diff --git a/.gitattributes b/.gitattributes
index 5e0787af21eb5df2a335691c066bf7a687c287cf..ea2063b00193ed7045bc3da296f0d87126c114ce 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3874,7 +3874,9 @@ 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/43cd0e7d919d576a9e990596be9f76fb/garlic_press_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/43cd0e7d919d576a9e990596be9f76fb/mesh/garlic_press_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/43cd0e7d919d576a9e990596be9f76fb/mesh/garlic_press_001.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/43cd0e7d919d576a9e990596be9f76fb/mjcf/mesh/garlic_press_001.obj 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
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3503465685acc9dfe6ecba7f01daaa368677224a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_007_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd peeler_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/material_0.png
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007.glb b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e2275fa1489e84c41acce6fcde8b93d6657a374a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10421472
diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007.mtl b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7752950538849087c79d2a0a63d62182cb89e0d7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007.mtl
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+newmtl peeler_007_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6ffcd634f5e0cd4f274c95aa6ac771368649a82
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007.obj
@@ -0,0 +1,109386 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl peeler_007_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007_collision.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9543918f51a51bf14b88777a5a54fef4e4f1bd1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007_collision.obj
@@ -0,0 +1,6622 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mesh/peeler_007_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 6913316
diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6566a7b585957aa6a918c71fc29dce33d45a755ddb291f96d32323761663b33
+size 6913316
diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007.obj
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index 0000000000000000000000000000000000000000..140b17e78fa0bf79341ab079af1451cb370457aa
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+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a302e1117bf6fa7e42fab39d37bd001cf3625f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision.obj
@@ -0,0 +1,6622 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..352e1dad9b8a948cc43220b953c7980bcbd828ee
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_0.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de68328be673c9e5923bcc8b3b68897838bda8b8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_1.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0002e4c9e1ee05a2e9291a28882c9c51fd86db3c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_10.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35b2f34ea988c01f70de49c44d7d5decad1fbb72
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_11.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce9c7e5bb798e3f682f5035e26598102f542ecca
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_12.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..596268003f1e53f3ae6fd40a76b11d02ce1ff84e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_13.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81f0c154074dd6c7c16fc35b75473fb8566ed736
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_2.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb1c5f79bad27e8bb01d103e8e71cbada80a2f1c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_3.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca1376845ff76020ab821ca1ea528d89557fdc0a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_4.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b1622382cf7e08bf3649566e710b44b9c8b65c9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_5.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e81785b964bf5e6a1ba1fd0ef6b8b469b8bfd2fc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_6.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc924064a17330445edb3eaddef47506a91d3c47
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_7.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..545b39d1f949ed0a3e1c4ea8543de7c02748c8e1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_8.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a99ae59468dbbabd0a7339469df6ee60afee30a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/mesh/peeler_007_collision_9.obj
@@ -0,0 +1,1063 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/peeler_007.xml b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/peeler_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..048a76a5b77baab41a705d1c88b2f85404b70e0a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/mjcf/peeler_007.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_007">
+  <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_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_007_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_007_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_007_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_007_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_007_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_007_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_007_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_007_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_007_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_007_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_007_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_007">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/peeler_007.urdf b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/peeler_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8d84e53f17b75a06dc66c25cc593d678ca6b4e98
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/peeler_007.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_007">
+   <link name="peeler_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_007.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_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>53463d71259654068546cd41562c5adc</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>orange peeler</name>
+         <color>orange,silver</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>ergonomic orange peeler with metal blade and textured handle</description>
+         <min_height>0.0136</min_height>
+         <max_height>0.0136</max_height>
+         <real_height>0.0136</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428003236</generate_time>
+         <gs_model>""</gs_model>
+         <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/53463d71259654068546cd41562c5adc/peeler_007.usd b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/peeler_007.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/peeler_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed3e5b9c5843d91b43601bef36125d9db6067816c37363c4ee0a9782f2da4791
+size 5013962
diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/video.mp4 b/dataset/kitchen_supplies/cutting_tools/53463d71259654068546cd41562c5adc/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a85c606d160200a36637db9d2e0e616c7a8829eee40378521e370aae50cb873f
+size 137783