diff --git a/.gitattributes b/.gitattributes
index 93803c385b15b72a67f928809bfe77d29342cf2d..7169d5c41e269549454a761a7676f73114d019f6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3926,5 +3926,5 @@ dataset/kitchen_supplies/cutting_tools/ef7c4755f27f51e4a52bcbd16a4e5b20/mesh/pee
 dataset/kitchen_supplies/cutting_tools/ef7c4755f27f51e4a52bcbd16a4e5b20/peeler_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/peeler_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/peeler_017.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/eba1fcfcd3e95716aa9f15e29646d04c/mesh/wire_cutters_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/eba1fcfcd3e95716aa9f15e29646d04c/wire_cutters_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/peeler_024.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/peeler_024.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9d88b57f5243d173defa4ae4958a94218b717e7c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_024_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_024_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f88cf6a22de3f8ea354376bb753ab0e11da44ec9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e672e0fe83728d612d61ce61bd6ab5e5d7b82bf62cd701ffe276430b5bcbf53e
+size 9829048
diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/peeler_024.glb b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/peeler_024.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f5bf6b005bb2e8161184285edc7b05990ce27c63
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/peeler_024.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b479d5ba0048f27ff9d680afd6d2068c2b6be0123d116ab9887f8349bbb307fa
+size 13279524
diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/peeler_024.mtl b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/peeler_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4039806f901d31f907f0496af0ed2127b3dd4da1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/peeler_024.mtl
@@ -0,0 +1,6 @@
+newmtl peeler_024_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/eacabc49535a5437b0c08b66ff27f00e/mesh/peeler_024.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/peeler_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9000a61a34b524193827db4a4e5f66de6494bf6e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/peeler_024.obj
@@ -0,0 +1,111844 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/peeler_024_collision.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/peeler_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59d1b1f3548a8c444f4ddb9d8d5794ea83fb4866
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mesh/peeler_024_collision.obj
@@ -0,0 +1,10433 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fcec1ed945d6e1e1e10c6d21b42246c4deb8367
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision.obj
@@ -0,0 +1,10433 @@
+# https://github.com/mikedh/trimesh
+
+o peeler_024_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35ed2a5dcfa2dd434c59f9b866dd0a035b83b9fb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92403b34c0cbf272353b54363e9f99aba75e582f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddee76e4ece8383ba81a4734c14794ef09d3e9ab
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_10.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a199c3adbffc9ef34b9d4616e84c80a7f986dc2d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_11.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ca4aa1771cbeddc359d104367404e55cd72d70a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_12.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1b7317263015620a4801ba43e7716c1fdf3a3c2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_13.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+f 37 54 38
+f 41 47 56
+f 41 56 57
+f 41 57 58
+f 41 58 42
+f 42 59 43
+f 43 53 44
+f 43 59 53
+f 44 53 45
+f 46 52 60
+f 46 60 61
+f 46 61 48
+f 48 61 49
+f 49 61 51
+f 51 61 60
+f 51 60 52
+f 53 59 62
+f 53 62 55
+f 53 55 63
+f 53 63 64
+f 53 64 54
+
diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acce1e606df75879fca0d65c5d4f98198a4b45c7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_14.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.02984919 -0.00350078 0.00462876
+v -0.02908285 -0.00350078 0.00456923
+v -0.02908429 -0.00292275 0.00456795
+v -0.02948274 -0.00292275 0.00459868
+v -0.02984919 -0.00292275 0.00462620
+v -0.03052379 -0.00292275 0.00450010
+v -0.03052522 -0.00350078 0.00450138
+v -0.03052474 -0.00470220 0.00450073
+v -0.02984919 -0.00470220 0.00462427
+v -0.02908811 -0.00470220 0.00456538
+v -0.02878234 -0.00350077 0.00388688
+v -0.02878378 -0.00292274 0.00388688
+v -0.03083767 -0.00292275 0.00418261
+v -0.03216920 -0.01278112 0.00345412
+v -0.03210422 -0.01278112 0.00351237
+v -0.03186534 -0.01278112 0.00370120
+v -0.03051088 -0.00830355 0.00448728
+v -0.02984919 -0.00590265 0.00461211
+v -0.02910818 -0.00710407 0.00454937
+v -0.02909814 -0.00590265 0.00455770
+v -0.03050085 -0.00950497 0.00447768
+v -0.02879142 -0.00470219 0.00388687
+v -0.02748283 -0.01278111 0.00056404
+v -0.02781822 -0.00292273 0.00033172
+v -0.03117975 -0.00292274 0.00383567
+v -0.03216920 -0.00978288 0.00261623
+v -0.03216920 -0.01278110 -0.00162641
+v -0.03146020 -0.00292274 0.00354442
+v -0.03166420 -0.00292274 0.00333254
+v -0.03193844 -0.00292274 0.00282878
+v -0.03196663 -0.00350077 0.00277565
+v -0.03102830 -0.01278112 0.00396941
+v -0.03045785 -0.01136838 0.00444502
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+v -0.02984919 -0.00710407 0.00459802
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+v -0.02908811 -0.01278112 0.00351493
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+v -0.03216920 -0.00292273 -0.00118086
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+v -0.02922093 -0.00904178 0.00446103
+v -0.02987785 -0.01278112 0.00395469
+v -0.02728934 -0.01278111 -0.00055679
+v -0.02770356 -0.00292273 -0.00095618
+v -0.02754494 -0.01278110 -0.00159056
+v -0.02864045 -0.01278110 -0.00191062
+v -0.02781726 -0.00292272 -0.00138505
+v -0.02781105 -0.01278110 -0.00169234
+v -0.02996194 -0.01182385 0.00422098
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+f 1 9 10
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+f 30 41 31
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+f 36 49 37
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+f 45 56 54
+f 46 50 47
+f 47 50 57
+f 47 57 49
+f 49 57 50
+f 52 53 55
+f 53 56 55
+
diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c12e2a23ec39cb7be3530c4fc3e22ced8894fe9c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_15.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.03216968 -0.01278112 0.00345441
+v -0.03308119 -0.01278112 0.00270645
+v -0.03216968 -0.01278110 -0.00162637
+v -0.03216968 -0.00978288 0.00261590
+v -0.03439371 -0.00292273 0.00016409
+v -0.03499849 -0.00292273 -0.00023505
+v -0.03423600 -0.01278112 0.00165662
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+v -0.03216968 -0.00292273 -0.00118090
+v -0.03216968 -0.00292273 0.00033112
+v -0.03559545 -0.00292273 -0.00079049
+v -0.03443890 -0.01278112 0.00144128
+v -0.03370204 -0.01278110 -0.00246892
+v -0.03520052 -0.00710404 -0.00338456
+v -0.03518922 -0.00590262 -0.00339126
+v -0.03517749 -0.00350075 -0.00339729
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+v -0.03620023 -0.00292272 -0.00149820
+v -0.03509104 -0.01278111 0.00056788
+v -0.03387539 -0.01278110 -0.00247831
+v -0.03523745 -0.00788665 -0.00336377
+v -0.03543426 -0.00710404 -0.00338456
+v -0.03545512 -0.00590262 -0.00339126
+v -0.03546902 -0.00350075 -0.00339729
+v -0.03547119 -0.00292272 -0.00339863
+v -0.03660125 -0.00292272 -0.00205364
+v -0.03535041 -0.01278111 0.00012178
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+v -0.03448148 -0.01278110 -0.00241995
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+v -0.03516794 -0.01278110 -0.00199532
+v -0.03593477 -0.00940169 -0.00255811
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+f 40 49 41
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+f 43 47 46
+f 43 46 45
+f 44 47 48
+
diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_16.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a593cbb524087519bd892a5a5cd75b04235b95b3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_16.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.03212240 0.01330903 0.00295206
+v -0.03222314 0.01330903 0.00287339
+v -0.03212240 0.01157774 0.00275566
+v -0.03212240 0.01330904 -0.00117619
+v -0.03229323 0.01330903 0.00281220
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+v -0.03436598 0.00975710 0.00016356
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+v -0.03594016 0.01211185 -0.00166747
+v -0.03568968 0.01330905 -0.00166746
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+f 26 32 27
+f 31 32 33
+
diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_17.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e083470d6b181d8349c859503765277c8abbb9d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_17.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.03660151 -0.00292148 -0.00243455
+v -0.03607582 -0.00292148 -0.00299005
+v -0.03660151 -0.00292148 -0.00205377
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+v -0.03607976 0.00490536 -0.00293962
+v -0.03545279 0.00730827 -0.00340104
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+v -0.03517570 -0.00292148 -0.00339846
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a610d70a474c98728c2de9680877789a73f61716
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_2.obj
@@ -0,0 +1,577 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d49496dabbcfc2eab90023bdaa0ce0724b1ae4e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_3.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbf93615c233e341e7d6281a969e16e647c1c2e6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_4.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d9ce7cea361bfd8fc923328fdc4c46a3bb2f604
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_5.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a8c6c69af805912fe9c53a1314f45a06adadcf9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_6.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70e46219b11dda183537fb09c5ef1b37d9dc784f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_7.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41ee923a21186d1b68e53332968f232aa8847505
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_8.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e2d3ce5e9a17b10af9154e29ffd5c395b3f4a99
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/mesh/peeler_024_collision_9.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/peeler_024.xml b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/peeler_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..42f6740e1aa10932dd7a0c2cfe480d4fbdb89aa1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/mjcf/peeler_024.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_024">
+  <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_024.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_024_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_024_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_024_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_024_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_024_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_024_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_024_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_024_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_024_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_024_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_024_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_024_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_024_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_024_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/peeler_024_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/peeler_024_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/peeler_024_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/peeler_024_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_024">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/peeler_024.urdf b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/peeler_024.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6ba90066a9a48b82c2cffed1c0b721c7aecdc5bf
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/peeler_024.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_024">
+   <link name="peeler_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_024.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_024_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>eacabc49535a5437b0c08b66ff27f00e</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>blue peeler</name>
+         <color>blue,silver</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>blue y-shaped vegetable peeler with metal horizontal blade</description>
+         <min_height>0.0124</min_height>
+         <max_height>0.0124</max_height>
+         <real_height>0.0124</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518183204</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036865 -0.024785 -0.006198</min>
+            <max>0.036417 0.026215 0.006195</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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>NO: {"summary":"Purple mixes blade/axle with small handle patches; functional parts are not cleanly separated and merge cannot fix fully.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/peeler_024.usd b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/peeler_024.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/peeler_024.usd
@@ -0,0 +1,3 @@
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+oid sha256:9a573fa3c59cbd48dfcb29a8fbd4537f54fe2c43d291b78c2b0c8e4d09d03c7c
+size 4960676
diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/textures/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/video.mp4 b/dataset/kitchen_supplies/cutting_tools/eacabc49535a5437b0c08b66ff27f00e/video.mp4
new file mode 100644
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--- /dev/null
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+size 129817