diff --git a/.gitattributes b/.gitattributes
index 4558add2020a0d16ba022996a321a35258b8b1eb..87ff582d479e4118c5b058085e95ddc7b5658015 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4482,7 +4482,4 @@ dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_t
 dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/spice_jar_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/bottle_opener_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/bottle_opener_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mesh/bottle_opener_003.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/0427d254b1e1581a8077aaf6bf40ebd7/mjcf/mesh/bottle_opener_003.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/1f0f51f7509c5779bd223bd244d7c1fc.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/1f0f51f7509c5779bd223bd244d7c1fc.urdf b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/1f0f51f7509c5779bd223bd244d7c1fc.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9bdc401c41afd96062e77b7397c7942884a53dc0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/1f0f51f7509c5779bd223bd244d7c1fc.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="salt_shaker">
+   <link name="salt_shaker">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/salt_shaker.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/salt_shaker_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.125000</scale>
+         <version>v0.1.5</version>
+         <category>salt shaker</category>
+         <description>ribbed glass body with black cap and metallic rim</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20251011190752</generate_time>
+         <gs_model>mesh/salt_shaker_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.088344216346741</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/1f0f51f7509c5779bd223bd244d7c1fc.usd b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/1f0f51f7509c5779bd223bd244d7c1fc.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e1519422468a63fa43079adf8d2313f74bb2db39
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/1f0f51f7509c5779bd223bd244d7c1fc.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:532c2749c025dea119d919805b37563a9dcc67cd320836c47b361024e5088520
+size 794465
diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/material.mtl b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/material_0.png b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e11dd63d579494ad53f56ab165febcf86686588
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d465aa8c552bcb5bcf4715b37e357128d8fdbb311a44813549bdcb3fa52a4014
+size 1381748
diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/salt_shaker.glb b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/salt_shaker.glb
new file mode 100644
index 0000000000000000000000000000000000000000..64e93620d4df41be518de614080a2690aede3e3a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/salt_shaker.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15b507512e35d9e9322b244bff818a87d27a14f10b9a3d089fde41e10356934c
+size 1905184
diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/salt_shaker.obj b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/salt_shaker.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa680509a0aae355b0292b159aa27c6c594fbc5a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/salt_shaker.obj
@@ -0,0 +1,47666 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/salt_shaker_collision.obj b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/salt_shaker_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4edba6dff7d53a07813b4b20256a52992cbf3f53
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/salt_shaker_collision.obj
@@ -0,0 +1,12090 @@
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diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/salt_shaker_gs.ply b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/salt_shaker_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1a2dce8237a953e201cb8f16035422fa92289337
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mesh/salt_shaker_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/1f0f51f7509c5779bd223bd244d7c1fc.xml b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/1f0f51f7509c5779bd223bd244d7c1fc.xml
new file mode 100644
index 0000000000000000000000000000000000000000..87a8e43698ef8f6c649b439abab30cc83fe30948
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/1f0f51f7509c5779bd223bd244d7c1fc.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/salt_shaker_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/salt_shaker_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/salt_shaker_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/salt_shaker_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker.obj b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker.obj
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diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision.obj b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b2cc0e993f1be0e91969443c76082e20f9e78f6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision.obj
@@ -0,0 +1,12090 @@
+# https://github.com/mikedh/trimesh
+
+o salt_shaker_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision_0.obj b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be92cd59c178577403bd3f56df2e35c826111676
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision_1.obj b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59cc5b9a65648e195687972924c1c09e861bedaa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision_1.obj
@@ -0,0 +1,1630 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision_2.obj b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..443a1207995f950f0435c7b115ff5e8b7e5f35b0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision_3.obj b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abe695834714312f6803a3f1ede3a4e3ffa47a83
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/mjcf/mesh/salt_shaker_collision_3.obj
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