diff --git a/.gitattributes b/.gitattributes
index 7f48d8d53bf44b6f9d9be01cc34919de5667f47d..f0ac50a1d4f5c4cef727e6bb798afa15903067ba 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3891,5 +3891,5 @@ dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/mesh/wir
 dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/wire_cutters_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/962e3c16974e5204a19e822e1494a3c7/fruit_knife_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/962e3c16974e5204a19e822e1494a3c7/mesh/fruit_knife_036.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/fruit_knife_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/mesh/fruit_knife_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/peeler_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..10b8b7778cf2b51ecec309e09413af7652622358
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_026_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..233083dbeb3d57746a73f2b157881feb41df3259
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d68756088487f514d94299daf7456d0e2a172c48061bb303267d8cfae47e01c9
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026.glb b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3c8459a906cb865153f7914bdc0825804fa6218a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 19352788
diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026.mtl b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0ad3274fb5cae5b2111bc0c60e61a833eae03b14
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026.mtl
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+newmtl peeler_026_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc6ff1228f3b82e5839014e80079e0e768c89d6b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026.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/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026_collision.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..712a411d6cd46b43bab5a7ea4a35727b6a62d66c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026_geometry_Looks_material_0.png b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mesh/peeler_026_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 15905965
diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..233083dbeb3d57746a73f2b157881feb41df3259
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+version https://git-lfs.github.com/spec/v1
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+size 15905965
diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026.obj
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+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b543c38b91817310ac90e69b5ff9aa05f2081ca7
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0251a3dd7fee802bb5c2fc6657c7dee5a723a31f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_0.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcc8174a8a5b7be176b15a58acd1916f0673d913
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_1.obj
@@ -0,0 +1,625 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c014bb18e1cce98f74ff142de97f8a2fc67719e9
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_10.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9129cce6f06f644d37403599a75b5fc2f0c63195
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_11.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a15869258ef4114c1ddb2606e3192f7288d6b738
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_12.obj
@@ -0,0 +1,1006 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35ad62331aaf8aade0ee2325d599b88373ceb69e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_13.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d3debc92e702af443db2b659b22b9b0cbce09f8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_14.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6670b85715a23717b00309b7d1f57d41cc1b1983
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_2.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd555b062ee51b2713f892a6d7b3fab049283f8e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c521d63e80dfbb5d832e9c3ba758d19c5831f17
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_4.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2c73bf30cd9ec497a8cf89606ae98bca49126fd
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_5.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27db48a26d72508cb5173f475e081d653d71e38c
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_6.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3226653d37535908a2d84f5482aaac4a1c66ed87
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_7.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a16bb5afdf5b2adae98d14ba95baaff382357a20
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_8.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b4bd11d660878d652267dd0e067e004ae9afc21
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/mesh/peeler_026_collision_9.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/peeler_026.xml b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/peeler_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..174377160ab6b2240e6a54b5d41389178536a4cf
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/mjcf/peeler_026.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_026">
+  <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_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_026_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_026_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_026_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_026_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_026_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_026_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_026_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_026_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_026_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_026_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_026_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_026_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/peeler_026_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_026">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/peeler_026.urdf b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/peeler_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..107173b414d3dea04c8d4a13f0975e64c557d0de
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/peeler_026.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_026">
+   <link name="peeler_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.55</mu1>
+            <mu2>0.40</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>9bf96ad1668657b986cf8e81367e06b1</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 y-peeler with metal blade and hanging hole</description>
+         <min_height>0.0100</min_height>
+         <max_height>0.0100</max_height>
+         <real_height>0.0100</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518183251</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.042073 -0.025504 -0.004983</min>
+            <max>0.033278 0.025496 0.005004</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/peeler_026.usd b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/peeler_026.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/peeler_026.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ba0b44d9a473809ad6d00f90a513fef4c4db2d1c47209e5b8b426c2a47eff02
+size 4948876
diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..233083dbeb3d57746a73f2b157881feb41df3259
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d68756088487f514d94299daf7456d0e2a172c48061bb303267d8cfae47e01c9
+size 15905965
diff --git a/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/video.mp4 b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/9bf96ad1668657b986cf8e81367e06b1/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d741e0ba662eb150b7005d2f97b5e4d963d0d78c1e369f70be95549f377bf1bc
+size 296630