diff --git a/.gitattributes b/.gitattributes
index 0fc47b205e449763152f9f2e958687653bb54f81..fa7e67c63b43e6c90d4969870d2f4587270badab 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3861,4 +3861,5 @@ dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot_gs.p
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/bc4f157ed6015f68a223cddbc41982f4.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/aa1174fba8d35412aa0ba90ce3187720/aa1174fba8d35412aa0ba90ce3187720.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/peeler_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1055114e8bcbee29a6c09bd57c0b3d5412dd3444
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_021_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_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..be59f6b66bdbb9238c65d9a7b9878b8b7ae0145e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ff17036642397aa6622f19157b082209a88ce8d93c5f83ffe28981fa210df96
+size 14859394
diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021.glb b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2372684b490ffcb91bbd56dd5fc6c9e91917bdac
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 18263280
diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021.mtl b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7befabb5f5c681eab1d27845ab7214ea4246d7df
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021.mtl
@@ -0,0 +1,6 @@
+newmtl peeler_021_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/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b3bca029a90f93dfca11f53b9f9465d7fcc9237
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021.obj
@@ -0,0 +1,110244 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl peeler_021_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021_collision.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7d8b656b506c7992554485d913b7f8762ce977b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mesh/peeler_021_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 14859394
diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce9cdec386a42e52bbba974875e24a6eb57fa402
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision.obj
@@ -0,0 +1,9481 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a88a5b4c30fa1900cd9ecd425d11662d8005ed36
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3aee747eee8f4a62b47f2c35e331f351c9a381f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_1.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0874cbadf24bd235fe7ee9fe302a72b58852c51f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_10.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25eb48cb445feffc0f8581669476b9f56e207ae0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_11.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97d5cabf95fb29049e9a0a600393c9d76af12e70
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_12.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ab0f4987f9e480d6998012b33bc9900c53f3f3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_13.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1209eecb130f6f32e10397355fad657999d7c477
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_14.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c2593ebf5ad004fbc6723fe85900273bcb9b2e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_15.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_16.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bec54df11fb15bb06f6255cd2305263bb8e15f2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_16.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..febead453fe46bfbe840abf8de9152b679754275
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91a1e54c9421d53e05ee817d6eaf2b1bb8332b2a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27e2edbe451d5f2f2ff34fe32509aedeb7795f5c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_4.obj
@@ -0,0 +1,715 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18e43f480939d0b8a9af1e7306fcf7179aee0998
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_5.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5c06bf4112845fb94a9802ee49ff330a2346a4c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_6.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5361226f5ae04d307637c8f94416ff6aad11838
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_7.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2afc2d245a307a3a4d43c725ec676194ad8698c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_8.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..176b5eee9b2974df7a8161858bb986d7af29b0e5
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/mesh/peeler_021_collision_9.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/peeler_021.xml b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/peeler_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..24b936f9abe5a0aacbcb86e66bf19bdfd356dd9d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/mjcf/peeler_021.xml
@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_021">
+  <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_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_021_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_021_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_021_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_021_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_021_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_021_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/peeler_021_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/peeler_021_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/peeler_021_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_021">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/peeler_021.urdf b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/peeler_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..160afa555ff24427437d22d74f15136fb0e7688c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/peeler_021.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_021">
+   <link name="peeler_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>11ad833d3ee25dce9b7399de25f15a5b</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>wooden peeler</name>
+         <color>brown,silver</color>
+         <shape>irregular</shape>
+         <material>wood</material>
+         <description>wooden handled peeler with horizontal metal blade</description>
+         <min_height>0.0093</min_height>
+         <max_height>0.0093</max_height>
+         <real_height>0.0093</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518183101</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034691 -0.025409 -0.004644</min>
+            <max>0.030807 0.025591 0.004614</max>
+         </aabb>
+         <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/11ad833d3ee25dce9b7399de25f15a5b/peeler_021.usd b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/peeler_021.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b0012b833ea790af2f887e3e5d1329f377e7ead0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/11ad833d3ee25dce9b7399de25f15a5b/peeler_021.usd
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