diff --git a/.gitattributes b/.gitattributes
index ecbea1989e0f0b13d9f4584699c1c57fdd9f4e91..28e9efd33c96bf17f8401b878c54c9fdf910bf87 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3924,3 +3924,5 @@ dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/mesh/pee
 dataset/kitchen_supplies/cutting_tools/e25e4e93dfe157ff959ceec13bdd7cf3/peeler_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/ef7c4755f27f51e4a52bcbd16a4e5b20/mesh/peeler_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/ef7c4755f27f51e4a52bcbd16a4e5b20/peeler_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/peeler_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/peeler_017.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5815e5a726c36e958cc2bcff68561712fc6beb2a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_017_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b7edaed59b91bd8a87522c9c18354ae464d9cef
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+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/peeler_017.glb b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/peeler_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..be1045f2c0a25d98575ce90c6473cb58ebecf57d
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/peeler_017.glb
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+size 13148708
diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/peeler_017.mtl b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/peeler_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9ac618a8046b9f05851a542cb9dc182d7735cab8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/peeler_017.mtl
@@ -0,0 +1,6 @@
+newmtl peeler_017_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/e3f69af1e63e51f09c475df34cbf64e2/mesh/peeler_017.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/peeler_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61f00dbb38329b871d65324efbf14d7518ece710
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/peeler_017.obj
@@ -0,0 +1,112398 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl peeler_017_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/peeler_017_collision.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/peeler_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea07f20fcf115b63de54b5f7ccd11cc537e03a12
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mesh/peeler_017_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f4bd6bc9e861f624359e507f7aa3b458da4f287
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision.obj
@@ -0,0 +1,8172 @@
+# https://github.com/mikedh/trimesh
+
+o peeler_017_collision.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_0.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9239bee3597e0b4400fce2364e4b1ee6136b5465
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_0.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_1.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05a474f5b54c45df281c1a0d1993f82c28528da0
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_1.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_10.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ad8110684015c6f831c5de3c41f59f8698941e
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_10.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_11.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e894e217465fb2d93687d0385c579f38c3b0cc6
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_11.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_12.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2118f2a65d6af62cd30bb88ee7d57cd21f6b7d33
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_12.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.05385128 0.01402847 0.00474590
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_13.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..810ba017cd7da46cf84b6a7b339ee60fa1d9f69b
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_13.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.04748164 0.02333320 0.00592784
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+
diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_14.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41d8a8fcc9ea1ad31eee0969803487c89fb52a26
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_14.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.03973861 0.01403105 0.00683306
+v 0.03872662 0.01403106 0.00650939
+v 0.03872749 0.01216918 0.00650938
+v 0.03973861 0.01030897 0.00683207
+v 0.04106678 0.00039729 0.00674866
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_15.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca973d9a1f32711af0e1e8d2efb62a2648a50920
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_15.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_2.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b15fc3eb3bbd9804139d73e8e14fcd4254e9a6f
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_2.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_3.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebba7e4e318f71f029c6b328c66a084fad1446cb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_3.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_4.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6cc7ceee0eea2b238835c47a5e7c566b6462b46
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_4.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_5.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e22a9a5976a05f4b781edcae631ca9105fff8b58
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_5.obj
@@ -0,0 +1,661 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_6.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9509201455279e200cb0b703d28e1c8405eaaa13
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_6.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da453dcb0f5d4564ebc93d3ce8e28ffa09cbea9a
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_7.obj
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_8.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_9.obj b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5065b239a656f6e30ae1a4a10a56daa94c4f87cb
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/mesh/peeler_017_collision_9.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/peeler_017.xml b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/peeler_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..605ed0855ddb9fe73c055dfd39a11524febf68e8
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/mjcf/peeler_017.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_017">
+  <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_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_017_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_017_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_017_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_017_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_017_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_017_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_017_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_017_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_017_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_017_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_017_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/peeler_017_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/peeler_017_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_017">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/peeler_017.urdf b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/peeler_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a8634d8128ee09838e91a9bb25321dc1e65702da
--- /dev/null
+++ b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/peeler_017.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_017">
+   <link name="peeler_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.75</mu1>
+            <mu2>0.60</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>e3f69af1e63e51f09c475df34cbf64e2</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>y peeler</name>
+         <color>black,gray</color>
+         <shape>T-shape</shape>
+         <material>plastic</material>
+         <description>gray and black y-shaped vegetable peeler with metal serrated blade</description>
+         <min_height>0.0156</min_height>
+         <max_height>0.0156</max_height>
+         <real_height>0.0156</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518182941</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059479 -0.034183 -0.008156</min>
+            <max>0.054320 0.034342 0.007407</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</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/e3f69af1e63e51f09c475df34cbf64e2/peeler_017.usd b/dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/peeler_017.usd
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