diff --git a/.gitattributes b/.gitattributes
index 9622fa46844f61a1caaa91187a6eb4b2c0b822a7..50d2b93471ddb7c97a92924266a76f264782987c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3898,3 +3898,5 @@ dataset/kitchen_supplies/cutting_tools/ac41faffb401535dbf8985828c110688/mesh/woo
 dataset/kitchen_supplies/cutting_tools/ac41faffb401535dbf8985828c110688/mesh/wooden_cutting_board_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/a5bd317764af5fe2ba456f60efe98c28/garlic_press_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/a5bd317764af5fe2ba456f60efe98c28/mesh/garlic_press_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/peeler_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/peeler_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..60b50a8f4f31b7001d4994dfd589b31a7d5c1227
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5105afe9ba9976c84e5fba65aea4cc2c7e87e56
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de7e63035f2772d2b14ddf560dc4fee9273a1ac742fa61ecf08a84edc1c8664b
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/peeler_009.glb b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/peeler_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d9f301033b3f2401394f3816a9f46252d8e0d076
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/peeler_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79101fafd87ccd5b37fd5bff786aec03c5ab3f4905764a9ba387a4d12947a802
+size 10306980
diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/peeler_009.mtl b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/peeler_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b97b3e73e5a4497d711754ca8e9a19019615cbc9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/peeler_009.mtl
@@ -0,0 +1,6 @@
+newmtl peeler_009_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
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/peeler_009.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/peeler_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e5723d4d0c4bb9ad6885e587e04b66c8453549c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/peeler_009.obj
@@ -0,0 +1,106908 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl peeler_009_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/peeler_009_collision.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/peeler_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d8621d23770b04c0c5e8bb1c4d0e7c9f869db7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mesh/peeler_009_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aef80acc0e5d94b98aaba5638a94ebdff9d2e15
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision.obj
@@ -0,0 +1,5104 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3045b88da4e8aa29cd7d32bdf2e6cceefdac57ce
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_0.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99d7c5df40f50170e270bb87d5b9641907dcab98
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_1.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d1c9af7fb63c3c6d9286efbc07345dd26f7ba36
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_10.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b276dcd4ea36a8cd3035e79e23551fb287614fa
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_11.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb9950166315aecc355d79beddf43753b22ef27c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_12.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eb709a4b4cc80e216055022a965b8b9a316814b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_13.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1517fb600b4adb1e2abf9953efecb0440c3ddcca
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_2.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70549aea46fe46b39708f239d5c990e0f1d92073
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_3.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..905ac59a1f1190c62cc95d80a7299234eca0c0ef
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_4.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5e7dc952325d4c2eb5d29518770f36be580f94b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_5.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8a52662a2dadb6314a7fd6db3ba5706134b88f3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_6.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..485b09d0e8f7a52b2ace3de26c5df4b9ef22119f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_7.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c93bde11e931cb36447e84f5f177fcacd4a62dc
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_8.obj
@@ -0,0 +1,859 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b79feb164050875943f5d1f0e2a061a28691573
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/mesh/peeler_009_collision_9.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/peeler_009.xml b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/peeler_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5f2b71519e78b7fabf02b5289311a3d2920e2f5d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/mjcf/peeler_009.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_009">
+  <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_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_009">
+      <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/ac3a1d06c773501ea4cc1f2c73d7608d/peeler_009.urdf b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/peeler_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fefa38ada13a03fdbaf221af7cd6f0da3d9fa20d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/peeler_009.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_009">
+   <link name="peeler_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>ac3a1d06c773501ea4cc1f2c73d7608d</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>straight peeler</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>elongated peeler with straight blade and ergonomic handle</description>
+         <min_height>0.0071</min_height>
+         <max_height>0.0071</max_height>
+         <real_height>0.0071</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428003312</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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
diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/peeler_009.usd b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/peeler_009.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/peeler_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc99a00d991701b04bee6881b606b6abcdcb2b5d3246e66ff04c003d083669e9
+size 4893822
diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/textures/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/video.mp4 b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/video.mp4
new file mode 100644
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+++ b/dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/video.mp4
@@ -0,0 +1,3 @@
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