diff --git a/.gitattributes b/.gitattributes
index 14c815d5bc64ec4b196f89c2996a61c2f9c94c48..31fb4d8c18837ce5e689809fc8ffd91b0c9f7161 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3874,7 +3874,5 @@ dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/fruit_kn
 dataset/kitchen_supplies/cutting_tools/285698e973e152eab20b860c5e373d64/mesh/fruit_knife_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4904292ccc6c5a3f9041dfbca8b8ff90/mesh/peeler_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4904292ccc6c5a3f9041dfbca8b8ff90/peeler_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/mesh/peeler_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/peeler_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/mesh/wire_cutters_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/588d037a103d570cbf7cd0a454da28ee/wire_cutters_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/peeler_027.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bca1bdf26161a779befbe32e83f846687c75e221
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_027_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..58c81eeca233cfb6cf66b9dc3cb7c418e81c06fd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/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/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027.glb b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..872ae22da467089e11bf7a98e5372cce9eeabacd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15666896
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027.mtl b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6056fbcd551e65adff0d173a5201c3347d56ec9f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027.mtl
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+newmtl peeler_027_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
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fc655997ebebda1e804c283419a3f1e0026d128
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027_collision.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c27ba80c8811211be37f03cd8c65c310435655a6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mesh/peeler_027_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e76b0acea046597627111b309ad5cb50dc2dda98
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision.obj
@@ -0,0 +1,7116 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14f0868bfa5f55ab8298ba1f9731956de573084e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54c333a92f335230335fde501ba8b5720fad6e4d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..577adc522fa87205d84d4d3e7f2f4d2f29f63ed0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_10.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..827e0975557469deb91f50a4904320e6334d055c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_11.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf5e9f2cdfb88e672403f3a8f805fc1f8a5c522e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_12.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.03339341 -0.01878909 0.00372610
+v -0.03368323 -0.01858913 0.00365807
+v -0.03357802 -0.01935474 0.00360741
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+v -0.03339341 -0.01809284 0.00369965
+v -0.03368323 -0.01827838 0.00365807
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+v -0.03473818 -0.01916559 0.00239026
+v -0.03396617 -0.01981321 0.00289073
+v -0.03339341 -0.02003568 0.00309183
+v -0.03339341 -0.01969521 0.00341615
+v -0.03339341 -0.01753079 0.00351595
+v -0.03510311 -0.01205892 -0.00032524
+v -0.03416398 -0.01793701 0.00303815
+v -0.03480526 -0.01836215 0.00256414
+v -0.03490875 -0.01884944 0.00202739
+v -0.03614000 -0.01320823 -0.00151367
+v -0.03613885 -0.01435664 -0.00151216
+v -0.03611162 -0.01550506 -0.00152880
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+v -0.03339341 -0.02090127 0.00202133
+v -0.03339341 -0.01751638 0.00350763
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+v -0.03613857 -0.01205891 -0.00151669
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+v -0.03631974 -0.01205891 -0.00227722
+v -0.03632175 -0.01320823 -0.00227723
+v -0.03629882 -0.01435664 -0.00227723
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+v -0.03339341 -0.02124083 0.00094630
+v -0.03339341 -0.02123633 0.00096142
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+v -0.03339341 -0.02126065 -0.00012872
+v -0.03339341 -0.01350277 0.00082235
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d28d4578f95865630c3a36cbf1f7360ab8fee7b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_13.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.03096017 0.01548404 -0.00183882
+v -0.03096017 0.01356253 -0.00333926
+v -0.03096017 0.01548405 -0.00445539
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..368ca6ef5e99db4a44fe4bafcbf95e34772afbe6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_14.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v -0.03339312 -0.01809369 0.00369946
+v -0.03339312 -0.01879045 0.00372577
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+v -0.03218866 -0.02541989 -0.00119925
+v -0.03157127 -0.02558264 0.00018293
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+f 7 12 14
+f 7 14 15
+f 7 15 13
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 13 15 22
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 22
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 18 31 19
+f 23 32 24
+f 24 32 33
+f 26 34 27
+f 27 35 36
+f 27 36 28
+f 27 34 35
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 29 38 30
+f 30 39 40
+f 30 40 31
+f 30 38 41
+f 30 41 39
+f 32 42 33
+f 33 42 44
+f 33 44 43
+f 34 45 35
+f 35 46 47
+f 35 47 36
+f 35 45 48
+f 35 48 46
+f 36 47 49
+f 36 49 37
+f 37 49 50
+f 37 50 38
+f 38 50 41
+f 41 50 51
+f 43 44 52
+f 44 53 64
+f 44 64 65
+f 44 65 58
+f 44 58 57
+f 44 57 54
+f 44 54 56
+f 44 56 52
+f 46 54 47
+f 46 48 55
+f 46 55 56
+f 46 56 54
+f 47 57 58
+f 47 58 59
+f 47 59 60
+f 47 60 49
+f 47 54 57
+f 49 60 61
+f 49 61 50
+f 50 61 62
+f 50 62 51
+f 53 63 61
+f 53 61 64
+f 58 65 59
+f 59 65 64
+f 59 64 61
+f 59 61 60
+f 61 63 66
+f 61 66 62
+
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..798a429c5980cd68cd12e0f649b44e4331e54cb8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_15.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.03339312 -0.01497123 -0.00119973
+v -0.03157127 -0.01591081 -0.00119974
+v -0.03339312 -0.01206023 -0.00237229
+v -0.03339312 -0.02099088 -0.00119976
+v -0.03157127 -0.01344918 -0.00333625
+v -0.03318055 -0.01205891 -0.00253188
+v -0.03157127 -0.02552144 -0.00119977
+v -0.03339312 -0.01205891 -0.00276133
+v -0.03339312 -0.02098957 -0.00120297
+v -0.03306089 -0.02354212 -0.00119977
+v -0.03157127 -0.01345840 -0.00358140
+v -0.03311028 -0.01205891 -0.00335226
+v -0.03200747 -0.02547795 -0.00119977
+v -0.03157127 -0.02552012 -0.00126387
+v -0.03339312 -0.01205891 -0.00362497
+v -0.03339312 -0.02002362 -0.00256524
+v -0.03306053 -0.02354212 -0.00120298
+v -0.03274417 -0.02480061 -0.00129655
+v -0.03275647 -0.02479138 -0.00119977
+v -0.03157127 -0.01350056 -0.00412458
+v -0.03339312 -0.01206023 -0.00368842
+v -0.03201657 -0.02547004 -0.00129655
+v -0.03218866 -0.02541997 -0.00119977
+v -0.03157127 -0.02543182 -0.00181506
+v -0.03170431 -0.02540414 -0.00191408
+v -0.03339312 -0.01968758 -0.00293409
+v -0.03264644 -0.02449092 -0.00194132
+v -0.03247649 -0.02525655 -0.00171732
+v -0.03267818 -0.02496928 -0.00119977
+v -0.03157127 -0.01371141 -0.00421111
+v -0.03339312 -0.01250564 -0.00393551
+v -0.03339312 -0.01222495 -0.00378136
+v -0.03157127 -0.02540678 -0.00192049
+v -0.03201657 -0.02480060 -0.00210636
+v -0.03157127 -0.02476238 -0.00220826
+v -0.03339312 -0.01592925 -0.00388617
+v -0.03279535 -0.01665404 -0.00403390
+v -0.03259793 -0.01734851 -0.00395795
+v -0.03157127 -0.01435712 -0.00442037
+v -0.03339312 -0.01263215 -0.00394512
+v -0.03190600 -0.01435712 -0.00442966
+v -0.03190600 -0.01665403 -0.00439763
+v -0.03157127 -0.01665403 -0.00441012
+v -0.03339312 -0.01560640 -0.00392302
+v -0.03157127 -0.01468789 -0.00444504
+v -0.03339312 -0.01374436 -0.00399704
+v -0.03157127 -0.01550492 -0.00447357
+v -0.03190600 -0.01550492 -0.00446941
+v -0.03339312 -0.01518470 -0.00396917
+v -0.03157127 -0.01583700 -0.00446108
+v -0.03306392 -0.01435712 -0.00410471
+v -0.03339312 -0.01435713 -0.00399223
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 21
+f 1 21 32
+f 1 32 31
+f 1 31 40
+f 1 40 46
+f 1 46 52
+f 1 52 49
+f 1 49 44
+f 1 44 36
+f 1 36 26
+f 1 26 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 29
+f 1 29 23
+f 1 23 13
+f 1 13 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 14
+f 2 14 24
+f 2 24 33
+f 2 33 35
+f 2 35 43
+f 2 43 50
+f 2 50 47
+f 2 47 45
+f 2 45 39
+f 2 39 30
+f 2 30 20
+f 2 20 11
+f 2 11 5
+f 3 6 8
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 15
+f 6 15 8
+f 7 13 14
+f 9 16 10
+f 10 17 18
+f 10 18 19
+f 10 16 17
+f 11 20 12
+f 12 21 15
+f 12 20 21
+f 13 22 14
+f 13 23 22
+f 14 22 25
+f 14 25 24
+f 16 26 17
+f 17 27 18
+f 17 26 27
+f 18 28 29
+f 18 29 19
+f 18 27 28
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 22 23 28
+f 22 28 25
+f 23 29 28
+f 24 25 33
+f 25 28 34
+f 25 34 35
+f 25 35 33
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 27 34 28
+f 27 38 34
+f 30 39 31
+f 31 39 41
+f 31 41 40
+f 34 38 42
+f 34 42 35
+f 35 42 43
+f 36 44 42
+f 36 42 37
+f 37 42 38
+f 39 45 41
+f 40 41 46
+f 41 45 47
+f 41 47 48
+f 41 48 46
+f 42 44 49
+f 42 49 48
+f 42 48 43
+f 43 48 50
+f 46 48 51
+f 46 51 52
+f 47 50 48
+f 48 49 52
+f 48 52 51
+
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_16.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a5a8e509f02bc1ecba3fd775ff85b81b67dfaaa
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_16.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.03096017 0.01548401 0.00475342
+v -0.03117648 0.01548401 0.00452397
+v -0.03096017 0.01435190 0.00474438
+v -0.03096017 0.01548403 0.00127004
+v -0.03117151 0.01435190 0.00449926
+v -0.03268170 0.01548402 0.00274674
+v -0.03096017 0.01339919 0.00411082
+v -0.03567970 0.01205818 -0.00098238
+v -0.03510039 0.01205818 -0.00032714
+v -0.03096017 0.01362455 0.00278287
+v -0.03350019 0.01205818 -0.00086193
+v -0.03290597 0.01548404 -0.00139791
+v -0.03603326 0.01205819 -0.00139793
+v -0.03569611 0.01548403 -0.00100043
+v -0.03603773 0.01460779 -0.00139792
+v -0.03604022 0.01435193 -0.00139792
+v -0.03603873 0.01345657 -0.00139792
+v -0.03096017 0.01335192 0.00398675
+v -0.03422222 0.01205818 0.00008420
+v -0.03349920 0.01205818 -0.00025547
+v -0.03389403 0.01205819 -0.00139793
+v -0.03600740 0.01548404 -0.00139791
+f 1 2 3
+f 1 3 7
+f 1 7 18
+f 1 18 10
+f 1 10 4
+f 1 4 12
+f 1 12 22
+f 1 22 14
+f 1 14 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 8
+f 3 8 9
+f 3 9 7
+f 4 10 11
+f 4 11 12
+f 5 6 13
+f 5 13 8
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 13
+f 7 9 19
+f 7 19 18
+f 8 13 21
+f 8 21 11
+f 8 11 20
+f 8 20 19
+f 8 19 9
+f 10 18 11
+f 11 21 12
+f 11 18 20
+f 12 21 13
+f 12 13 17
+f 12 17 16
+f 12 16 15
+f 12 15 22
+f 14 22 15
+f 18 19 20
+
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_17.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a40abc8d6a2b40aa20bf1b04e3700863f2e199
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_17.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02706626 0.01548403 0.00094729
+v -0.02706664 0.01548403 0.00096238
+v -0.02721644 0.01205817 0.00309401
+v -0.02721644 0.01205817 0.00201923
+v -0.02721720 0.01205818 0.00094445
+v -0.02706779 0.01548403 0.00082992
+v -0.02709981 0.01548402 0.00203716
+v -0.02718099 0.01548402 0.00309639
+v -0.02750002 0.01205816 0.00416833
+v -0.02722177 0.01205818 0.00082990
+v -0.02948776 0.01548403 0.00082992
+v -0.02718518 0.01548402 0.00311195
+v -0.02750002 0.01320402 0.00417070
+v -0.02781791 0.01205816 0.00473589
+v -0.02875746 0.01205818 0.00082990
+v -0.03095979 0.01548403 0.00126973
+v -0.02753852 0.01548401 0.00410801
+v -0.02751412 0.01435190 0.00417070
+v -0.02781829 0.01320402 0.00473779
+v -0.02843157 0.01205816 0.00522096
+v -0.03095979 0.01362455 0.00278337
+v -0.03022339 0.01205816 0.00464538
+v -0.03095979 0.01548401 0.00475382
+v -0.02757892 0.01548401 0.00418909
+v -0.02784954 0.01493606 0.00471092
+v -0.02783353 0.01435190 0.00472459
+v -0.02843157 0.01435190 0.00519881
+v -0.02843157 0.01320402 0.00522002
+v -0.02958915 0.01435190 0.00564570
+v -0.02958915 0.01320402 0.00557216
+v -0.02958915 0.01205816 0.00538925
+v -0.03095979 0.01335192 0.00398732
+v -0.03022339 0.01205816 0.00490559
+v -0.03095979 0.01435190 0.00474439
+v -0.03059197 0.01435190 0.00517147
+v -0.03059693 0.01548401 0.00514084
+v -0.02827301 0.01548401 0.00489430
+v -0.02839498 0.01539146 0.00501922
+v -0.02940848 0.01548401 0.00545008
+v -0.02958915 0.01548401 0.00552880
+v -0.03042426 0.01320402 0.00508992
+v -0.03095979 0.01339919 0.00411083
+v -0.02843271 0.01548401 0.00500791
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 16
+f 1 16 23
+f 1 23 36
+f 1 36 40
+f 1 40 39
+f 1 39 43
+f 1 43 37
+f 1 37 24
+f 1 24 17
+f 1 17 12
+f 1 12 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 14
+f 3 14 20
+f 3 20 31
+f 3 31 33
+f 3 33 22
+f 3 22 15
+f 3 15 10
+f 3 10 5
+f 3 5 4
+f 3 7 8
+f 5 10 6
+f 6 10 15
+f 6 15 11
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 11 15 16
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 15 21 16
+f 15 22 21
+f 16 21 32
+f 16 32 42
+f 16 42 34
+f 16 34 23
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 21 22 32
+f 22 33 32
+f 23 34 35
+f 23 35 36
+f 24 37 25
+f 25 37 38
+f 25 38 27
+f 25 27 26
+f 27 38 39
+f 27 39 40
+f 27 40 29
+f 27 29 28
+f 29 40 36
+f 29 36 35
+f 29 35 30
+f 30 35 41
+f 30 41 31
+f 31 41 33
+f 32 33 42
+f 33 34 42
+f 33 41 34
+f 34 41 35
+f 37 43 38
+f 38 43 39
+
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_18.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d86160c13f982838fa096b7ac7c27d7faf8cef7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_18.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.02692432 -0.01589638 0.00034860
+v -0.02723227 -0.01205414 0.00034862
+v -0.03157127 -0.01589638 0.00034860
+v -0.02693024 -0.01589638 -0.00012819
+v -0.02725092 -0.01205414 -0.00012817
+v -0.02879247 -0.01205414 0.00034862
+v -0.03157127 -0.01549733 0.00034860
+v -0.03157127 -0.01589636 -0.00445719
+v -0.02717041 -0.01589638 -0.00124213
+v -0.02725228 -0.01205414 -0.00013290
+v -0.02883659 -0.01205414 -0.00012817
+v -0.03157127 -0.01344871 -0.00333614
+v -0.03157127 -0.01583581 -0.00446097
+v -0.03151032 -0.01589636 -0.00445955
+v -0.02781632 -0.01589637 -0.00220944
+v -0.02757160 -0.01205414 -0.00112717
+v -0.02839583 -0.01205414 -0.00112244
+v -0.03157127 -0.01350022 -0.00412465
+v -0.03157127 -0.01345848 -0.00358116
+v -0.03157127 -0.01550408 -0.00447327
+v -0.03074750 -0.01550408 -0.00448368
+v -0.03074750 -0.01589636 -0.00446854
+v -0.02998196 -0.01589636 -0.00409108
+v -0.02997741 -0.01550408 -0.00409864
+v -0.03000788 -0.01435586 -0.00406411
+v -0.02839355 -0.01205414 -0.00112717
+v -0.03008703 -0.01372176 -0.00397849
+v -0.03074750 -0.01362772 -0.00409769
+v -0.03074750 -0.01435585 -0.00439758
+v -0.03157127 -0.01371084 -0.00421121
+v -0.03157127 -0.01468757 -0.00444488
+v -0.03157127 -0.01435585 -0.00442028
+v -0.03048914 -0.01589636 -0.00434461
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 22
+f 1 22 33
+f 1 33 23
+f 1 23 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 10
+f 2 10 16
+f 2 16 26
+f 2 26 17
+f 2 17 11
+f 2 11 6
+f 3 7 12
+f 3 12 19
+f 3 19 18
+f 3 18 30
+f 3 30 32
+f 3 32 31
+f 3 31 20
+f 3 20 13
+f 3 13 8
+f 4 9 5
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 8 13 14
+f 9 15 16
+f 9 16 10
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 27
+f 16 27 28
+f 16 28 18
+f 16 18 26
+f 17 26 18
+f 18 28 29
+f 18 29 30
+f 20 31 21
+f 21 31 32
+f 21 32 29
+f 21 29 25
+f 21 25 24
+f 21 24 23
+f 21 23 33
+f 21 33 22
+f 25 29 27
+f 27 29 28
+f 29 32 30
+
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4206c58b75903eb974e22dc724b6884c41862b2f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_2.obj
@@ -0,0 +1,790 @@
+# https://github.com/mikedh/trimesh
+v -0.02591899 0.02062167 -0.00012730
+v -0.02591899 0.02060167 -0.00120204
+v -0.02591899 0.02062050 0.00094668
+v -0.02495541 0.02056754 -0.00012730
+v -0.02591899 0.02042515 -0.00227677
+v -0.02495541 0.02053576 -0.00120204
+v -0.02591899 0.02059930 0.00183978
+v -0.02495541 0.02056636 0.00094668
+v -0.02379765 0.02041926 -0.00012730
+v -0.02495541 0.02033453 -0.00227678
+v -0.02495541 0.01984143 -0.00311336
+v -0.02591899 0.02034159 -0.00241847
+v -0.02379765 0.02037218 -0.00120205
+v -0.02591899 0.02059342 0.00202141
+v -0.02495541 0.02052634 0.00202141
+v -0.02379765 0.02041808 0.00094667
+v -0.02263990 0.02016859 -0.00012731
+v -0.02379765 0.02013918 -0.00227678
+v -0.02379765 0.01973316 -0.00302894
+v -0.02495541 0.01894467 -0.00353013
+v -0.02591899 0.01974140 -0.00321510
+v -0.02591899 0.01989321 -0.00314426
+v -0.02379765 0.01894467 -0.00343969
+v -0.02263990 0.02010739 -0.00120205
+v -0.02591899 0.02035923 0.00291450
+v -0.02591899 0.02030862 0.00309614
+v -0.02495541 0.02022389 0.00309614
+v -0.02379765 0.02036158 0.00202140
+v -0.02263990 0.02016741 0.00094667
+v -0.02148214 0.01981553 -0.00012731
+v -0.02257566 0.01979200 -0.00234687
+v -0.02292021 0.01961665 -0.00291891
+v -0.02257566 0.01903764 -0.00318194
+v -0.02591899 0.01894467 -0.00356104
+v -0.02148214 0.01779607 -0.00350979
+v -0.02263990 0.01779607 -0.00359797
+v -0.02139746 0.01970726 -0.00121787
+v -0.02095656 0.01949779 -0.00158642
+v -0.02172888 0.01964255 -0.00203561
+v -0.02591899 0.01978375 0.00381740
+v -0.02495541 0.01973903 0.00379479
+v -0.02379765 0.01964135 0.00372998
+v -0.02379765 0.02003795 0.00309614
+v -0.02263990 0.02009444 0.00202140
+v -0.02148214 0.01981318 0.00094667
+v -0.02079304 0.01956604 -0.00012731
+v -0.02083976 0.01954603 -0.00087043
+v -0.02214789 0.01948367 -0.00275159
+v -0.02148214 0.01875755 -0.00309904
+v -0.02591899 0.01875049 -0.00356028
+v -0.02379765 0.01779607 -0.00358440
+v -0.02025139 0.01788198 -0.00318797
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diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a451ae5e902288e7e717304c9b8eeffa354c144b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_3.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23a705da36f352749b8f69a725f21dc9d3c048b2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_4.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..374ee95fce63d7455522f19c2cdb539bf1371c15
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_5.obj
@@ -0,0 +1,778 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c0f5fd7d9713cec88651d52346b72c019b318e2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_6.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..353161dbafa48786283435f67e4de552c14035ec
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_7.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a04975fe182e235b50187f36e54cb697da6598d5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_8.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.03422258 0.00057092 0.00011748
+v -0.03422258 -0.00057403 0.00011669
+v -0.03347269 -0.00057403 -0.00019220
+v -0.03347300 0.00057092 -0.00019259
+v -0.03422258 0.00172059 0.00011513
+v -0.03510050 0.01205818 -0.00032791
+v -0.03510302 -0.01205892 -0.00032603
+v -0.03392250 -0.00126336 -0.00000765
+v -0.03422258 -0.00126572 0.00011590
+v -0.03317921 0.01205819 -0.00253224
+v -0.03422258 -0.01205892 0.00008911
+v -0.03347395 -0.00172370 -0.00019496
+v -0.03347332 -0.00126572 -0.00019417
+v -0.03318078 -0.01205891 -0.00253114
+v -0.03347395 0.00172059 -0.00019691
+v -0.03422258 0.01205818 0.00008368
+v -0.03567959 0.01205818 -0.00098307
+v -0.03568211 -0.01205892 -0.00098001
+v -0.03422258 -0.00172370 0.00011511
+v -0.03310812 0.01205347 -0.00335188
+v -0.03310844 0.01205819 -0.00335346
+v -0.03349943 0.01205818 -0.00025591
+v -0.03349943 0.01205346 -0.00025433
+v -0.03347804 0.00401757 -0.00021305
+v -0.03347584 0.00286790 -0.00020399
+v -0.03350037 -0.01205892 -0.00025048
+v -0.03347647 -0.00287101 -0.00020205
+v -0.03311064 -0.01205891 -0.00335196
+v -0.03613632 0.01205819 -0.00152058
+v -0.03613852 -0.01205891 -0.00151751
+v -0.03357177 0.01205819 -0.00390237
+v -0.03357303 -0.01205891 -0.00390206
+v -0.03632159 0.01205819 -0.00227726
+v -0.03631970 -0.01205891 -0.00227695
+v -0.03632159 0.01205347 -0.00227726
+v -0.03368187 0.01205347 -0.00390198
+v -0.03368313 0.01205819 -0.00390159
+v -0.03368030 -0.01205891 -0.00390167
+v -0.03614450 0.01205819 -0.00295879
+v -0.03614419 0.01205347 -0.00296036
+v -0.03614041 -0.01205891 -0.00295651
+v -0.03614419 0.01090616 -0.00296036
+v -0.03538014 0.01205347 -0.00330663
+v -0.03538171 0.01205819 -0.00330584
+v -0.03538045 -0.01205891 -0.00330041
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 8
+f 3 10 4
+f 3 8 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 10
+f 4 15 16
+f 4 16 5
+f 4 10 15
+f 5 16 6
+f 6 16 22
+f 6 22 10
+f 6 10 21
+f 6 21 31
+f 6 31 37
+f 6 37 44
+f 6 44 39
+f 6 39 33
+f 6 33 29
+f 6 29 17
+f 6 17 18
+f 6 18 7
+f 7 18 30
+f 7 30 34
+f 7 34 41
+f 7 41 45
+f 7 45 38
+f 7 38 32
+f 7 32 28
+f 7 28 14
+f 7 14 26
+f 7 26 11
+f 7 11 19
+f 7 19 9
+f 8 9 19
+f 8 19 11
+f 10 20 21
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 15
+f 10 14 20
+f 11 26 12
+f 12 26 27
+f 12 27 14
+f 12 14 13
+f 14 27 26
+f 14 28 20
+f 15 25 23
+f 15 23 16
+f 16 23 22
+f 17 29 18
+f 18 29 30
+f 20 28 21
+f 21 28 32
+f 21 32 31
+f 23 25 24
+f 29 33 30
+f 30 33 35
+f 30 35 34
+f 31 36 37
+f 31 32 36
+f 32 38 36
+f 33 39 40
+f 33 40 42
+f 33 42 35
+f 34 35 42
+f 34 42 41
+f 36 38 37
+f 37 43 44
+f 37 38 43
+f 38 45 43
+f 39 44 40
+f 40 43 42
+f 40 44 43
+f 41 42 43
+f 41 43 45
+
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c548955120848c9013c26284769e43f91c5729e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/mesh/peeler_027_collision_9.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.03157127 -0.01589638 0.00034912
+v -0.03157127 -0.01549733 0.00034912
+v -0.02965374 -0.01589638 0.00034912
+v -0.03157127 -0.01589640 0.00411681
+v -0.02965374 -0.01550599 0.00034912
+v -0.03157127 -0.01365483 0.00216675
+v -0.02965374 -0.01589640 0.00532426
+v -0.03140871 -0.01589640 0.00431779
+v -0.03117143 -0.01435589 0.00450075
+v -0.03157127 -0.01435588 0.00397355
+v -0.02965374 -0.01205453 0.00409931
+v -0.03157127 -0.01361496 0.00304748
+v -0.03022214 -0.01205416 0.00464660
+v -0.02965374 -0.01557069 0.00548041
+v -0.02996816 -0.01589640 0.00527943
+v -0.03053225 -0.01589640 0.00506350
+v -0.03059514 -0.01550412 0.00513616
+v -0.03059251 -0.01435589 0.00516967
+v -0.03042526 -0.01320803 0.00508824
+v -0.03157127 -0.01375600 0.00375195
+v -0.02966199 -0.01205416 0.00410858
+v -0.02965374 -0.01205416 0.00411167
+v -0.03157127 -0.01365295 0.00364785
+v -0.03022214 -0.01205416 0.00489861
+v -0.02965374 -0.01550412 0.00549690
+v -0.02965374 -0.01442923 0.00561080
+v -0.02965374 -0.01435589 0.00561286
+v -0.02965374 -0.01328137 0.00554329
+v -0.02965374 -0.01320803 0.00553196
+v -0.02965374 -0.01214780 0.00535726
+v -0.02965374 -0.01205491 0.00533046
+v -0.02965374 -0.01205416 0.00532634
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 16
+f 1 16 8
+f 1 8 4
+f 1 4 10
+f 1 10 20
+f 1 20 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 5 11
+f 3 11 22
+f 3 22 32
+f 3 32 31
+f 3 31 30
+f 3 30 29
+f 3 29 28
+f 3 28 27
+f 3 27 26
+f 3 26 25
+f 3 25 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 5 6 11
+f 6 12 13
+f 6 13 11
+f 7 14 15
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 11 13 21
+f 11 21 22
+f 12 23 24
+f 12 24 13
+f 13 24 32
+f 13 32 22
+f 13 22 21
+f 14 25 15
+f 15 25 16
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 19 24 20
+f 19 29 30
+f 19 30 31
+f 19 31 24
+f 20 24 23
+f 24 31 32
+
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/peeler_027.xml b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/peeler_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cc1732291173664c8c26a0ac2c24efd193cd3201
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/mjcf/peeler_027.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_027">
+  <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_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_027_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_027_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_027_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_027_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_027_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_027_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_027_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_027_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_027_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_027_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/peeler_027_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/peeler_027_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/peeler_027_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/peeler_027_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/peeler_027_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_027">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/peeler_027.urdf b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/peeler_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cd89d2869c68dc2d2077158f8f1d2dc58324a98a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/peeler_027.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_027">
+   <link name="peeler_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_027.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_027_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>4df2c9f582dd5778a67479a4f10d4816</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>gray peeler</name>
+         <color>gray</color>
+         <shape>T-shape</shape>
+         <material>plastic</material>
+         <description>gray y-shaped handheld peeler with horizontal blade</description>
+         <min_height>0.0106</min_height>
+         <max_height>0.0106</max_height>
+         <real_height>0.0106</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518183315</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036228 -0.025502 -0.004867</min>
+            <max>0.033782 0.025498 0.005756</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/4df2c9f582dd5778a67479a4f10d4816/peeler_027.usd b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/peeler_027.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0e6cb5e84c31a13ea53f0db9e554becf3f08a2bd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/peeler_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cad894965b2f28fc438ddbd951459d6282ef951a989261f714f88aee3b3afcd9
+size 4910109
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..58c81eeca233cfb6cf66b9dc3cb7c418e81c06fd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a3eb5ce42679026987bb9fc8a217bbb908f2a430f37a7966fdd28d3916c0e7a
+size 12286319
diff --git a/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/video.mp4 b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90a8d8fa269fd813b87e76a8b967be1894e28a97
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/4df2c9f582dd5778a67479a4f10d4816/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db0036eb14b91bda211c049bcd6b13d55be2545e3e3381d8f844ce604ec52e53
+size 134929