diff --git a/.gitattributes b/.gitattributes
index 17fc7b9133668805a0dae3867fb668ed22d7fbb9..cbb33dbac39a52b4a21f20f2c4578f11cdf406bf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4613,5 +4613,6 @@ dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_
 dataset/kitchen_supplies/utensils/f1e1397147cb582a8d9d8fea8a2a5c2c/f1e1397147cb582a8d9d8fea8a2a5c2c.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/f1e1397147cb582a8d9d8fea8a2a5c2c/mesh/spatula.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/f1e1397147cb582a8d9d8fea8a2a5c2c/mesh/spatula_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/f65a130f3c5854328df0d3af81a1cc82/mesh/spatula_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/f65a130f3c5854328df0d3af81a1cc82/spatula_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/f70b9e6c9e1b5af7a1c977481a93bca1.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/f70b9e6c9e1b5af7a1c977481a93bca1.urdf b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/f70b9e6c9e1b5af7a1c977481a93bca1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..78e0e6a62990cf63023120a8dbe413108c1bb591
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/f70b9e6c9e1b5af7a1c977481a93bca1.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>0.60</mu1>
+            <mu2>0.50</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>0.225000</scale>
+         <version>v0.1.7</version>
+         <category>pepper grinder</category>
+         <description>glossy red pepper grinder with rounded body and metallic accents</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260120025224</generate_time>
+         <gs_model>mesh/pepper_grinder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.900157451629639</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/f70b9e6c9e1b5af7a1c977481a93bca1/f70b9e6c9e1b5af7a1c977481a93bca1.usd b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/f70b9e6c9e1b5af7a1c977481a93bca1.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/f70b9e6c9e1b5af7a1c977481a93bca1.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d4992e3e83cb0b41c86c686f2b2c5db5d8018e178c9e5a62e8afd22dae7bb28
+size 939901
diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/material.mtl b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/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/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/material_0.png b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef8dd8f3cce063f9c6e1b0a63dedd759c6171602
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdb7f000d3c1ad160740cd09223569cd65346327d247c44e0fb9a266aa7f83de
+size 2377282
diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/pepper_grinder.glb b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/pepper_grinder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0febf0359f5c08600da4c89462ca41ff46583615
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/pepper_grinder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18c4eaf6c656962ddc6d346e3900c335c347b1e67d8935764b15cd01f3735eb1
+size 3018380
diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7325b7e6b60605513af7098d8d974baf37db9c16
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/pepper_grinder.obj
@@ -0,0 +1,58672 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d603282adcee12d5c209b9759753596eda73fd4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,10360 @@
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diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/pepper_grinder_gs.ply b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/pepper_grinder_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..26b4c3dfc7672c8b061bc5789c01ea7df0bcebef
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mesh/pepper_grinder_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1a828e0931be33d84af7d350d62e26c83e4c0af2db043a4ca990397ded9ffbf
+size 2494825
diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/f70b9e6c9e1b5af7a1c977481a93bca1.xml b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/f70b9e6c9e1b5af7a1c977481a93bca1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cb74d39e65ba98082b368a09b868f304b635bd82
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/f70b9e6c9e1b5af7a1c977481a93bca1.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pepper_grinder">
+  <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/pepper_grinder.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pepper_grinder_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pepper_grinder_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pepper_grinder_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pepper_grinder_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pepper_grinder_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pepper_grinder">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef8dd8f3cce063f9c6e1b0a63dedd759c6171602
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:bdb7f000d3c1ad160740cd09223569cd65346327d247c44e0fb9a266aa7f83de
+size 2377282
diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..670a1951deb8ad8e4edab122191a4c99871405fb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..234a80c9d364d0ee2334a6faf622129b757be65e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,10360 @@
+# https://github.com/mikedh/trimesh
+
+o pepper_grinder_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_0.obj b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22737f2211358ced1a950ff675a5009dd6220211
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_0.obj
@@ -0,0 +1,874 @@
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diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_1.obj b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d3016f83dfc654e7a631f575349d29a30d59a1f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_2.obj b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c06c09728f0cfce95dadea08a9302bdf5ee70c6c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_2.obj
@@ -0,0 +1,3019 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_3.obj b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..215e8018d863796321926ed8627d21f43d158c6a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_4.obj b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cb34d1c7507a26ac5fa869ddc938c9fe426b34e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/f70b9e6c9e1b5af7a1c977481a93bca1/mjcf/mesh/pepper_grinder_collision_4.obj
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