diff --git a/.gitattributes b/.gitattributes
index 847360a91de72195172d7a4412feef3ec683dc67..8000d5dd0a2f7e9f627b3f5126be10bd40a4c833 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3909,3 +3909,5 @@ dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/fruit_kn
 dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/mesh/fruit_knife_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/fruit_knife_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/mesh/fruit_knife_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/peeler_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/peeler_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..757fd65c5f2508768152c8b6a1ebd3fe0f1ff409
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_013_geometry_Looks_material_0
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+Ns 1.00000000
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/peeler_013.glb b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/peeler_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..547e0e133488de22c5c3416f17c93d4b95253ca5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/peeler_013.glb
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/peeler_013.mtl b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/peeler_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7f2e5ef2d173519c600df07903a1ef753382f8eb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/peeler_013.mtl
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+newmtl peeler_013_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/db493fe029f25201b64ae08924e700aa/mesh/peeler_013.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/peeler_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ed0306ac7e9ad55fa9646b1d6570ae6f8a78fc5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/peeler_013.obj
@@ -0,0 +1,108410 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl peeler_013_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/peeler_013_collision.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/peeler_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a178ab13a2d032ad7758f09df8180c89aa22a27
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mesh/peeler_013_collision.obj
@@ -0,0 +1,9550 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ccc282b337273515e4f08c9e3aea6dee428b695
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision.obj
@@ -0,0 +1,9550 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e82dfd3adc3bf7e0efdbc138da09f4e902a68c69
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1eba384bb604d9f0e6ac2d521868d252fed46eb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_1.obj
@@ -0,0 +1,556 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27431295af6b585ea7d0115223e9ffaad7bfab99
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_10.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8603696acbc5c72f762faddd57a444f0571e813
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_11.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.05012218 0.01540638 0.00302169
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9ed8331f65964c15f811445b48865654f8bfe72
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_12.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eade6951f19b334e6fd6b58b7c32d496ee6a496
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_13.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.05060633 -0.01548125 0.00304874
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0eaead367e86a2ebf78dd40f11c01f7ae510514
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad0bede56ac22adf79cdaca4cf8c7f45a363520a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cb1af0afec3961acce38f4234410a4c7e323420
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_4.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..028226b87eb409e93aab78ae728733dc5ed79a06
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_5.obj
@@ -0,0 +1,634 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89d2aa0a11ed96e58bd1924e93bb85910736f8a9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_6.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c956f22ff8a757116321222ab7819446f490d42
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_7.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c53665af70b90169179b380fc870a78fdf5d7844
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_8.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/mesh/peeler_013_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1ca7705a0eaba279c11d7d0c595c017a20f585
--- /dev/null
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diff --git a/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/peeler_013.xml b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/peeler_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6a84d9a9a9106eef2a971a87912088245eba59d3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/mjcf/peeler_013.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_013">
+  <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_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_013_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_013_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_013_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_013_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_013_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_013_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_013_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_013_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_013_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_013_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_013">
+      <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/db493fe029f25201b64ae08924e700aa/peeler_013.urdf b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/peeler_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fe9af11922ef31a79041126b3e8a810e6ad1031c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/peeler_013.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_013">
+   <link name="peeler_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_013.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_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150" />
+         <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>db493fe029f25201b64ae08924e700aa</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>y peeler</name>
+         <color>gray</color>
+         <shape>T-shape</shape>
+         <material>metal</material>
+         <description>dark gray y-shaped vegetable peeler with horizontal metal blade</description>
+         <min_height>0.0176</min_height>
+         <max_height>0.0176</max_height>
+         <real_height>0.0176</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518182808</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.054859 -0.028747 -0.008815</min>
+            <max>0.056951 0.028753 0.008790</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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