diff --git a/.gitattributes b/.gitattributes
index ca326431d88256fe2df7efd7491a1fde0349646d..ce1e197d0651a2d1b6bc265f385773cd65ea16ca 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3878,6 +3878,7 @@ dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/mesh/pee
 dataset/kitchen_supplies/cutting_tools/56d98416ca83597d974d1a045a8fa6db/peeler_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/fruit_knife_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/mesh/fruit_knife_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/5f45fb5b241359fd8d07aba9f69ea586/5f45fb5b241359fd8d07aba9f69ea586.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/5f45fb5b241359fd8d07aba9f69ea586/mesh/knife.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/5f45fb5b241359fd8d07aba9f69ea586/mesh/knife_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/peeler_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/peeler_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/peeler_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5fb767955fab5a99fec1a60016be7543f5c4f91f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..42d0ef75bb4641179c2f527c1f44bfc6daef8c1a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61a6f3b13579bf77e16ef226cfcbf4b24024b3f737e833522b45e31c7e5bb5ce
+size 9707630
diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/peeler_001.glb b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/peeler_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..83c3ca246584a7cfe44fbef5af6ba20452249449
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/peeler_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03f61809516e72eb28a116d835a5fafb7151d7fe745e675f6cbb1e424eaa098b
+size 66127040
diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/peeler_001.mtl b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/peeler_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b61e2afc4f0a220490336e2a5a90b77bc9cd9480
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/peeler_001.mtl
@@ -0,0 +1,6 @@
+newmtl peeler_001_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/58e76620a8c15aa193a87f7cb9122031/mesh/peeler_001.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/peeler_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a54eb53b07713a31efafd372f3f0b44573083ac
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/peeler_001.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36d1f29472794c84f2668cfc2f30ff36234d95ce3091667ee18561fe1289e231
+size 76909985
diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/peeler_001_collision.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/peeler_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c61a1847cd7100c8c48769aa685f5d4afccbb2c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mesh/peeler_001_collision.obj
@@ -0,0 +1,9883 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b32da0ed50d01e73f5551d34b4351b6768cbd2d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2709fd434a57ab68867c307aae53588f9d887d2
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_1.obj
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a24d6f04f71e6012a29da0ab3caa799ad5e4cd5a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_10.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6ee2d4647951817267e022be534b7244855e930
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_11.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.01888202 0.02755225 -0.00021431
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+v 0.01888202 0.02755224 0.00361779
+v 0.01752320 0.02755225 -0.00003039
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90b61b0f7d597313a10273fc43812a4032251c09
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_12.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00414855 0.02756416 0.00106669
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12afef3c3c9cf31ddd061b2db26c7858260b7c80
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_13.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06e55ea74dc80c8595b61ef3ff5679b511c61734
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_14.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dccb2d294f93b2c9b436c64b4f4498c7341e5252
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_15.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_16.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95b1eae0483669c7f584c3c5ed3e9d857750658b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_16.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3929a8e3f9084047fb628a9a1fbec968d6fe2ff7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b11e56cd2269afd3d1e3c2a2f2917c1ae3e0dc4d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_4.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac9425e98f57ef1055c54b66f5ad29ce37d40e9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_5.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e48169c37a4bf7da6ddd96175f781589da5f171
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_6.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a000bf1f65541b0bb80e52bbc1f07c957fb42e3
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_7.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ba0572c0f64f3454aa6ab786d63549b4faa28d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_8.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f60601cad27d952a1ef4acb146766181c49a8e1c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/mesh/peeler_001_collision_9.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/peeler_001.xml b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/peeler_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9b9c002ffd4d6facfdea1fe2957e73a2574a84c4
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/mjcf/peeler_001.xml
@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_001">
+  <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_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_001_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_001_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/peeler_001_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/peeler_001_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/peeler_001_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_001">
+      <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" />
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+      <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" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/peeler_001.urdf b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/peeler_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ce8766276522faf35ff0be845b3947d3758b0c46
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/peeler_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_001">
+   <link name="peeler_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>58e76620a8c15aa193a87f7cb9122031</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>ergonomic peeler</name>
+         <color>orange</color>
+         <shape>elongated</shape>
+         <material>plastic and metal</material>
+         <description>orange ergonomic peeler with a metal blade and oval handle hole</description>
+         <min_height>0.0169</min_height>
+         <max_height>0.0169</max_height>
+         <real_height>0.0169</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414150645</generate_time>
+         <gs_model>""</gs_model>
+      </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/58e76620a8c15aa193a87f7cb9122031/peeler_001.usd b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/peeler_001.usd
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/video.mp4 b/dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/video.mp4
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