874e025
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_8.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..320542dc2df68ba7506669210baf90845145fc3c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/mesh/peeler_018_collision_9.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/peeler_018.xml b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/peeler_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..abdf7dd03a1d0ff0cd1d5277a37cc6cfe9eceda8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/mjcf/peeler_018.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_018">
+  <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_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_018_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_018_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_018_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_018_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_018_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_018_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_018_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_018_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_018_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_018_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/peeler_018_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/peeler_018_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_018">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/peeler_018.urdf b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/peeler_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..492357810c66ed6d66110cedc466754946ad83c0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/peeler_018.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_018">
+   <link name="peeler_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_018.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_018_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>afc52e1c1f1d5c68813161329147ae55</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>black peeler</name>
+         <color>black,silver</color>
+         <shape>T-shape</shape>
+         <material>plastic</material>
+         <description>black y-shaped vegetable peeler with metal blade and hanging hole</description>
+         <min_height>0.0180</min_height>
+         <max_height>0.0180</max_height>
+         <real_height>0.0180</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518183001</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.048379 -0.031609 -0.008985</min>
+            <max>0.054511 0.035336 0.009007</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/peeler_018.usd b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/peeler_018.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/peeler_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72aeaea7cf03ac0afe63df751a8c7f47366916554897b98c79e21d7fa522879c
+size 4972299
diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb5bd53b2ae53140fd13b1aa67856d9ecaea8760
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:185bc05c1cb9ac726a11275677cf44f567dd9ee5f34bcc963ac6a29d20528842
+size 8003467
diff --git a/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/video.mp4 b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf4fef29e22910f8b9f4c2bf663269b057d49c7c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1ee3f7d195e90527d3a4a4ddf536c2e93bfeffbd3bb230e66cf4c6b01fcee5f
+size 142394