diff --git a/.gitattributes b/.gitattributes
index 625e46cdc189ca9d6d886f04cf12a41fe3989561..70d96ccc3718b457a4e2ccaa8a51f176add3ec37 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4527,5 +4527,6 @@ dataset/kitchen_supplies/utensils/5583edd10280581d96feaab4701e4fb6/mesh/spatula_
 dataset/kitchen_supplies/utensils/5583edd10280581d96feaab4701e4fb6/spatula_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/spice_jar_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/5cf324be19e850ce8a7e8052bb98f045/mesh/spatula_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/5cf324be19e850ce8a7e8052bb98f045/spatula_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/5f1c5b3dfe9556359778c21f2a53aecf.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/5f1c5b3dfe9556359778c21f2a53aecf.urdf b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/5f1c5b3dfe9556359778c21f2a53aecf.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5091da3b0ecd21e30d8226e2d6aaa0673d2e12ca
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/5f1c5b3dfe9556359778c21f2a53aecf.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pepper_grinder">
+   <link name="pepper_grinder">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pepper_grinder.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/pepper_grinder_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>0.200000</scale>
+         <version>v0.1.7</version>
+         <category>pepper grinder</category>
+         <description>wooden pepper grinder with rounded top and cylindrical body</description>
+         <min_height>0.18</min_height>
+         <max_height>0.22</max_height>
+         <real_height>0.2</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260120024644</generate_time>
+         <gs_model>mesh/pepper_grinder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.1353888511657715</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/5f1c5b3dfe9556359778c21f2a53aecf/5f1c5b3dfe9556359778c21f2a53aecf.usd b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/5f1c5b3dfe9556359778c21f2a53aecf.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1fe2e62d5507c9f240364998910ded2dccb12ca3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/5f1c5b3dfe9556359778c21f2a53aecf.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d535097591d3ece632ad439cb81c3442747cbe4224e25022d43139377e0627d4
+size 979003
diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/material.mtl b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/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/5f1c5b3dfe9556359778c21f2a53aecf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee4912b729c66188c2bc99ec9caba4359d68a0d7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62e03d42a84083aeab7f4fcf33f0dc4d554b7f330f33162af7050239f52bb2bd
+size 1877942
diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder.glb b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b070e03150829ac025dccf2cc03f46362b7a8276
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93daf60bf8409fb27e434337ec8bd64c4be6cb71148f85c3c48f7e8b2c35ee07
+size 2538200
diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..632bb3df59db87e8cb911225bc7f49c332fae33b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder.obj
@@ -0,0 +1,60292 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dd1b7b11ab91b7771cfc169b95cd510d5234e76
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder_gs.ply b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mesh/pepper_grinder_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0a8a7a97e6b98f72fed8d5b0bbad01d9a9153cb3
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 3061769
diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/5f1c5b3dfe9556359778c21f2a53aecf.xml b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/5f1c5b3dfe9556359778c21f2a53aecf.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f6a30465361c1d65f4412e224e4949c82da44095
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/5f1c5b3dfe9556359778c21f2a53aecf.xml
@@ -0,0 +1,26 @@
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+  </asset>
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+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afcd0329283f2f49cfb319bc13b0a22cc3dfa449
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder.obj
@@ -0,0 +1,60292 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d1884dfe1841ce35900d6fb3951d64cd371d61c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,12485 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_0.obj b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7200f41e4489307f4102c7927b874518fc41f2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_0.obj
@@ -0,0 +1,751 @@
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diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_1.obj b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec4e990ebfdcb3f3ae7f47ac81971ac92e33552
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_2.obj b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7822be3291e7f1c6bcf05cad36061f87b5067402
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_3.obj b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0316cd1cff38881c8f9c8c7faf2388c110b4ef82
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_4.obj b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46d1fb2807780efd3316c439dbe6116378ce08f1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_4.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_5.obj b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d97159fb50379843b1bc813aee5aea48ab22f05c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/mjcf/mesh/pepper_grinder_collision_5.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/textures/material_0.png b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee4912b729c66188c2bc99ec9caba4359d68a0d7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1877942
diff --git a/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/video.mp4 b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/video.mp4
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