diff --git a/.gitattributes b/.gitattributes
index 2a903b0c6229d21677815cbf56c7ba476ca2dabc..2cc9050fce402413bb20b3bdb705fe9c3393b32b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3863,3 +3863,5 @@ dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/garlic_press_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/mesh/garlic_press_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/peeler_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..48514c25b7588d24951916e3927daab6b2921f57
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_016_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd peeler_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e87b3461addc30e3074a30dc8c90d6770825dd1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:258bb8d65af192106151d0fefa54edcf76a5c0eab0608aa73c1d228f71735bf0
+size 11582036
diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.glb b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..68ae75c9b92d36f9e1feec0749e1084b68f7e1d0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:319957be820bae8ba2b896c3e3ba9f9bcceb4876449188f8ccf03a55268d3195
+size 15004748
diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.mtl b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e34b97fb46210ea6bc8bb047c9efb6a0e7878809
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.mtl
@@ -0,0 +1,6 @@
+newmtl peeler_016_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/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51785f0880749c85dd30a6e40e9c25d8d241cc67
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.obj
@@ -0,0 +1,114528 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl peeler_016_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016_collision.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a10ec5d757502873ab7d6394538c81470bd4a1f6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e87b3461addc30e3074a30dc8c90d6770825dd1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 11582036
diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e87b3461addc30e3074a30dc8c90d6770825dd1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:258bb8d65af192106151d0fefa54edcf76a5c0eab0608aa73c1d228f71735bf0
+size 11582036
diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2911eba9c498e2b8ade6a5ad2d10c9edf3805720
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016.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/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a56da486e77d6068bd7fc403c8d7f4434d324c32
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision.obj
@@ -0,0 +1,7234 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1996a1599682c282e36ba94d2aea2a9a36419c5b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d8b732393594156bbc90653af33c6dfdf5bf799
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_1.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..489b37b24c8d88b4e5624114736313c66692c5cd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_10.obj
@@ -0,0 +1,1450 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b3690cefa49593daa024e7a87ecb9cc2dfae831
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_11.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f26bb186b587370ac2d5d4ab1518865c2227fc8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_12.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c46bbd4d2c16fcf96be11a5dc24d6e9336facb1
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_13.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76a44b67f543b289c7e07e5404d688ccd2c9354a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_2.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43ba691f637c1f5780130fdd8b3e1ea564c00924
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a60b7f89dbd22cdd75655b037f6b3de6665a340
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_4.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e09bb3018e260c507e0e7fcd50b8127a80d5cb5b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_5.obj
@@ -0,0 +1,544 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec6ba1fac24fe5db2bc1324ab24699fbb5ef2689
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_6.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ce4d37c07667721d1ba0dbe9a3224b2c7e03b1a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_7.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f03cba312243c766b9902731b5b37cc76ee312f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_8.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00826b4ff5717189c39ace259309f1ab2655140d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/mesh/peeler_016_collision_9.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/peeler_016.xml b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/peeler_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..565a6b4d9502a46b9793344e9fb22d2ae275c5d9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mjcf/peeler_016.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_016">
+  <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_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_016_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_016_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_016_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_016_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_016">
+      <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/240986d0d01f536cae41662dd18420ae/peeler_016.urdf b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/peeler_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e919ee2f128cecd5a06a2627db35930797b818f6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/peeler_016.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_016">
+   <link name="peeler_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_016.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_016_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>240986d0d01f536cae41662dd18420ae</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>y peeler</name>
+         <color>gray,silver</color>
+         <shape>T-shape</shape>
+         <material>plastic</material>
+         <description>gray y-shaped vegetable peeler with metal blade and pointed tip</description>
+         <min_height>0.0135</min_height>
+         <max_height>0.0135</max_height>
+         <real_height>0.0135</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518182917</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.048964 -0.029251 -0.007084</min>
+            <max>0.053343 0.033099 0.006373</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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":"Small magenta regions fragment holes, hook, and blade tips; not actionable functional parts.","merge_groups":[{"colors":["Pink","Teal"],"target_part":"handle body","reason":"Pink patches are handle hole/grip details, not separate parts"},{"colors":["Magenta","Orange"],"target_part":"blade assembly","reason":"Magenta pieces are blade tips and tiny attachments"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/peeler_016.usd b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/peeler_016.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/peeler_016.usd
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+size 4965963
diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/textures/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/video.mp4 b/dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/video.mp4
new file mode 100644
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--- /dev/null
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